Motor torque control method and device, vehicle and medium

Abstract

The invention provides a motor torque control method and device, a vehicle and a medium, and relates to the technical field of vehicle motor control. The method comprises the following steps: acquiring a required torque and a compensation torque for a motor and an external characteristic torque corresponding to a current rotating speed of the motor; determining a target torque according to the demand torque and the compensation torque; comparing the target torque with the external characteristic torque; and if the target torque is greater than the external characteristic torque, performing torque reduction processing on the target torque of the motor, so that the target torque after torque reduction is smaller than or equal to the external characteristic torque. Thus, abnormal operation of the motor due to the fact that the target torque exceeds the maximum available torque of the motor can be avoided, enough available torque space can be reserved for the compensation torque, the active damping function is prevented from losing efficacy when the motor works in the external characteristic torque interval, vehicle shaking caused by rotation speed fluctuation of the motor is effectively restrained, and the service life of the motor is prolonged. While safe operation of the motor is guaranteed, the drivability and the dynamic property of the whole vehicle are both considered, and the driving experience is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle motor control, and in particular to a motor torque control method and device, a vehicle and a medium. BACKGROUND

[0002] With the continuous improvement of people's travel needs, cars have become the first choice for most people to go out. For some cars, such as new energy vehicles, driving performance and driving smoothness are key indicators that affect user experience, and the torque control of the driving motor as the core power source is directly related to the stability of vehicle driving.

[0003] In related technologies, when the driving motor of a new energy vehicle works in an external characteristic torque range (i.e., reaches the maximum available torque corresponding to the current speed), if the motor speed fluctuates, the active damping function needs to be relied on to calculate a compensation torque and superimpose it on the demand torque to suppress fluctuations. However, due to the upper limit of the motor external characteristic torque, when the demand torque of the vehicle controller for the motor has reached the motor external characteristic torque, the compensation torque required by the active damping function cannot be effectively superimposed due to the lack of extra available torque space, resulting in the failure of the active damping function, the difficulty in controlling the motor speed fluctuation, and thus causing the vehicle to shake, affecting the driving smoothness and user travel experience. SUMMARY

[0004] The embodiments of the present application provide a motor torque control method, device, vehicle and medium to solve the problem that the active damping function of the motor fails due to the lack of extra available torque of the motor when the motor works in the external characteristic torque range, and cannot suppress the motor speed fluctuation.

[0005] In a first aspect, the embodiments of the present application provide a motor torque control method, comprising: obtaining a demand torque for a motor, a compensation torque, and an external characteristic torque corresponding to a current speed of the motor; determining a target torque according to the demand torque and the compensation torque; comparing the target torque with the external characteristic torque; if the target torque is greater than the external characteristic torque, performing a torque reduction on the target torque of the motor, so that the target torque after torque reduction is less than or equal to the external characteristic torque.

[0006] Based on the above technical content, the embodiment of the present application obtains the external characteristic torque corresponding to the demand torque, the compensation torque and the current speed, determines the target torque according to the demand torque and the compensation torque, and compares the target torque with the external characteristic torque. When the target torque is out of limit, the target torque is reduced. The motor active damping function can be avoided from being invalid due to the target torque exceeding the external characteristic torque. The motor has enough available torque space to meet the compensation torque demand after the torque reduction, so as to effectively suppress the vehicle shaking caused by the motor speed fluctuation. The motor safe operation is ensured, the vehicle drivability and power performance are considered, and the driving experience is improved.

[0007] In a possible implementation, the target torque of the motor is reduced, including: obtaining a pre-stored torque mapping relationship; the torque mapping relationship is a one-to-one corresponding relationship between the current speed of the motor, the demand torque and the torque reduction amplitude; determining the target torque reduction amplitude based on the current speed of the motor, the demand torque and the torque mapping relationship; obtaining the target torque after the torque reduction according to the demand torque or the external characteristic torque and the target torque reduction amplitude.

[0008] Based on the above technical content, the embodiment of the present application obtains the target torque after the torque reduction by combining the demand torque or the external characteristic torque with the target torque reduction amplitude. The target torque after the torque reduction is ensured to be less than or equal to the external characteristic torque. The motor active damping function is reserved enough available torque space to suppress the vehicle shaking caused by the motor speed fluctuation. The vehicle drivability and power performance are considered. The torque reduction does not affect the motor power output or the driving experience.

[0009] In a possible implementation, the target torque after the torque reduction is obtained according to the demand torque and the target torque reduction amplitude, including: controlling the vehicle controller to reduce the demand torque to a target demand torque according to the target torque reduction amplitude; superimposing the target demand torque and the compensation torque to obtain the target torque after the torque reduction.

[0010] Based on the above technical content, the embodiment of the present application reduces the demand torque to a target demand torque according to the target torque reduction amplitude by controlling the vehicle controller, and then superimposes the target demand torque and the compensation torque to obtain the target torque after the torque reduction. The torque reduction adjustment of the demand torque can be accurately realized. The target torque after the torque reduction is ensured to be less than or equal to the external characteristic torque. The motor active damping function is reserved enough available torque space. The motor active damping function is effectively avoided from being invalid when the motor works in the external characteristic torque interval. The vehicle shaking caused by the motor speed fluctuation is suppressed. The vehicle drivability and power performance are considered by the directional torque reduction of the demand torque. The motor power output stability and good driving experience are ensured.

[0011] In a possible implementation, the target torque after torque reduction is obtained according to the external characteristic torque and the target torque reduction amplitude, including: After the external characteristic torque is reduced to the target external characteristic torque according to the target torque reduction amplitude, the target external characteristic torque is sent to the vehicle controller; The vehicle controller is controlled to adjust the demand torque to a target demand torque smaller than the target external characteristic torque, so as to obtain the target torque after torque reduction based on the target demand torque.

[0012] Based on the above technical content, the embodiments of the present application can indirectly realize accurate torque reduction of the target torque by reducing the external characteristic torque to the target external characteristic torque according to the target torque reduction amplitude and sending the target external characteristic torque to the vehicle controller, and then controlling the vehicle controller to adjust the demand torque to a target demand torque smaller than the target external characteristic torque according to the target external characteristic torque. It is ensured that the target torque after torque reduction is smaller than or equal to the external characteristic torque, sufficient available torque space is reserved for the active damping function, the active damping function is effectively avoided from being invalid due to no available torque when the motor works in the external characteristic torque range, the vehicle shaking caused by motor speed fluctuation is inhibited, the actual maximum available torque of the motor is ensured to be unchanged, the drivability and power performance of the vehicle are considered, and stable power output and good driving experience are maintained.

