CN112977087A

CN112977087A - Torque determination method, device and equipment for electric automobile

Info

Publication number: CN112977087A
Application number: CN202110243208.6A
Authority: CN
Inventors: 吴康; 张凯
Original assignee: Evergrande New Energy Automobile Investment Holding Group Co Ltd
Current assignee: Evergrande New Energy Automobile Investment Holding Group Co Ltd
Priority date: 2021-03-05
Filing date: 2021-03-05
Publication date: 2021-06-18
Anticipated expiration: 2041-03-05
Also published as: CN112977087B

Abstract

The embodiment of the specification discloses a torque determining method, a torque determining device and torque determining equipment of an electric automobile, wherein the method comprises the following steps: acquiring the required torque of a motor in the current detection period, the required torque in the previous detection period and vehicle running information; determining a torque change rate limit value of the motor in the current detection period according to the required torque of the current detection period and the vehicle running information; according to the required torque of the current detection period, the required torque of the previous detection period and the torque change rate limit value of the current detection period, compensating the required torque of the current detection period to obtain a first torque; performing filter processing on the first torque based on the required torque of the current detection period and the current driving mode; and determining the motor execution torque according to the target required torque of the current detection period, and controlling the motor to output the torque according to the motor execution torque in the current detection period.

Description

Torque determination method, device and equipment for electric automobile

Technical Field

The invention relates to the technical field of computers, in particular to a method, a device and equipment for determining torque of an electric automobile.

Background

Electric vehicles have been increasingly popularized because of their excellent power performance, economy and environmental friendliness, but electric vehicles have a transmission device with poor torque disturbance resistance, and are prone to have problems such as poor drivability due to vibration of a transmission system caused by torque variation. For example, different torque gradients may be preset, loading or unloading the requested torque based on the relationship between the requested torque and a fixed torque gradient.

However, the torque determination method processes the motor torque through a preset torque gradient, and different torque gradients need to be set for driving of different electric vehicles and different drivers, which results in a complex torque determination process and low torque determination accuracy and determination efficiency.

Disclosure of Invention

The embodiment of the invention aims to provide a torque determining method, a torque determining device and torque determining equipment of an electric automobile, and aims to solve the problems of low determining efficiency and determining accuracy in determining the torque of the electric automobile in the prior art.

To solve the above technical problem, the embodiment of the present invention is implemented as follows:

in a first aspect, an embodiment of the present invention provides a torque determination method for an electric vehicle, where the method includes:

acquiring a required torque of a motor in a current detection period, a required torque in a previous detection period and vehicle running information, wherein the vehicle running information comprises a current vehicle speed and a current driving mode;

determining a torque change rate limit value of the motor in the current detection period according to the required torque of the current detection period and the vehicle running information;

according to the required torque of the current detection period, the required torque of the previous detection period and the torque change rate limit value of the current detection period, compensating the required torque of the current detection period to obtain a first torque;

filtering the first torque based on the required torque of the current detection period and the current driving mode to obtain a target required torque of the motor in the current detection period;

and determining the motor execution torque according to the target required torque of the current detection period, and controlling the motor to output the torque according to the motor execution torque in the current detection period.

Optionally, the obtaining of the required torque of the motor in the current detection period includes:

acquiring the opening degree and the driving gear of an accelerator pedal in the current detection period;

acquiring a preset required torque determination method corresponding to the driving gear of the current detection period;

and determining the required torque of the current detection period based on the preset required torque determination method, the accelerator opening of the current detection period and the current vehicle speed.

Optionally, the determining a torque change rate limit of the motor in the current detection period according to the required torque of the current detection period and the vehicle running information includes:

determining a basic torque change rate limit value of the current detection period according to the required torque of the current detection period and the current vehicle speed;

and determining the torque change rate limit value of the current detection period according to the torque change rate coefficient determined by the current driving mode and the basic torque change rate limit value of the current detection period.

Optionally, the compensating the required torque of the current detection period according to the required torque of the current detection period, the required torque of the previous detection period, and the torque change rate limit value of the current detection period to obtain a first torque includes:

determining the torque variation trend of the current detection period according to the required torque of the current detection period and the required torque of the previous detection period;

acquiring a difference value between the required torque of the current detection period and the required torque of the previous detection period;

determining the first torque based on the difference, the torque variation trend, and a torque variation rate limit for the current detection period.

