Vehicle torque control method and device, vehicle and storage medium

Abstract

The invention discloses a torque control method and device of a vehicle, the vehicle and a storage medium, and belongs to the technical field of vehicle control, the torque control method of the vehicle comprises the steps that in an electronic continuously variable transmission (ECVT) mode, according to the opening degree of a brake pedal and the opening degree of an accelerator pedal, the vehicle working condition is determined; under the condition that the vehicle working condition represents that the vehicle is switched from the braking stage to the crawling stage, the first output torque of an engine is controlled to be smaller than a preset torque limiting value till the second output torque of a driving motor is equal to zero, the preset torque limit value is used for representing an output torque critical value of the engine under the condition that the knocking sound of the vehicle is not detected. According to the scheme, the knocking sound of the vehicle in the process of switching from the braking stage to the crawling stage can be reduced, and the NVH performance of the vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicle control, and particularly relates to a torque control method and device of a vehicle, the vehicle, and a storage medium. BACKGROUND

[0002] In order to balance the power and economic demands, an electronic continuously variable transmission (ECVT) adopts a multi-gear transmission. In the multi-gear transmission, a gear that is not currently involved in power transmission is referred to as a non-load-bearing gear.

[0003] In the ECVT mode, the vehicle adjusts the power flow among the engine, the drive motor, and the generator in real time according to the working condition, to achieve the effect of continuously variable transmission. However, in the process of switching from the braking phase to the crawling phase, in the zero-torque interval of the drive motor, the non-load-bearing gear is prone to knocking under the torque impact, which affects the noise, vibration, harshness (NVH) performance of the vehicle. SUMMARY

[0004] Embodiments of the present application provide a torque control method and device of a vehicle, a vehicle, and a storage medium, thereby reducing the knocking sound at least to some extent in the process of switching from the braking phase to the crawling phase, and improving the NVH performance of the vehicle.

[0005] Other characteristics and advantages of the present application will become apparent from the following detailed description, or will be learned by practice of the present application.

[0006] According to a first aspect of the embodiments of the present application, a torque control method of a vehicle is provided, applied to a vehicle, the vehicle including a brake pedal, an accelerator pedal, and a transmission, the transmission including an engine and a drive motor, the torque control method of the vehicle including: In an electronic continuously variable transmission (ECVT) mode, determining a vehicle working condition according to a brake pedal opening degree and an accelerator pedal opening degree; In a case where the vehicle working condition represents a situation of switching from a braking phase to a crawling phase, controlling a first output torque of the engine to be less than a preset torque limit value until a second output torque of the drive motor is equal to zero, wherein the preset torque limit value is used to represent an output torque threshold value of the engine in a case where knocking sound of the vehicle is not detected.

[0007] In some embodiments, controlling the first output torque of the engine to be less than the preset torque limit value until the second output torque of the drive motor is equal to zero includes: multiplying the preset torque limit value by a preset multiple to obtain a target output torque, wherein the preset multiple is greater than 0 and less than 1. controlling the first output torque of the engine to be the target output torque until the second output torque of the driving motor is equal to zero.

[0008] In some embodiments, the gearbox further comprises gears and gear pairs, and the torque control method of the vehicle further comprises: adjusting the base torque limit value according to the number of gear pairs and / or the moment of inertia of the gears to obtain the preset torque limit value.

[0009] In some embodiments, adjusting the base torque limit value according to the number of gear pairs and / or the moment of inertia of the gears to obtain the preset torque limit value comprises: in a case where the number of gear pairs is greater than a preset number, reducing the base torque limit value to obtain the preset torque limit value; and / or, in a case where the moment of inertia of the gears is greater than a preset moment of inertia, reducing the base torque limit value to obtain the preset torque limit value.

[0010] In some embodiments, the vehicle working condition is determined according to the brake pedal opening and the accelerator pedal opening, comprising: in a case where the brake pedal opening decreases to be less than or equal to a first preset opening and the accelerator pedal opening increases to be greater than a second preset opening, determining that the vehicle working condition represents that the vehicle switches from the braking phase to the crawling phase.

[0011] In some embodiments, after controlling the first output torque of the engine to be less than the preset torque limit value until the second output torque of the driving motor is equal to zero, the torque control method of the vehicle further comprises: in a case where the second output torque is greater than zero, controlling the first output torque according to the required power of the vehicle and the accelerator pedal opening.