[0013] In a possible implementation, the target torque of the motor is processed for torque reduction, including: A pre-stored motor torque reduction gradient table is obtained, and a torque reduction gradient corresponding to the motor is determined according to the motor torque reduction gradient table; In the process of processing the target torque of the motor for torque reduction, the target torque of the motor is processed for torque reduction based on the torque reduction gradient corresponding to the motor.

[0014] Based on the above technical content, the embodiments of the present application can realize the smoothness of the change of the target torque in the torque reduction stage by obtaining the pre-stored motor torque reduction gradient table, determining the torque reduction gradient corresponding to the motor according to the table, and performing torque reduction based on the torque reduction gradient in the process of processing the target torque for torque reduction. New vehicle shaking caused by torque mutation is avoided; meanwhile, it is ensured that the target torque after torque reduction is smaller than or equal to the external characteristic torque, sufficient available torque space is ensured for the motor to meet the compensation of the compensation torque, the active damping function is effectively ensured to inhibit the motor speed fluctuation, the drivability and power performance of the vehicle are considered, and good driving experience is maintained.

[0015] In a possible implementation, after the target torque of the motor is processed for torque reduction, the method further includes: When the motor meets a preset condition, the torque reduction processing is exited, and the motor is controlled to return to an initial state before torque reduction from the current target torque; The preset condition includes that the target torque after torque reduction is less than or equal to the external characteristic torque, and the duration is a preset duration.

[0016] Based on the above technical content, when the motor meets the preset condition, the embodiment of the present application exits the torque reduction processing and controls the motor to return to the initial state before torque reduction from the current target torque, which can ensure that the motor has sufficient available torque space when exiting torque reduction, avoid the active damping function from being disabled again and the vehicle from shaking due to motor speed fluctuation, timely restore the initial torque state when torque reduction is not needed, ensure that the motor power output returns to normal to meet the vehicle power demand, balance drivability and power performance, and maintain a stable and good driving experience.

[0017] In a possible implementation, before the target torque of the motor is subjected to torque reduction processing, the method further includes: obtaining a value of a preset torque flag bit; detecting whether the value of the torque flag bit is a preset value; If the value of the torque flag bit is the preset value, the step of subjecting the target torque of the motor to torque reduction processing is performed.

[0018] Based on the above technical content, before the target torque is subjected to torque reduction processing, the value of the preset torque flag bit is obtained and whether the value is a preset value is detected, and torque reduction processing is only performed when the value of the torque flag bit is the preset value, which can accurately identify whether the motor is in an abnormal state of insufficient available torque for the active damping function, avoid unnecessary reduction of motor power output due to false torque reduction operation when torque reduction is not needed, affect vehicle power performance, and ensure that torque reduction is started in time in an abnormal state to reserve available torque space for compensation torque to ensure that the active damping function is effective, inhibit vehicle shaking caused by motor speed fluctuation, balance drivability and power performance, and maintain a stable driving experience.

[0019] In a second aspect, an embodiment of the present application provides a motor torque control device, including: An obtaining module is configured to obtain a demand torque, a compensation torque and an external characteristic torque corresponding to a current motor speed for a motor. A determining module is configured to determine a target torque according to the demand torque and the compensation torque. A comparing module is configured to compare the target torque with the external characteristic torque. A torque reduction module is configured to subject the target torque of the motor to torque reduction processing according to the target torque being greater than the external characteristic torque, so that the target torque after torque reduction is less than or equal to the external characteristic torque.

[0020] In a possible implementation, the torque reduction module is specifically configured to: acquire a pre-stored torque mapping relationship; the torque mapping relationship is a one-to-one corresponding relationship among a current rotating speed of the motor, a demand torque and a torque reduction amplitude; determine a target torque reduction amplitude based on the current rotating speed of the motor, the demand torque and the torque mapping relationship; obtain a target torque after torque reduction according to the demand torque or the external characteristic torque and the target torque reduction amplitude.

[0021] In a possible implementation, the torque reduction module is specifically configured to: control the vehicle controller to reduce the demand torque to a target demand torque according to the target torque reduction amplitude; superimpose the target demand torque and the compensation torque to obtain the target torque after torque reduction.

[0022] In a possible implementation, the torque reduction module is specifically configured to: send the external characteristic torque reduced to a target external characteristic torque according to the target torque reduction amplitude to the vehicle controller; control the vehicle controller to adjust the demand torque to a target demand torque smaller than the target external characteristic torque, so as to obtain the target torque after torque reduction based on the target demand torque.

[0023] In a possible implementation, the torque reduction module is specifically configured to: acquire a pre-stored motor torque reduction gradient table, and determine a corresponding torque reduction gradient of the motor according to the motor torque reduction gradient table; in a process of torque reduction of a target torque of the motor, perform torque reduction of the target torque of the motor based on the corresponding torque reduction gradient of the motor.

[0024] In a possible implementation, the torque reduction module is further configured to: when the motor meets a preset condition, exit the torque reduction process and control the motor to return from the current target torque to an initial state before torque reduction; wherein the preset condition includes that the target torque after torque reduction is smaller than or equal to the external characteristic torque and lasts for a preset time length.

[0025] In a possible implementation, the torque reduction module is further configured to: acquire a preset value of a torque flag bit; detect whether the value of the torque flag bit is a preset value; if the value of the torque flag bit is the preset value, perform the step of torque reduction of the target torque of the motor.

[0026] In a third aspect, an embodiment of the present application provides a vehicle, comprising a memory and a processor, the memory storing a computer program capable of running on the processor, and the processor implements the motor torque control method according to any one of the first aspect when executing the computer program.

[0027] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the motor torque control method according to any one of the first aspect.

[0028] It can be understood that the beneficial effects of the above-mentioned second aspect to fourth aspect can be referred to the related description in the first aspect, which will not be repeated here.

[0029] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present specification. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0031] Figure 1 is an application scenario diagram provided by an embodiment of the present application; Figure 2 is a waveform diagram provided by an embodiment of the present application about torque variation principle; Figure 3 is a flow diagram of the motor torque control method provided by an embodiment of the present application; Figure 4 is a flow diagram of the motor torque control method provided by another embodiment of the present application; Figure 5 is a structural diagram of the motor torque control device provided by an embodiment of the present application; Figure 6 is a structural diagram of the vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0032] The present application will be described more clearly in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the effects of the present application, but do not limit the present application in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all belong to the protection scope of the present application.

[0033] It should be understood that the term "include" as used in the specification and in the following claims denotes the presence of the described features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0034] It should also be understood that the term "and / or" as used in the specification and in the following claims denotes any and all possible combinations of one or more of the associated listed items and includes all possible combinations.

[0035] In the description of the application and in the following claims, the terms "first", "second", "third", etc. are used only for distinguishing descriptions, and cannot be understood as indicating or implying relative importance.