Optionally, the determining the first torque based on the difference, the torque variation trend, and the torque variation rate limit for the current detection period comprises:

when the difference value is not larger than the torque change rate limit value of the current detection period, determining the required torque of the current detection period as the first torque;

when the difference value is larger than the torque change rate limit value of the current detection period, acquiring a first torque of the motor in the previous detection period, and determining the first torque of the current detection period based on the first torque of the previous detection period, the torque change trend and the torque change rate limit value of the current detection period.

Optionally, the filtering the first torque based on the required torque of the current detection period and the current driving mode to obtain the target required torque of the motor in the current detection period includes:

determining a filter coefficient according to the required torque of the current detection period and the current driving mode;

acquiring a target required torque of the motor in the previous detection period;

and filtering the first torque according to the filter coefficient and the target required torque of the motor in the previous detection period to obtain the target required torque of the motor in the current detection period.

Optionally, the determining the motor execution torque according to the target required torque of the current detection cycle includes:

determining the target required torque of the current detection period as the motor execution torque when no torque commutation request is detected.

Optionally, the determining the electric machine execution torque according to the target required torque includes:

when a torque reversing request is detected, acquiring a driving gear of the electric automobile in the current detection period;

determining a second torque of the current detection period based on the driving gear of the current detection period and the target required torque;

acquiring a second torque of the previous detection period;

and determining the motor execution torque based on a preset reversing coefficient, the second torque of the current detection period and the second torque of the previous detection period.

In a second aspect, an embodiment of the present invention provides a torque determination device for an electric vehicle, including:

the torque acquisition module is used for acquiring the required torque of the motor in the current detection period, the required torque in the previous detection period and vehicle running information, wherein the vehicle running information comprises the current vehicle speed and the current driving mode;

the limit value determining module is used for determining a torque change rate limit value of the motor in the current detection period according to the required torque of the current detection period and the vehicle running information;

the first processing module is used for compensating the required torque of the current detection period according to the required torque of the current detection period, the required torque of the previous detection period and the torque change rate limit value of the current detection period to obtain a first torque;

the second processing module is used for carrying out filtering processing on the first torque based on the required torque of the current detection period and the current driving mode so as to obtain a target required torque of the motor in the current detection period;

and the torque execution module is used for determining the motor execution torque according to the target required torque in the current detection period and controlling the motor to output the torque according to the motor execution torque in the current detection period.

Optionally, the torque acquisition module is configured to:

Optionally, the limit determination module is configured to:

Optionally, the first processing module is configured to:

Optionally, the second processing module is configured to:

Optionally, the torque execution module is configured to:

acquiring a second torque of the previous detection period;

In a third aspect, an embodiment of the present invention provides a torque determination device for an electric vehicle, including a processor, a memory, and a computer program stored on the memory and operable on the processor, where the computer program, when executed by the processor, implements the steps of the torque determination method for an electric vehicle provided in the above embodiment.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program, when executed by a processor, implements the steps of the torque determination method for an electric vehicle provided in the foregoing embodiment.

As can be seen from the above technical solutions provided by the embodiments of the present invention, the embodiments of the present invention determine the torque change rate limit of the motor in the current detection period according to the required torque of the current detection period and the vehicle driving information by obtaining the required torque of the motor in the current detection period, the required torque in the previous detection period, and the vehicle driving information, compensate the required torque of the current detection period according to the required torque of the current detection period, the required torque of the previous detection period, and the torque change rate limit of the current detection period to obtain the first torque, filter the first torque based on the required torque of the current detection period and the current driving mode to obtain the target required torque of the motor in the current detection period, and determine the motor execution torque according to the target required torque of the current detection period, and controlling the motor to output torque according to the motor execution torque in the current detection period. Therefore, the first torque for determining the target required torque is the torque obtained by compensating the required torque of the current detection period, so that the step change of the torque can be avoided by filtering the first torque, the determination accuracy of the target required torque is improved, meanwhile, the torque change rate limit value of the current detection period can be determined according to the requirement of the current detection period and the vehicle running information, the problems of low torque determination efficiency and poor accuracy caused by setting different torque gradients according to different driving requirements are avoided, and the determination efficiency and the accuracy of the torque can be improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic flow chart illustrating a method for determining torque of an electric vehicle according to the present invention;

FIG. 2 is a schematic flow chart illustrating another method for determining torque of an electric vehicle according to the present invention;

FIG. 3 is a schematic illustration of a torque commutation process of the present invention;

FIG. 4 is a schematic structural diagram of a torque determination device of an electric vehicle according to the present invention;

fig. 5 is a schematic structural view of a torque determination apparatus of an electric vehicle according to the present invention.