[0012] According to a second aspect of the embodiments of the present application, a torque control device of a vehicle is provided, which is applied to a vehicle, the vehicle comprising a brake pedal, an accelerator pedal and a gearbox, the gearbox comprising an engine and a driving motor, and the device comprising: a working condition determination module, configured to determine a vehicle working condition according to a brake pedal opening and an accelerator pedal opening in an electronic continuously variable transmission (ECVT) mode; and a torque control module, configured to, in a case where the vehicle working condition represents that the vehicle switches from a braking phase to a crawling phase, control a first output torque of the engine to be less than a preset torque limit value until a second output torque of the driving motor is equal to zero, wherein the preset torque limit value is used to represent an output torque critical value of the engine in a case where knocking sound of the vehicle is not detected.

[0013] According to a third aspect of the embodiments of the present application, a vehicle is provided, comprising a processor and a memory, the memory storing computer program instructions capable of being executed by the processor, and the processor, when executing the computer program instructions, implements the steps of the method according to any one of the first aspect.

[0014] According to a fourth aspect of the embodiments of the present application, a computer readable storage medium is provided, and the computer readable storage medium stores computer program instructions. When the computer program instructions are executed by a processor, the processor is caused to implement the steps of the method according to any one of the first aspect.

[0015] According to a fifth aspect of the embodiments of the present application, a computer program product is provided, and the computer program product comprises a computer program. When the computer program is executed by a processor, the processor is caused to implement the steps of the method according to any one of the first aspect.

[0016] In the present application, in the ECVT mode, the vehicle working condition is determined according to the brake pedal opening degree and the accelerator pedal opening degree; in the case that the vehicle working condition represents that the vehicle switches from the braking phase to the crawling phase, the first output torque of the engine is controlled to be less than a preset torque limit value until the second output torque of the driving motor is equal to zero, wherein the preset torque limit value is used to represent the output torque critical value of the engine in the case that the knocking sound of the vehicle is not detected. Through the above scheme, the knocking sound in the process of switching the vehicle from the braking phase to the crawling phase can be reduced, and the NVH performance of the vehicle is improved.

[0017] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present application. BRIEF DESCRIPTION OF DRAWINGS

[0018] The drawings incorporated in the specification and forming a part thereof illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application. It is clear that the drawings described below are only some embodiments of the present application, and other drawings can be obtained according to these drawings without creative labor for those skilled in the art. In the drawings: Figure 1 An electrical architecture diagram of a gearbox according to some embodiments of the present application is shown; Figure 2 A comparison diagram of the torque control method of the vehicle and related technologies according to some embodiments of the present application is shown; Figure 3 A flowchart of the torque control method of the vehicle according to some embodiments of the present application is shown; Figure 4 A block diagram of the torque control device of the vehicle according to some embodiments of the present application is shown; Figure 5 A structural diagram of the vehicle according to some embodiments of the present application is shown. DETAILED DESCRIPTION

[0019] With reference to the drawings and the embodiments of the present application described below, the technical solutions of the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative efforts are within the scope of the present application.

[0020] In addition, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the present application. One skilled in the relevant art will recognize, however, that the technical solutions of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present application.

[0021] The block diagrams shown in the drawings are only functional entities, and do not necessarily correspond to physically independent entities. That is, the functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0022] The flowcharts shown in the drawings are only exemplary illustrations, and do not necessarily include all the contents and operations / steps, nor are they necessarily executed in the described order. For example, some operations / steps can be further decomposed, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to the actual situation.

[0023] It should also be noted that the terms "first", "second", and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the objects thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described.

[0024] In order for those skilled in the art to better understand the present application, first Figure 1 The gearbox involved in the present application is briefly described.