[0036] In the description of the application, the reference "one embodiment" or "some embodiments" and the like means that the particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Thus, the appearance of the phrases "in one embodiment", "in some embodiments", "in other embodiments", "in additional embodiments" and the like in various places in the specification is not necessarily all referring to the same embodiment, but means that "one or more but not all embodiments", unless otherwise specifically indicated. The terms "include", "contain", "have" and their variants mean "including but not limited to", unless otherwise specifically indicated.

[0037] In addition, "a plurality of" mentioned in the embodiments of the application should be interpreted as two or more.

[0038] First, the terms involved in the embodiments of the application are explained: Active damping function: refers to the function of calculating the required compensation torque to suppress motor speed fluctuation according to motor speed and motor torque.

[0039] Demand torque: refers to the power demand torque of the motor calculated by the vehicle controller according to the driver's operation intention (such as stepping on the accelerator pedal) and the current vehicle running condition (such as vehicle speed, load), i.e. the torque that the motor is required to output, which will be transmitted to the motor controller through CAN communication as the core basic instruction for the motor to deploy power, indicating the vehicle controller's requirement for the motor's power output.

[0040] Compensation torque: refers to the modified torque calculated by the motor controller to offset the speed fluctuation, which is the key adjustment instruction for the motor to realize active damping function and avoid vehicle shaking, indicating the compensation torque required by the motor controller to intervene in the motor speed fluctuation to ensure smooth operation of the motor.

[0041] External characteristic torque: refers to the maximum available torque that the motor can output at the current speed, which is obtained or queried by the motor controller according to the current actual speed of the motor, combined with the physical structure and performance design of the motor itself, and is the design value of the motor, representing the dynamic output limit threshold of the motor at the current speed.

[0042] Target torque: refers to the comprehensive torque that the motor is planned to output finally, which is calculated by superimposing the demand torque received from the vehicle controller and the compensation torque calculated by the motor controller to suppress the motor speed fluctuation, indicating the comprehensive output torque target set by the motor controller after integrating the power demand and smoothness correction.

[0043] Target torque reduction amplitude: refers to the torque reduction value determined by the motor controller to adjust the target torque of the motor, which is specifically used as the core parameter to reduce the demand torque or external characteristic torque to obtain the target torque after torque reduction.

[0044] Torque reduction gradient: refers to the torque change rate parameter determined by the motor controller to control the torque reduction process of the target torque, that is, the fixed change value in each period.

[0045] Torque flag: refers to the state identifier set by the motor controller to trigger the torque reduction process.

[0046] The applicant found through research that in traditional new energy vehicles, due to the upper limit of the external characteristic torque of the motor, when the demand torque of the vehicle controller to the motor reaches the external characteristic torque of the motor, the compensation torque required by the active damping function cannot be effectively superimposed due to the lack of available torque space, resulting in the failure of the active damping function, the difficulty in controlling the motor speed fluctuation, and further causing the vehicle to shake. To solve this problem, the existing technical solution is to reduce the gradient of the demand torque sent by the vehicle controller to the motor controller to slow down the rising speed of the demand torque, thereby reducing the impact of power output and alleviating vehicle shaking.

[0047] The gradient of the reduced demand torque specifically refers to a rate parameter of the change of the demand torque output by the vehicle controller over time. For example, the original demand torque may approach the motor external characteristic torque at a rate of 10 N·m / ms, and after adjustment, the rate may be reduced to 5 N·m / ms or even lower, so that the change curve of the demand torque is more gentle. The demand torque rising speed is directly reduced, which means that the time required for the demand torque to rise from the initial value to the upper limit of the motor external characteristic torque is prolonged, avoiding the rapid rise of the torque to the limit value in a short time. The core logic of the prior art through this adjustment is that when the demand torque rapidly rises to the external characteristic torque, the motor power output is prone to instantaneous impact. This impact will exacerbate the motor speed fluctuation. When the demand torque rising speed is slowed down, the change of the motor power output is more stable, which can reduce the speed fluctuation amplitude caused by the sudden change of the torque, thereby reducing the influence of the power output impact on the vehicle ride comfort, and indirectly alleviating the shaking.

[0048] However, this scheme still has obvious defects. On the one hand, the slowing down of the demand torque rising speed directly leads to the delay of the vehicle power response. For example, after the driver steps on the accelerator pedal, the motor cannot quickly output sufficient torque, and the vehicle accelerates weakly, especially in the scene of urgent acceleration, climbing, etc. that requires instant power, the driving experience is greatly reduced. On the other hand, this scheme can only indirectly alleviate the shaking by weakening the torque change impact, and does not solve the core problem of the non-superimposed compensation torque space. Even if the demand torque slowly rises to the upper limit of the external characteristic torque, if the motor speed fluctuation occurs, the active damping function cannot superimpose the compensation torque due to the lack of extra torque space, and finally the vehicle still has shaking that can be clearly perceived by the driver, which cannot fundamentally eliminate the problem.

[0049] In view of this, the applicant can definitely point out that the prior art solution only targets the power impact caused by the rapid rise of the demand torque, and adopts the scheme of reducing the gradient of the demand torque and slowing down the rising speed, trying to indirectly alleviate the shaking by weakening the torque change impact. However, this scheme neither touches the core problem of the invalidation of the active damping function due to the lack of superimposed space for the compensation torque, nor sacrifices the driving experience due to the delay of the power response. Accordingly, it is further found that the essence of the shaking problem is that when the demand torque of the vehicle controller reaches the external characteristic torque of the motor, the compensation torque required by the active damping function cannot be effectively superimposed due to the lack of extra available torque space, that is, the superimposed value will exceed the external characteristic torque of the motor, and the excess part cannot be executed due to the physical performance limitation of the motor, so that the compensation torque cannot be truly integrated into the actual output torque of the motor to play a role in suppressing the speed fluctuation, thereby causing the invalidation of the active damping function, the uncontrollable motor speed fluctuation, and further causing the vehicle shaking. Therefore, it is necessary to consider a new method for controlling the motor torque. This key cognition enables the present application to shift from the prior art idea of passively alleviating the impact to the core direction of actively reserving space for the compensation torque.

[0050] Based on this, the applicant thinks: if the total torque of the demand torque and the compensation torque can be ensured not to exceed the external characteristic torque before the compensation torque is superimposed by prediction and adjustment, the problem that the compensation torque cannot be effectively superimposed can be fundamentally solved. Therefore, the technical path is further deduced: the core parameters of torque control, i.e., the demand torque of the vehicle controller, the compensation torque of the motor controller, and the external characteristic torque corresponding to the current speed of the motor (the upper limit of the output capacity), are obtained first, and then the target torque is determined by the correlation calculation of the three. Then, whether there is an over-limit risk is judged by comparing the target torque with the external characteristic torque. If the target torque is over-limit, the target torque after torque reduction is less than or equal to the external characteristic torque. This design not only avoids the defect that the existing technology only relieves but does not compensate, but also ensures that the active damping function works effectively by actively reducing the available space for the compensation torque, and avoids the delay of the power response. The torque is reduced only for the over-limit target torque, not for the demand torque, and the power output efficiency is taken into account while ensuring smoothness. Finally, the complete technical concept of parameter acquisition, target calculation, over-limit judgment, and accurate torque reduction is formed, which realizes the breakthrough from relieving the phenomenon to solving the essence.