Detailed Description

The embodiment of the invention provides a torque determining method, device and equipment of an electric automobile.

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, an embodiment of the present invention provides a torque determination method for an electric vehicle, where an execution subject of the method may be an electronic device, and the electronic device may be configured in the electric vehicle, and is used for determining a torque and controlling a motor to execute the torque. The method may specifically comprise the steps of:

in S102, the required torque of the motor in the current detection period, the required torque in the previous detection period, and the vehicle travel information are acquired.

The vehicle driving information may include a current vehicle speed and a current driving mode, the driving mode may be a mode determined based on a power demand, an energy saving demand, and the like of a driver for the electric vehicle, the detection period may be a detection period preset according to a situation of the electric vehicle, a situation of the motor, a driving demand of the driver, and the like, for example, the detection period may be 30 seconds, 1 minute, 3 minutes, and the like, the required torque of the motor may be determined based on the operation state data of the electric vehicle of the current detection period, for example, the operation state data of the electric vehicle, such as an accelerator opening, a driving gear, a vehicle speed, a motor rotation speed, and the like of the current detection period may be acquired, and the required torque of the current detection period may be determined based on the acquired operation state data of the electric vehicle.

In implementation, different required torque determination methods and different detection periods may be set for different electric vehicles, and in different detection periods, the required torque corresponding to each detection period may be determined based on a preset required torque determination method and the operating state data of the electric vehicle in the current detection period, that is, the required torque in the current detection period and the required torque in the previous detection period may be obtained. For example, different weights may be set for corresponding operation state indexes according to different driving requirements (such as energy saving requirements, power requirements, and the like) of the electric vehicle, and the corresponding required torque is determined based on the acquired operation state data of the electric vehicle in the current detection period; alternatively, the required torque may be obtained by processing the operation state data of the current detection period based on a pre-trained required torque determination model (for example, a model obtained by training a neural network model based on historical operation state data), and a determination method of the required torque may be different according to different actual application scenarios, which is not specifically limited in the embodiment of the present invention.

In S104, a torque change rate limit of the motor in the current detection period is determined based on the required torque and the vehicle travel information in the current detection period.

In implementation, the torque change rate limit corresponding to the required torque and the vehicle travel information of the current detection cycle may be acquired based on a preset correspondence relationship between the required torque, the vehicle travel information, and the torque change rate limit. The torque change rate limit may be increased as the required torque increases and may be increased as the vehicle speed increases.

In addition, the method for determining the torque change rate limit value is an optional and realizable determination method, and in an actual application scenario, there may be a plurality of different methods for determining the torque change rate limit value, which may be different according to different actual application scenarios, and this is not specifically limited in the embodiment of the present invention.

In S106, the required torque of the current detection period is compensated according to the required torque of the current detection period, the required torque of the previous detection period, and the torque change rate limit value of the current detection period, so as to obtain a first torque.

Wherein, the first torque can be a torque which can reduce the jump of the motor exceeding the preset amplitude.

In implementation, in order to avoid the situation that the vehicle rises due to the jump generated when the motor actually executes the torque because the change of the required torque of the driver is too large, the required torque of the current detection period can be compensated, so that the first torque which can reduce the jump of the motor exceeding the preset amplitude can be obtained.

When the compensation processing is performed on the required torque of the current detection period, a torque variation trend of the current detection period may also be obtained, where the torque variation trend of the current detection period may be determined based on a relationship between the required torque of the current detection period and a preset torque threshold, for example, in a case where the required torque of the current detection period is not less than the preset torque threshold, the torque variation trend of the current detection period may be determined to be increased, and in a case where the required torque of the current detection period is less than the preset torque threshold, the torque variation trend of the current detection period may be determined to be decreased. The preset torque threshold may be a torque threshold determined according to the condition of the electric vehicle, and is used for enabling the electric vehicle to run smoothly.

The method for determining the torque variation trend is an optional and realizable determination method, and in an actual application scenario, there may be a plurality of different determination methods, which may be different according to different actual application scenarios, and this is not specifically limited in the embodiment of the present invention.

After the torque variation trend of the current detection cycle is determined, the required torque of the current detection cycle may be compensated to obtain the first torque based on the determined torque variation trend, the torque variation rate limit of the current detection cycle, the required torque of the previous detection cycle, and the required torque of the current detection cycle.