[0025] Figure 1 An electrical architecture diagram of the gearbox according to some embodiments of the present application is shown. As shown in the figure, the gearbox is connected to a vehicle controller (VC) and a vehicle network (VN). The vehicle controller (VC) is connected to a vehicle network (VN) and a vehicle network (VN). The vehicle controller (VC) is connected to a vehicle network (VN) and a vehicle network (VN). Figure 1As shown, the gearbox includes a generator P1, an engine and a drive motor P3, in the ECVT mode, the red solid line is the drive path, and the blue dashed line is the non-drive path, the non-load bearing tooth in the non-drive path is prone to knocking under torque impact. The principle is as follows: when the vehicle is in the braking stage, the engine starts and generates electricity, the output torque of the engine is positive torque, the output torque of the generator P1 is negative torque, in order to realize that the wheel edge torque is 0, that is, no additional torque is input to the wheel edge, the output torque of the drive motor P3 is negative torque; when the brake pedal is gradually released, the drive motor P3 is gradually converted into the driving mode, and the output torque of the drive motor P3 changes to a positive value; in the process of switching the vehicle from the braking stage to the crawling stage, the drive motor torque will alternate between driving (positive value) and recovery (negative value), that is, the output torque of the drive motor will be zero, the drive motor path, that is, the green solid line in the figure, is impacted by the drive path (that is, the red solid line), thereby causing the gear of the drive motor path to fluctuate, causing the non-load bearing gear of the non-drive path (that is, the blue dashed line) to knock, and producing knocking sound. Figure 1

[0026] In the ECVT mode, the vehicle working condition is determined according to the brake pedal opening degree and the accelerator pedal opening degree; in the case where the vehicle working condition represents that the vehicle is switched from the braking stage to the crawling stage, the first output torque of the engine is controlled to be less than a preset torque limit value until the second output torque of the drive motor is equal to zero, wherein the preset torque limit value is used to represent the output torque critical value of the engine in the case where the knocking sound of the vehicle is not detected. Figure 2 A comparison diagram of the torque control method of the vehicle according to some embodiments of the present application and related technologies is shown. As shown in Figure 2 In the process of switching the vehicle from the braking stage to the crawling stage, the brake pedal opening degree gradually decreases, and the second output torque of the drive motor is negative. In related technologies, the engine torque is not limited in this stage (as shown by the blue implementation), but the first output torque of the engine is reduced to be less than the preset torque limit value until the second output torque of the drive motor is equal to zero (as shown by the blue dashed line), so that when the second output torque of the drive motor is 0Nm, the knocking sound is not detected, and the NVH performance of the vehicle is improved.

[0027] Figure 3 A flowchart of the torque control method of the vehicle according to some embodiments of the present application is shown. As shown in Figure 3 A torque control method of a vehicle is provided, the vehicle including a brake pedal, an accelerator pedal and a gearbox, the gearbox including an engine and a drive motor, the method can include the following steps: Step 301, in the ECVT mode, determining the vehicle working condition according to the brake pedal opening degree and the accelerator pedal opening degree; ​In step 302, when the vehicle condition indicates that the vehicle switches from the braking phase to the crawling phase, the first output torque of the engine is controlled to be less than a preset torque limit until the second output torque of the driving motor is equal to zero, where the preset torque limit is used to represent the output torque threshold of the engine in the case where the knocking sound of the vehicle is not detected.

[0028] It can be understood that when the vehicle is in the ECVT mode, the engine, the driving motor and the generator in the gearbox jointly act to dynamically adjust the power distribution through power splitting to achieve stepless speed change.

[0029] In step 301, in the ECVT mode, the brake pedal opening and the throttle pedal opening can be detected in real time, and the vehicle condition can be determined in real time according to the detected brake pedal opening and throttle pedal opening.

[0030] In some embodiments, the vehicle condition is determined according to the brake pedal opening and the throttle pedal opening, including: in the case where the brake pedal opening decreases to be less than or equal to a first preset opening and the throttle pedal opening increases to be greater than a second preset opening, the vehicle condition indicates that the vehicle switches from the braking phase to the crawling phase.

[0031] The first preset opening and the second preset opening can be designed according to actual conditions, and in some embodiments, the first preset opening can be 0, 5% or other values, and the second preset opening can be 5% or other values.

[0032] Taking the first preset opening as 0 and the second preset opening as 5% as an example, in the case where the brake pedal opening decreases to 0 and the throttle pedal opening increases to be greater than 5%, it can be determined that the vehicle switches from the braking phase to the crawling phase.

[0033] In step 302, during the process that the vehicle switches from the braking phase to the crawling phase, the second output torque of the driving motor increases from a negative value to zero and then changes to a positive value, and when the second output torque of the driving motor is equal to zero, the knocking sound is prone to occur.

[0034] It should be noted that the preset torque limit is used to represent the output torque threshold of the engine in the case where the knocking sound of the vehicle is not detected, that is, when the first output torque of the engine is greater than the preset torque limit, the knocking sound of the vehicle can be detected, and when the first output torque of the engine is equal to the preset torque limit, the knocking sound of the vehicle cannot be detected.