[0051] Therefore, in order to prevent the active damping function from failing when the motor works in the external characteristic torque range, in the embodiments of the present application, the demand torque, the compensation torque of the motor, and the external characteristic torque corresponding to the current speed of the motor are obtained. The target torque is determined according to the demand torque and the compensation torque. Then, the target torque is compared with the external characteristic torque. If the target torque is greater than the external characteristic torque, the target torque of the motor is reduced, so that the target torque after torque reduction is less than or equal to the external characteristic torque. Thus, enough torque space is reserved for the compensation torque required by the active damping function, and the abnormal situation that the compensation torque required by the active damping function cannot be effectively superimposed due to the target torque exceeding the external characteristic torque corresponding to the current speed of the motor is avoided.

[0052] Firstly refer to Figure 1 , Figure 1 The application scenario provided by the embodiments of the present application is schematically shown, which involves devices including a motor 101, a motor controller 102, and a vehicle controller 103.

[0053] The motor 101 is an execution unit of vehicle power output, which is responsible for converting electrical energy into mechanical energy to provide power for vehicle driving. Herein, it outputs the corresponding torque according to the torque instruction such as the target torque after torque reduction issued by the motor controller 102 to drive the vehicle. At the same time, its running state such as the current speed will affect the determination of the external characteristic torque, and the motor speed fluctuation is the core factor triggering the active damping function. Its stable operation is directly related to the driving smoothness of the vehicle, and needs to avoid vehicle shaking caused by speed fluctuation.

[0054] Among them, the motor controller 102 is the core decision-making and execution unit for motor torque control. It is responsible for receiving and processing torque-related signals and controlling the torque output of the motor 101. On the one hand, the motor controller 102 receives the required torque from the vehicle controller 103, and determines the target torque by combining its own calculated compensation torque and the external characteristic torque corresponding to the current speed of the motor 101. On the other hand, if the target torque exceeds the limit and torque reduction is required, the motor controller 102 will generate a torque command after torque reduction and directly control the motor 101 to output the corresponding torque. At the same time, the real-time operating status of the motor 101, such as the current speed, will also be fed back to the motor controller 102 to detect the effect of torque reduction processing.

[0055] Among them, the vehicle controller 103 is the initiating unit for vehicle power demand. It is responsible for generating power demand signals, such as the required torque, based on driving intentions and operating conditions, and outputting them to the motor controller 102. Here, the vehicle controller 103 calculates the required torque for the motor 101 based on the driver's operating intentions and vehicle driving conditions, and transmits the required torque to the motor controller 102 through CAN communication. The two communicate with each other through a communication link.

[0056] The following is combined with Figure 1 The application scenarios described below, with reference to the accompanying drawings, illustrate the motor torque control method provided according to exemplary embodiments of this application. It should be noted that the above application scenarios are shown only to facilitate understanding of the spirit and principles of this application, and the embodiments of this application are not limited in any way. Rather, the embodiments of this application can be applied to any applicable scenario.

[0057] refer to Figure 2 , Figure 2 This is a waveform diagram illustrating the principle of torque variation provided in an embodiment of this application. Figure 2 The waveforms of motor speed, target torque, and compensation torque on the corresponding coordinate axes are shown from top to bottom. X1, X2, and X3 all represent time in milliseconds (ms), Y1 represents speed in revolutions per minute (rpm), Y2 represents target torque in Newton-meters (N·m), and Y3 represents compensation torque in Newton-meters (N·m). The target torque is the sum of the required torque and the compensation torque. A1 represents the coincidence line where the required torque equals the external characteristic torque, which intuitively shows that the motor's required torque has reached the upper limit of torque output, and there is no extra available torque space.

[0058] When the motor speed waveform appears a sharp sinusoidal fluctuation, the motor active damping function will calculate a positive or negative compensation torque opposite to the direction of the speed fluctuation and superimposed on the demand torque to meet the driving force demand and suppress the jitter. For example, when the motor speed appears an unexpected downward fluctuation, the active damping function calculates a positive compensation torque to suppress the speed fluctuation. When the demand torque is equal to the external characteristic torque, the demand torque has reached the torque output limit of the motor. In this state, the superimposed positive compensation torque and the demand torque will exceed the external characteristic torque, resulting in that the superimposed positive compensation torque cannot be executed by the motor, the part of the target torque exceeding the external characteristic torque in the waveform diagram is the invalid segment, and finally the active damping function fails to suppress the motor speed fluctuation. To this end, the application reduces the target torque of the motor to make the target torque after reduction less than or equal to the external characteristic torque to meet the driving force demand and suppress the vehicle jitter.

[0059] Reference Figure 3 , Figure 3 is a flowchart of a motor torque control method provided by an embodiment of the application. As shown in Figure 3 , taking the motor controller as an execution subject, the method in the embodiment of the application can include: S201, obtaining a demand torque, a compensation torque for the motor, and an external characteristic torque corresponding to a current speed of the motor.

[0060] Here, the demand torque, the compensation torque for the motor, and the external characteristic torque corresponding to the current speed of the motor are obtained to comprehensively collect the torque data required in the torque control process, provide necessary data preparation for subsequent calculation, comparison and adjustment of the target torque, ensure that the entire torque control logic can be based on real working conditions, avoid deviation of control decisions due to missing or error of torque data, and provide protection for stable and efficient operation of the motor.

[0061] It should be noted that the motor speed and the external characteristic torque have a one-to-one mapping relationship, that is, a specific motor speed corresponds to a unique external characteristic torque, and the corresponding relationship is determined by the design parameters and performance characteristics of the motor. For example, the mapping relationship can be in the form of a curve, with the motor speed as the horizontal coordinate and the external characteristic torque as the vertical coordinate to form a mapping curve, and each speed value can find a unique external characteristic torque value on the curve to provide a clear output capability boundary for motor torque control.

[0062] S202, determining a target torque according to the demand torque and the compensation torque.

[0063] Here, the obtained demand torque and compensation torque are taken as core input parameters, and the two are integrated and calculated through preset operation rules, such as calculating the sum of the demand torque and the compensation torque, to finally determine the target torque that the motor plans to execute. In this process, the demand torque serves as a basic term to ensure that the motor output can meet the basic driving power requirements of the vehicle; the compensation torque serves as a correction term to cope with transient fluctuations in motor operation and ensure that the motor output can dynamically adapt to changes in working conditions. For example, when the motor speed abnormally drops, the compensation torque will present a positive value, and the target torque formed by superimposing the demand torque will be able to timely increase the output to suppress the further drop in speed. When the speed abnormally rises, the compensation torque will present a negative value, and by offsetting part of the demand torque, the target torque will be reduced to avoid continuous speed rise.

[0064] Through this integrated calculation, a comprehensive torque instruction is initially generated to balance the power demand of the vehicle and the stability of the motor operation, providing a clear numerical basis for subsequent judgment of whether the motor has the ability to achieve the output, so as to further optimize in combination with the actual output capacity of the motor (such as the external characteristic torque) and finally guide the precise regulation and control of the motor output.

[0065] S203, compare the target torque with the external characteristic torque.

[0066] It can be seen that the external characteristic torque, as the maximum available torque of the motor at the current speed, is the boundary of the motor output capacity. Here, the target torque that the motor plans to execute is compared with the external characteristic torque to define the size relationship between the two, to determine whether the target torque is within the output capacity range at the current speed of the motor. If the target torque is less than or equal to the external characteristic torque, it means that the target torque does not exceed the output capacity limit of the motor, and the active damping function of the motor is effective due to the available torque space of the motor. At this time, it is a normal situation, and no additional adjustment is needed to execute the target torque, ensuring that the motor can stably respond to the power demand. If the target torque is greater than the external characteristic torque, it means that the target torque has exceeded the output capacity limit of the motor, and the active damping function of the motor is ineffective due to the lack of available torque of the motor, and cannot suppress the speed fluctuation of the motor. At this time, it is an abnormal situation, and the target torque needs to be handled by reducing the torque.

[0067] Therefore, the comparison result becomes the core basis for whether to trigger the torque reduction processing, so that targeted measures can be taken to ensure that the motor always operates within a safe and controllable range.

[0068] S204, if the target torque is greater than the external characteristic torque, the target torque of the motor is handled by reducing the torque, so that the target torque after the torque reduction is less than or equal to the external characteristic torque.

[0069] When it is detected that the target torque is greater than the external characteristic torque, it indicates that the target torque has exceeded the motor's own output capability limit, and it is determined that an abnormal situation has occurred. In this case, the target torque is processed through a preset torque reduction strategy until the target torque after torque reduction is less than or equal to the external characteristic torque. Through this targeted torque reduction processing, it is ensured that there is sufficient available torque space for the motor to meet the compensation torque at this time, effectively solving the problem of target torque exceeding the limit, and preventing the compensation torque from being invalid and superimposed due to the target torque exceeding the external characteristic torque, so as to enable the active damping function, and further, to achieve precise suppression of motor speed fluctuation, fundamentally avoiding vehicle shaking caused by speed fluctuation, while ensuring safe and stable operation of the motor, taking into account the drivability and power performance of the vehicle, and improving the overall driving experience.

[0070] In the embodiments of the present application, the demand torque, the compensation torque and the external characteristic torque corresponding to the current speed of the motor are obtained; the target torque is determined according to the demand torque and the compensation torque; the target torque is compared with the external characteristic torque; and if the target torque is greater than the external characteristic torque, the target torque of the motor is processed by torque reduction, so that the target torque after torque reduction is less than or equal to the external characteristic torque. In this way, not only can the abnormal operation of the motor caused by the target torque exceeding the maximum available torque of the motor be avoided, but also sufficient available torque space can be reserved for the compensation torque, preventing the active damping function from failing when the motor works in the external characteristic torque range, and further effectively suppressing the vehicle shaking caused by the motor speed fluctuation, while ensuring the safe operation of the motor, taking into account the drivability and power performance of the vehicle, and improving the driving experience.

[0071] In addition, Figure 4 is a flowchart of a motor torque control method provided by another embodiment of the present application, as shown in Figure 4 , the method comprises: S301, obtaining the demand torque, the compensation torque and the external characteristic torque corresponding to the current speed of the motor.

[0072] Here, the implementation of S301 is described in the related description of Figure 3 the embodiments, which will not be repeated here.

[0073] S302, determining the target torque according to the demand torque and the compensation torque.

[0074] Here, the implementation of S302 is described in the related description of Figure 3 the embodiments, which will not be repeated here.

[0075] S303, comparing the target torque with the external characteristic torque.

[0076] Here, the implementation of S303 is described in the related description of Figure 3 the embodiments, which will not be repeated here.

[0077] In some embodiments, before the target torque of the motor is processed for torque reduction in the following steps, the method further comprises: Step 1, obtaining a preset value of a torque flag bit.

[0078] The torque flag bit here is a preset state identifier for identifying whether to allow starting the torque reduction process, and the value thereof is associated with whether the motor active damping function has an abnormal situation of insufficient available torque. Obtaining the value is a prerequisite for subsequent judgment of whether to perform torque reduction, and provides a core judgment parameter for subsequent detection steps.

[0079] Step 2, detecting whether the value of the torque flag bit is a preset value.

[0080] Here, after obtaining the preset value of the torque flag bit, it is necessary to detect whether the value of the torque flag bit is a preset value, for example, whether the value of the torque flag bit is 1. By comparing the actual value of the torque flag bit with the preset value for activating the torque reduction process, it is determined whether the motor is in a reasonable state that requires torque reduction. This avoids triggering the torque reduction process in a scenario where torque reduction is not needed, ensures that the start of the torque reduction process has a clear state basis, and prevents the normal power output of the motor from being affected by a false operation.

[0081] Step 3, if the value of the torque flag bit is the preset value, performing the step of processing the target torque of the motor for torque reduction.

[0082] Here, when the value of the torque flag bit is the preset value such as the value 1, the target torque of the motor is processed for torque reduction. If the value of the torque flag bit is not the value 1, such as the value 0, the target torque of the motor is not processed for torque reduction. This indicates that the torque reduction process is started only when the value of the torque flag bit meets the preset activation condition, ensuring that the torque reduction is performed only under the double conditions of target torque overrun and motor controller determination of the need for torque reduction. This not only ensures that the target torque overrun problem can be solved in time, reserves available torque space for compensation torque to ensure the effectiveness of the active damping function, but also avoids the disorderly triggering of the torque reduction process, balancing the safe operation of the motor and the power demand of the vehicle.

[0083] S304, if the target torque is greater than the external characteristic torque, obtaining a preset torque mapping relationship; the torque mapping relationship is a one-to-one corresponding relationship between the current speed of the motor, the demand torque, and the torque reduction amplitude.