[0035] In the implementation process, the first output torque of the engine can be detected in real time. If the first output torque is not less than the preset torque limit value, the first output torque is reduced. If the first output torque is less than the preset torque limit value, the second output torque of the driving motor is detected to determine the size of the second output torque, and when the second output torque is greater than zero, the first output torque is normally controlled without limiting it to be less than the preset torque limit value.

[0036] In some embodiments, controlling the first output torque of the engine to be less than the preset torque limit value until the second output torque of the driving motor is equal to zero comprises: multiplying the preset torque limit value by a preset multiple to obtain a target output torque, wherein the preset multiple is greater than 0 and less than 1; controlling the first output torque of the engine to be the target output torque until the second output torque of the driving motor is equal to zero.

[0037] Specifically, the preset multiple can be a decimal between 0.5 and 1. Taking the preset torque limit value Tr and the preset multiple 0.9 as an example, the first output torque of the engine can be controlled to be a fixed value 0.9Tr until the second output torque of the driving motor is equal to zero.

[0038] It should be noted that, considering that the configurations of different vehicles are not the same, the corresponding preset torque limit values also have small differences, for example, the preset torque limit value corresponding to some vehicles is 50Nm, and the preset torque limit value corresponding to some vehicles is 48Nm. In the embodiments of the present application, the first output torque is not directly controlled to be equal to the preset torque limit value, but is controlled to be less than the preset torque limit value. The target output torque obtained by multiplying the preset torque limit value by the preset multiple is used as the first output torque to control the torque of the engine, which can make the scheme have good universality for different vehicles.

[0039] In some embodiments, the gearbox further comprises gears and gear pairs. The base torque limit value can be adjusted according to the number of gear pairs and / or the moment of inertia of the gears to obtain the preset torque limit value.

[0040] The base torque limit value can be a torque limit value with universality obtained according to simulation experiments, for example, 40Nm. In the specific application process, the base torque limit value can be adjusted in combination with the number of gear pairs and / or the moment of inertia of the gears in the gearbox.

[0041] It can be understood that the gear pair refers to a transmission unit composed of two meshing gears in the gearbox, which is used to change the speed, torque and power transmission direction. It is the core mechanical component of the gearbox, which directly affects the shift smoothness, transmission efficiency and durability.

[0042] The moment of inertia of the gear represents the ability of the gear to resist changes in angular acceleration, and the calculation of the moment of inertia of the gear can be combined with geometric simplification, material properties and actual working conditions. In engineering, the three-step method of "theoretical formula + CAD verification + bench test" is often used to determine.

[0043] In some embodiments, the base torque limit value can be reduced to obtain the preset torque limit value when the number of gear pairs is greater than a preset number; and / or the base torque limit value can be reduced to obtain the preset torque limit value when the moment of inertia of the gear is greater than a preset moment of inertia.

[0044] It should be noted that the more the number of gear pairs or the greater the moment of inertia of the gear, the greater the knocking kinetic energy will be generated, and therefore the preset torque limit value should be smaller.

[0045] Based on this, when the number of gear pairs is large, or the moment of inertia of the gear is large, or both the number of gear pairs is large and the moment of inertia of the gear is large, the base torque limit value should be reduced to reduce the knocking sound.

[0046] In some embodiments, after the first output torque of the engine is controlled to be less than the preset torque limit value until the second output torque of the drive motor is equal to zero, the torque control method of the vehicle can further include: when the second output torque is greater than zero, controlling the first output torque according to the demand power of the vehicle and the accelerator pedal opening.

[0047] It can be understood that after the vehicle switches to the crawling stage, the vehicle accelerates, and the second output torque of the drive motor gradually increases. At this time, it can be judged whether the second output torque is greater than zero. If the second output torque is greater than zero, the first output torque of the engine is restored to normal control. Specifically, the first output torque can be controlled according to the demand power of the vehicle and the accelerator pedal opening.

[0048] In the implementation process, the first output torque can be calculated by the formula Teng=k1×△SOC+k2×θ, where Teng is the first output torque, △SOC is the demand power, i.e. the difference between the target power and the actual power, θ is the accelerator pedal opening, and K1 and K2 are fitting coefficients.