[0084] When the target torque is greater than the external characteristic torque, it indicates that the target torque needs to be subjected to the torque reduction processing, for which, the pre-stored torque mapping relationship needs to be acquired, the torque mapping relationship being a one-to-one corresponding relationship among the current speed of the motor, the demand torque and the torque reduction amplitude, so as to provide a standardized data index basis for subsequent determination of the target torque reduction amplitude, and to facilitate accurate implementation of the torque reduction processing. Exemplarily, the current speed of the motor can be acquired in real time by a speed sensor of the motor; the torque mapping relationship can be a table, and the specific form can be set according to actual needs, which is not limited herein.

[0085] In this way, when the target torque is subjected to the torque reduction processing, the pre-stored torque mapping relationship is acquired first to provide a standardized and working condition adapted quantitative basis for subsequent determination of the torque reduction amplitude, avoiding the problem of blind setting of the torque reduction amplitude due to lack of reasonable reference in the torque reduction process, and ensuring the scientificity of the torque reduction processing.

[0086] S305, determining a target torque reduction amplitude based on the current speed of the motor, the demand torque and the torque mapping relationship.

[0087] Exemplarily, taking the torque mapping relationship as a table, after the torque mapping relationship is acquired, since the current speed of the motor, the demand torque and the torque mapping relationship are all known, the torque reduction amplitude corresponding to the current speed of the motor and the demand torque together can be found in the table, i.e. the target torque reduction amplitude. This process directly locates the unique corresponding torque reduction amplitude by substituting the current speed of the motor and the demand torque into the torque mapping relationship for table lookup matching, so that the target torque reduction amplitude can strictly adapt to the current motor operating condition, not only meeting the requirement that the target torque after torque reduction does not exceed the limit, but also avoiding excessive torque reduction leading to power loss, balancing the safe operation of the motor and the power demand of the vehicle, and providing an accurate and reasonable quantitative index for subsequent torque reduction calculation.

[0088] In this way, by performing two-dimensional table lookup matching on the real-time acquired current speed of the motor, demand torque and torque mapping relationship, the torque reduction amplitude uniquely adapted to the current motor operating condition can be directly located, avoiding the deviation of single dimension or empirical setting of the torque reduction amplitude.

[0089] S306, obtaining a target torque after torque reduction according to the demand torque or the external characteristic torque and the target torque reduction amplitude, so that the target torque after torque reduction is less than or equal to the external characteristic torque.

[0090] In this case, after determining the target torque reduction amplitude, one processing method is to combine the demand torque with the target torque reduction amplitude to obtain the target torque after torque reduction, and another processing method is to combine the external characteristic torque with the target torque reduction amplitude to obtain the target torque after torque reduction. In summary, the core purpose is to ensure that the target torque after torque reduction is less than or equal to the external characteristic torque. In this way, the two processing methods can be flexibly selected to adapt to the control requirements under different motor operating conditions, further improve the adaptability of torque control and vehicle driving smoothness, and further ensure that the target torque after torque reduction is the available torque space reserved for the compensation torque, solve the problem that the active damping function fails due to lack of excess torque in the external characteristic torque range, realize normal superposition of the compensation torque to suppress speed fluctuation, and thus avoid vehicle shaking.

[0091] In some embodiments, the target torque after torque reduction is obtained according to the demand torque and the target torque reduction amplitude in S306, including: Step one, the vehicle controller reduces the demand torque to the target demand torque according to the target torque reduction amplitude.

[0092] Here, the motor controller sends a torque reduction instruction to the vehicle controller, and the vehicle controller adjusts the current demand torque based on the determined target torque reduction amplitude, that is, the demand torque is reduced to the target demand torque according to the target torque reduction amplitude. In this way, the target torque reduction amplitude directly acts on the demand torque, and the adjustment response speed is fast, without multiple rounds of signal interaction between the vehicle controller and the motor controller, thereby quickly controlling the target torque within the external characteristic torque range.

[0093] In addition, this processing method is suitable for working conditions with high power response accuracy requirements and fast torque space release. In actual application, for vehicle low-speed starting, climbing and other large demand torque scenes, the motor speed is low at this time, and the demand torque is close to the external characteristic torque. If the speed fluctuation needs to activate the active damping function quickly, the demand torque can be directly reduced to reserve space for the compensation torque, avoid the aggravation of shaking caused by signal interaction delay, and at the same time, the upper limit of the original external characteristic torque of the motor is reserved to ensure that the power demand can be quickly restored when the subsequent power demand is improved, and the power response is considered.

[0094] Step two, superimpose the target demand torque and the compensation torque to obtain the target torque after torque reduction.

[0095] After obtaining the target demand torque in step one, the target demand torque and the compensation torque are superimposed to obtain the target torque after torque reduction. Since the target torque is the sum of the demand torque and the compensation torque, after the demand torque is adjusted to the target demand torque according to the target torque reduction amplitude, the final target torque after torque reduction is generated by superimposing the compensation torque. The target torque after torque reduction not only retains the effect of the compensation torque required by the active damping function, but also ensures that the total torque after superimposition is within the range of the external characteristic torque, thereby achieving the solution to the problem of target torque exceeding the limit and the effectiveness of the active damping function.

[0096] In some embodiments, obtaining the target torque after torque reduction according to the external characteristic torque and the target torque reduction amplitude in S306 comprises: Step one: After the external characteristic torque is reduced to the target external characteristic torque according to the target torque reduction amplitude, the target external characteristic torque is sent to the vehicle controller.

[0097] Here, the motor controller quantitatively adjusts the external characteristic torque of the motor, that is, the target external characteristic torque is obtained by subtracting the target torque reduction amplitude from the external characteristic torque of the motor, and then the target external characteristic torque is sent to the vehicle controller. The vehicle controller provides a new constraint standard for adjusting the demand torque according to the target external characteristic torque. In simple terms, the actual maximum available torque of the motor is always the external characteristic torque without torque reduction, and the target external characteristic torque sent by the motor controller to the vehicle controller is actually a false value after adjustment. It is not that the motor can only output so much torque, but that the motor controller shows a low standard to the vehicle controller, that is, it means that this adjustment is only for the external characteristic torque signal, not for the physical output limit of the motor.

[0098] Step two: control the vehicle controller to adjust the demand torque to a target demand torque less than the target external characteristic torque, to obtain the target torque after torque reduction based on the target demand torque.

[0099] Here, when the vehicle controller generates the demand torque, it needs to follow the control logic that the demand torque is less than or equal to the currently received external characteristic torque signal. Therefore, when the reduced target external characteristic torque, i.e., the target external characteristic torque, is received, the vehicle controller will actively adjust the demand torque to a target demand torque less than the target external characteristic torque. Since the target torque is the sum of the demand torque and the compensation torque, the vehicle controller adjusts the demand torque to the target demand torque according to the target external characteristic torque constraint, so that there is enough space to superimpose the compensation torque. The final target torque after torque reduction (i.e., the superimposed value of the target demand torque and the compensation torque) can naturally meet the requirement of being less than or equal to the original external characteristic torque, thereby achieving effective torque reduction of the target torque and ensuring the normal function of the compensation torque required by the active damping function.

[0100] Therefore, in the processing mode, the maximum available torque of the motor is unchanged, and the motor has sufficient available torque space to meet the demand of the active damping function, and the actual maximum output capacity of the motor is reserved. When the vehicle has a sudden power demand (such as sudden acceleration), the motor can still output greater torque based on the original external characteristic torque, which takes into account the torque reduction demand and the vehicle power reserve.

[0101] In some embodiments, the target torque of the motor is subjected to torque reduction processing, and the torque reduction processing further includes: Step one, obtaining a pre-stored motor torque reduction gradient table, and determining the torque reduction gradient corresponding to the motor according to the motor torque reduction gradient table.

[0102] The torque reduction gradient is a fixed change value in each cycle. In this regard, when the target torque of the motor is subjected to torque reduction processing, the pre-stored motor torque reduction gradient table can be obtained first, and then the torque reduction gradient corresponding to the motor can be determined according to the motor torque reduction gradient table. For example, the motor torque reduction gradient table can be a pre-stored gradient data set related to the motor operating parameters, which contains the torque reduction rate standards under different working conditions. By calling the table and matching the current operating state (such as the speed) of the motor, the unique corresponding torque reduction gradient can be located.

[0103] In other embodiments, the motor torque reduction gradient table can also be a pre-stored gradient data set related to the operating cycle of the function module in which the torque reduction strategy of the motor controller is located, that is, the operating cycle of the function module and the corresponding torque reduction gradient have a one-to-one correspondence. By calling the table and matching the operating cycle of the function module, the unique corresponding torque reduction gradient can be located. For example, if the operating cycle of the function module is 2ms / time, the real-time matched torque reduction gradient is 5N•m / cycle, which means that the target torque will be gradually reduced by a fixed step of 5N•m every 2ms until it reaches a target less than or equal to the external characteristic torque, so as to ensure that the torque reduction efficiency can adapt to the operating rhythm of the function module and achieve appropriate and smooth torque reduction effect.

[0104] In this way, by determining the torque reduction gradient corresponding to the motor according to the motor torque reduction gradient table, a specific rate basis is provided for subsequent torque reduction processing, which ensures that the subsequent torque reduction process changes at a pre-set reasonable rhythm, avoiding the impact on the stability of the motor caused by too fast or too slow torque reduction, such as avoiding torque mutation caused by too large gradient, which causes the vehicle to shake.

[0105] Step two, during the torque reduction processing of the target torque of the motor, the target torque of the motor is subjected to torque reduction processing based on the torque reduction gradient corresponding to the motor.

[0106] After the torque reduction gradient corresponding to the motor is determined, the target torque of the motor needs to be reduced based on the torque reduction gradient corresponding to the motor during the target torque reduction process of the motor. That is, the torque reduction operation needs to follow the rate specified by the determined torque reduction gradient to gradually reduce the target torque to a range that meets the requirements, that is, the target torque after torque reduction is less than or equal to the external characteristic torque, rather than completing torque reduction instantaneously. This torque reduction method based on the gradient can make the torque change smooth and transition, reduce the motor speed fluctuation or vehicle impact caused by sudden torque change, achieve the torque reduction target, and ensure the smoothness of motor operation and the comfort of vehicle driving.

[0107] S307, when the motor meets the preset condition, exiting the torque reduction process and controlling the motor to return from the current target torque to the initial state before torque reduction.

[0108] The preset condition includes that the target torque after torque reduction is less than or equal to the external characteristic torque and lasts for a preset time length. This condition is used to ensure that the motor has a stable torque output environment when exiting the torque reduction process, avoid exiting the torque reduction process too early because the target torque after torque reduction has not yet stabilized to meet the requirements, and cause the target torque to exceed the external characteristic torque again, thereby causing problems such as failure of the active damping function, motor speed fluctuation, and the like. Exemplarily, the preset time length can be 100 ms, 200 ms, or other sizes, which can be set according to actual control requirements, and is not limited herein.

[0109] Here, the motor controller collects and judges the size relationship between the target torque after torque reduction and the external characteristic torque in real time. If it is detected that the target torque after torque reduction is less than or equal to the external characteristic torque, the timing function is started. When the state that the target torque after torque reduction is less than or equal to the external characteristic torque lasts for a time length that reaches the preset time length, it is determined that the motor meets the preset condition. At this time, the motor controller exits the torque reduction process and controls the current target torque to gradually increase according to the preset smooth transition mode, such as increasing the torque by a fixed step length every period, and finally restores to the initial torque state before torque reduction, to ensure that the motor power output returns to the normal level, which not only ensures the stable response of the subsequent power demand of the vehicle, but also avoids sudden changes in the torque return process causing new operation fluctuations.

[0110] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0111] Figure 5 is a structural schematic diagram of a motor torque control device provided by an embodiment of the present application. As shown in Figure 5 The motor torque control device 400 provided by the present embodiment can include an acquisition module 401, a determination module 402, a comparison module 403, and a torque reduction module 404.

[0112] The acquisition module 401 is configured to acquire a demand torque, a compensation torque and an external characteristic torque corresponding to a current rotating speed of the motor; the determination module 402 is configured to determine a target torque according to the demand torque and the compensation torque; the comparison module 403 is configured to compare the target torque with the external characteristic torque; and the torque reduction module 404 is configured to, according to the target torque being greater than the external characteristic torque, perform a torque reduction process on the target torque of the motor, so that the target torque after the torque reduction is less than or equal to the external characteristic torque.

[0113] In a possible implementation, the torque reduction module 404 is configured to, according to the target torque being greater than the external characteristic torque, acquire a pre-stored torque mapping relationship, the torque mapping relationship being a one-to-one corresponding relationship between the current rotating speed of the motor, the demand torque and a torque reduction amplitude, then determine a target torque reduction amplitude based on the current rotating speed of the motor, the demand torque and the torque mapping relationship, and finally obtain the target torque after the torque reduction according to the demand torque or the external characteristic torque and the target torque reduction amplitude.

[0114] In a possible implementation, the torque reduction module 404 is configured to control the vehicle controller to reduce the demand torque to a target demand torque according to the target torque reduction amplitude, and then superimpose the target demand torque and the compensation torque to obtain the target torque after the torque reduction.

[0115] In a possible implementation, the torque reduction module 404 is configured to, after reducing the external characteristic torque to a target external characteristic torque according to the target torque reduction amplitude, send the target external characteristic torque to the vehicle controller, and control the vehicle controller to adjust the demand torque to a target demand torque that is less than the target external characteristic torque, so as to obtain the target torque after the torque reduction based on the target demand torque.