[0049] In the ECVT mode, the vehicle working condition is determined according to the brake pedal opening and the accelerator pedal opening. When the vehicle working condition represents that the vehicle switches from the braking stage to the crawling stage, the first output torque of the engine is controlled to be less than the preset torque limit value until the second output torque of the drive motor is equal to zero. The preset torque limit value is used to represent the output torque critical value of the engine when the knocking sound of the vehicle is not detected. Through the above scheme, the knocking sound during the process of switching the vehicle from the braking stage to the crawling stage can be reduced, and the NVH performance of the vehicle can be improved.

[0050] The device embodiment of the present application is introduced below, which can be used to execute the torque control method of the vehicle in the above-mentioned embodiments of the present application. For details not disclosed in the device embodiment of the present application, refer to the above-mentioned embodiments of the torque control method of the vehicle.

[0051] Referring to Figure 4 , a block diagram of the torque control device of the vehicle in the embodiment of the present application is shown.

[0052] The torque control device of the vehicle in the embodiment of the present application is applied to a vehicle, which comprises a brake pedal, an accelerator pedal and a gearbox, and the gearbox comprises an engine and a driving motor, as shown in Figure 4 The torque control device of the vehicle comprises a working condition determination module 401 and a torque control module 402, wherein the working condition determination module 401 is configured to determine the working condition of the vehicle according to the opening degree of the brake pedal and the opening degree of the accelerator pedal in the electronic continuously variable transmission (ECVT) mode; and the torque control module 402 is configured to control the first output torque of the engine to be less than a preset torque limit value until the second output torque of the driving motor is equal to zero in the case that the working condition of the vehicle represents that the vehicle switches from the braking phase to the crawling phase, wherein the preset torque limit value represents the output torque critical value of the engine in the case that the knocking sound of the vehicle is not detected.

[0053] In some embodiments, based on the foregoing scheme, the torque control module 402 can also be configured to multiply the preset torque limit value by a preset multiple to obtain a target output torque, wherein the preset multiple is greater than 0 and less than 1; and control the first output torque of the engine to be the target output torque until the second output torque of the driving motor is equal to zero.

[0054] In some embodiments, based on the foregoing scheme, the gearbox further comprises gears and gear pairs, and the torque control module 402 can also be configured to adjust the base torque limit value according to the number of gear pairs and / or the rotational inertia of the gears to obtain the preset torque limit value.

[0055] In some embodiments, based on the foregoing scheme, the torque control module 402 can also be configured to, in the case that the number of gear pairs is greater than a preset number, reduce the base torque limit value to obtain the preset torque limit value; and / or, in the case that the rotational inertia of the gears is greater than a preset rotational inertia, reduce the base torque limit value to obtain the preset torque limit value.

[0056] In some embodiments, based on the foregoing scheme, the working condition determination module 401 can also be configured to, in the case that the opening degree of the brake pedal is reduced to be less than or equal to a first preset opening degree and the opening degree of the accelerator pedal is increased to be greater than a second preset opening degree, determine that the working condition of the vehicle represents that the vehicle switches from the braking phase to the crawling phase.

[0057] In some embodiments, based on the foregoing scheme, the torque control module 402 can also be used to control the first output torque according to the vehicle's required power and the accelerator pedal opening when the second output torque is greater than zero.

[0058] Based on the same inventive concept, this application also provides a vehicle, see reference. Figure 5 The diagram shows a structural schematic of a vehicle according to an embodiment of this application. The vehicle includes one or more memories 504, one or more processors 502, and at least one computer program (computer program instruction) stored in the memory 504 and executable on the processor 502. When the processor 502 executes the computer program, it implements the method described above.

[0059] Among them, Figure 5 In this document, a bus architecture (represented by bus 500) is used. Bus 500 may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 502 and memory represented by memory 504. Bus 500 may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 505 provides an interface between bus 500 and receiver 501 and transmitter 503. Receiver 501 and transmitter 503 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 502 is responsible for managing bus 500 and general processing, while memory 504 can be used to store data used by processor 502 during operation.

[0060] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, cause the processor to perform the steps of the method described above.

[0061] Based on the same inventive concept, embodiments of this application provide a computer program product, including a computer program, which, when executed by a processor, causes the processor to perform the steps of the method described above.