[0116] In a possible implementation, the torque reduction module 404 is configured to acquire a pre-stored motor torque reduction gradient table, determine a motor corresponding torque reduction gradient according to the motor torque reduction gradient table, and perform the torque reduction process on the target torque of the motor based on the motor corresponding torque reduction gradient.

[0117] In a possible implementation, the torque reduction module 404 is configured to, when the motor meets a preset condition, exit the torque reduction process and control the motor to return from the current target torque to an initial state before the torque reduction; wherein the preset condition includes that the target torque after the torque reduction is less than or equal to the external characteristic torque and lasts for a preset time length.

[0118] In a possible implementation, the torque reduction module 404 is configured to acquire a preset value of a torque flag bit, detect whether the value of the torque flag bit is a preset value, and if the value of the torque flag bit is the preset value, perform the step of performing the torque reduction process on the target torque of the motor.

[0119] It should be noted that the information interaction, execution process and the like between the above apparatuses / units are based on the same concept as the method embodiments of the present application, and the specific functions and brought technical effects can be referred to the method embodiments part, which will not be repeated here.

[0120] Figure 6 is a structural schematic diagram of a vehicle provided by an embodiment of the present application. As shown in Figure 6 the vehicle 600 of this embodiment includes a processor 610, a memory 620, and the memory 620 stores a computer program 621 executable on the processor 610. The processor 610 implements the steps in any of the above method embodiments when executing the computer program 621, for example, the steps shown in Figure 2 . Alternatively, the processor 610 implements the functions of the modules / units in the above apparatus embodiments when executing the computer program 621, for example, the functions of the modules shown in Figure 5 .

[0121] For example, the computer program 621 can be divided into one or more modules / units, which are stored in the memory 620 and executed by the processor 610 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 621 in the vehicle 600.

[0122] Those skilled in the art can understand that Figure 6 is only an example of a vehicle and does not constitute a limitation on the vehicle, which can include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, buses, etc.

[0123] The processor 610 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0124] The memory 620 can be an internal storage unit of the vehicle, such as a hard disk or a memory of the vehicle, or an external storage device of the vehicle, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, or the like. The memory 620 can include both the internal storage unit and the external storage device. The memory 620 is used to store computer programs and other programs and data required by the vehicle. The memory 620 can also be used to temporarily store data that has been output or will be output.

[0125] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the above-described functions. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the purpose of mutual distinction, and do not limit the protection scope of the application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0126] An embodiment of the application further provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the above-mentioned.

[0127] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0128] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the application.

[0129] In the embodiments of the present application, it should be understood that the disclosed apparatus / vehicle and method can be implemented in other manners. For example, the described apparatus / vehicle embodiments are merely schematic. For example, the division of the modules or units is merely logical function division. There can be another division manner for the actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0130] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0131] In addition, each functional unit in the various embodiments of the present application can be integrated in one processing unit, or each unit can be a physically independent unit, or two or more units can be integrated in one unit. The integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0132] The integrated module / unit, if implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, all or part of the flow of the above-mentioned embodiment methods can be implemented by a computer program instructing related hardware to complete, and the computer program can be stored in a computer readable storage medium. When the processor executes the computer program, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable file or some intermediate form. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0133] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method of motor torque control, characterized by, The method comprises the following steps: obtaining a demand torque, a compensation torque and an external characteristic torque corresponding to a current rotating speed of the motor; determining a target torque according to the demand torque and the compensation torque; comparing the target torque with the external characteristic torque; if the target torque is greater than the external characteristic torque, performing a torque reduction process on the target torque of the motor, so that the target torque after the torque reduction is less than or equal to the external characteristic torque.

2. The electric motor torque control method of claim 1, wherein, The torque reduction process on the target torque of the motor comprises: obtaining a pre-stored torque mapping relationship, wherein the torque mapping relationship is a one-to-one corresponding relationship among the current rotating speed of the motor, the demand torque and a torque reduction amplitude; determining a target torque reduction amplitude based on the current rotating speed of the motor, the demand torque and the torque mapping relationship; obtaining the target torque after the torque reduction according to the demand torque or the external characteristic torque and the target torque reduction amplitude.

3. The electric motor torque control method of claim 2, wherein, The obtaining of the target torque after the torque reduction according to the demand torque and the target torque reduction amplitude comprises: controlling a vehicle control unit to reduce the demand torque to a target demand torque according to the target torque reduction amplitude; superimposing the target demand torque and the compensation torque to obtain the target torque after the torque reduction.

4. The electric motor torque control method of claim 2, wherein, The obtaining of the target torque after the torque reduction according to the external characteristic torque and the target torque reduction amplitude comprises: sending the external characteristic torque to the vehicle control unit after reducing the external characteristic torque to a target external characteristic torque according to the target torque reduction amplitude; controlling the vehicle control unit to adjust the demand torque to a target demand torque which is less than the target external characteristic torque, so as to obtain the target torque after the torque reduction based on the target demand torque.

5. The electric motor torque control method according to any one of claims 1 to 4, characterized by, The torque reduction process on the target torque of the motor comprises: obtaining a pre-stored motor torque reduction gradient table, and determining a torque reduction gradient corresponding to the motor according to the motor torque reduction gradient table; performing the torque reduction process on the target torque of the motor based on the torque reduction gradient corresponding to the motor.

6. The electric motor torque control method according to any one of claims 1 to 4, characterized by, After the torque reduction process on the target torque of the motor, the method further comprises: when the motor meets a pre-set condition, exiting the torque reduction process and controlling the motor to return from the current target torque to an initial state before the torque reduction; wherein the pre-set condition comprises that the target torque after the torque reduction is less than or equal to the external characteristic torque and lasts for a pre-set time length.

7. The electric motor torque control method according to any one of claims 1 to 4, characterized by, Before the torque reduction process on the target torque of the motor, the method further comprises: obtaining a value of a pre-set torque flag; detecting whether the value of the torque flag is a pre-set value; if the value of the torque flag is the pre-set value, performing the torque reduction process on the target torque of the motor.

8. An electric motor torque control device characterized by comprising: The method comprises the following steps: an obtaining module, configured to obtain a demand torque, a compensation torque and an external characteristic torque corresponding to a current rotating speed of the motor; a determining module, configured to determine a target torque according to the demand torque and the compensation torque; a comparing module, configured to compare the target torque with the external characteristic torque; a torque reduction module, configured to perform a torque reduction process on the target torque of the motor according to that the target torque is greater than the external characteristic torque, so that the target torque after the torque reduction is less than or equal to the external characteristic torque.

9. A vehicle comprising a memory and a processor, the memory having stored therein a computer program executable on the processor, characterized in that, The computer program is executed by the processor to implement the motor torque control method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program is executed by the processor to implement the motor torque control method according to any one of claims 1 to 7.

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