[0062] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions can be stored on or transferred over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the disclosure and appended claims. For example, due to the nature of software, functions described above can be implemented using software executed by a processor, hardware, firmware, hardwiring, or combinations of any of these. Features implementing functions can also be physically located at various positions, including being distributed such that portions of functions are implemented at different physical locations. Also, as used herein, including in the claims, "or" as used in a list of items prefaced by "comprising" to indicate a disjunctive list means each individual item can be present or none can be present, but that a listing of two or more items do not require that any or all of the items be present, and that the

[0063] In several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units can be a logical function division, and other division manners can be used in 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 coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, units or modules, and can be electrical or other forms.

[0064] The units described as separate components can or can not be physically separated, and the components of the control device can or can not be physical units, i.e. can be located in one place or distributed on a plurality of units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0065] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store computer program instructions.

[0066] The above merely provides an example of the present application, and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall fall into the scope of claims of the present application.

Claims

1. A torque control method of a vehicle, characterized by, The method is applied to a vehicle, the vehicle comprising a brake pedal, an accelerator pedal and a gearbox, the gearbox comprising an engine and a drive motor, and the method comprising: determining a vehicle working condition according to a brake pedal opening degree and an accelerator pedal opening degree in an electronic continuously variable transmission (ECVT) mode; in a case where the vehicle working condition represents that the vehicle switches from a braking phase to a coasting phase, controlling a first output torque of the engine to be less than a preset torque limit value until a second output torque of the drive motor is equal to zero, wherein the preset torque limit value is used to represent a critical value of the output torque of the engine in a case where a knocking sound of the vehicle is not detected.

2. The torque control method of a vehicle according to claim 1, characterized by, The controlling the first output torque of the engine to be less than the preset torque limit value until the second output torque of the drive motor is equal to zero comprises: multiplying the preset torque limit value by a preset multiple to obtain a target output torque, wherein the preset multiple is greater than 0 and less than 1; controlling the first output torque of the engine to be the target output torque until the second output torque of the drive motor is equal to zero.

3. The torque control method of a vehicle according to claim 1, characterized by, The gearbox further comprises gears and gear pairs, and the method further comprises: adjusting a base torque limit value according to a number of the gear pairs and / or a moment of inertia of the gears to obtain the preset torque limit value.

4. The torque control method of a vehicle according to claim 3, characterized by, The adjusting the base torque limit value according to the number of the gear pairs and / or the moment of inertia of the gears to obtain the preset torque limit value comprises: in a case where the number of the gear pairs is greater than a preset number, reducing the base torque limit value to obtain the preset torque limit value; and / or, in a case where the moment of inertia of the gears is greater than a preset moment of inertia, reducing the base torque limit value to obtain the preset torque limit value.

5. The torque control method of a vehicle according to claim 1, characterized by, The determining the vehicle working condition according to the brake pedal opening degree and the accelerator pedal opening degree comprises: in a case where the brake pedal opening degree is reduced to be less than or equal to a first preset opening degree and the accelerator pedal opening degree is increased to be greater than a second preset opening degree, determining that the vehicle working condition represents that the vehicle switches from the braking phase to the coasting phase.

6. The torque control method of a vehicle according to claim 1, characterized by, After the controlling the first output torque of the engine to be less than the preset torque limit value until the second output torque of the drive motor is equal to zero, the method further comprises: in a case where the second output torque is greater than zero, controlling the first output torque according to a required power of the vehicle and the accelerator pedal opening degree.

7. A torque control device of a vehicle characterized by comprising: The method is applied to a vehicle, the vehicle comprising a brake pedal, an accelerator pedal and a gearbox, the gearbox comprising an engine and a drive motor, and the method comprising: a working condition determining module configured to determine a vehicle working condition according to a brake pedal opening degree and an accelerator pedal opening degree in an electronic continuously variable transmission (ECVT) mode; a torque control module configured to, in a case where the vehicle working condition represents that the vehicle switches from a braking phase to a coasting phase, control a first output torque of the engine to be less than a preset torque limit value until a second output torque of the drive motor is equal to zero, wherein the preset torque limit value is used to represent a critical value of the output torque of the engine in a case where a knocking sound of the vehicle is not detected.

8. A vehicle comprising a processor and a memory, wherein, The memory stores computer program instructions that can be executed by the processor, and the processor executes the computer program instructions to implement the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer program instructions, and the computer program instructions are executed by the processor to cause the processor to implement the steps of the method according to any one of claims 1 to 6.

10. A computer program product, characterised in that, The computer program is executed by the processor to cause the processor to implement the steps of the method according to any one of claims 1 to 6.

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