For example, a difference between the required torque of the previous detection cycle and the required torque of the current detection cycle may be acquired, and if the difference is not greater than the torque change rate limit of the current detection cycle, the required torque of the current detection cycle may be determined as the first torque. If the difference is greater than the preset torque change rate limit, a first torque may be determined based on the torque trend, the torque change rate limit, and the requested torque of the previous detection cycle. For example, in the case where the difference between the required torque of the previous detection cycle and the required torque of the current detection cycle is greater than the preset torque change rate limit, the sum of the torque change rate limit and the required torque of the previous detection cycle may be taken as the first torque if the torque change tendency is increasing, and the difference between the required torque of the previous detection cycle and the preset torque change rate limit may be taken as the first torque if the torque change tendency is decreasing.

In addition, the required torque of the previous detection period may be compensated based on the first torque or the required torque of the previous detection period (if the current detection period is the 3 rd detection period and the previous detection period is the 2 nd detection period, the first torque or the required torque of the 1 st detection period, the torque variation trend of the previous detection period, and the torque variation rate limit value of the previous detection period may be obtained), so that the first torque of the previous detection period, which exceeds the preset amplitude jump, of the motor may be reduced.

And performing compensation processing on the required torque of the current detection period based on the first torque of the previous detection period, the required torque of the current detection period, the torque change trend of the current detection period and the torque change rate limit value to obtain the first torque of the current detection period.

In addition, there may be a plurality of methods for determining the first torque, which may be different according to different practical application scenarios, and the embodiment of the present invention is not limited in this respect.

In S108, the first torque is filter-processed based on the required torque of the current detection period and the current driving mode to obtain the target required torque of the motor in the current detection period.

In implementation, in order to filter out jumps, burrs and the like in the first torque, the first torque may be subjected to filtering processing so as to make the torque change smoother and smoother. The method for filtering the first torque may be various, and may be different according to different practical application scenarios, which is not specifically limited in this embodiment of the present invention.

In S110, the motor execution torque is determined according to the target required torque of the current detection period, and the motor is controlled to perform torque output according to the motor execution torque in the current detection period.

In the implementation, because the electric automobile has the possibility of torque commutation, the determination method of the motor execution torque can be determined according to specific driving conditions, the motor execution torque corresponding to the target required torque of the current detection period is determined based on the determination method of the determined motor execution torque, and the motor is controlled to carry out torque output according to the motor execution torque in the current detection period.

The method for determining the torque executed by the motor may be various and may be different according to different practical application scenarios, and the embodiment of the present invention is not limited in this respect.

The embodiment of the invention provides a torque determining method of an electric vehicle, which comprises the steps of obtaining a required torque of a motor in a current detection period, a required torque in a previous detection period and vehicle running information, wherein the vehicle running information comprises a current vehicle speed and a current driving mode, determining a torque change rate limit value of the motor in the current detection period according to the required torque of the current detection period and the vehicle running information, performing compensation processing on the required torque of the current detection period according to the required torque of the current detection period, the required torque of the previous detection period and the torque change rate limit value of the current detection period to obtain a first torque, performing filtering processing on the first torque based on the required torque of the current detection period and the current driving mode to obtain a target required torque of the motor in the current detection period, determining a motor execution torque according to the target required torque of the current detection period, and controlling the motor to output torque according to the motor execution torque in the current detection period. Therefore, the first torque for determining the target required torque is the torque obtained by compensating the required torque of the current detection period, so that the step change of the torque can be avoided by filtering the first torque, the determination accuracy of the target required torque is improved, meanwhile, the torque change rate limit value of the current detection period can be determined according to the requirement of the current detection period and the vehicle running information, the problems of low torque determination efficiency and poor accuracy caused by setting different torque gradients according to different driving requirements are avoided, and the determination efficiency and the accuracy of the torque can be improved.

In a specific embodiment, as shown in fig. 2, an implementation subject of the method for determining the torque of the electric vehicle may be an electronic device, which may be configured in the electric vehicle, for determining the torque and controlling the motor to implement the torque. The method may specifically comprise the following steps

In S202, the accelerator opening and the running gear of the current detection period are acquired.

The driving gears can comprise a forward gear, a reverse gear and the like.

In S204, a preset required torque determination method corresponding to the running gear of the current detection cycle is acquired.

In implementation, the required torque determination method corresponding to the running gear of the current detection cycle may be determined according to the correspondence relationship between the running gear and the required torque determination method. The correspondence relationship between the driving gear and the required torque determination method may be determined according to a historical driving gear and a historical required torque determination method.

For example, the required torque determination method may include a method of determining the required torque of the motor based on a two-dimensional map of the accelerator opening degree and the current vehicle speed, a method of determining the required torque of the motor based on the operation state data of the electric locomotive, and the like. The determination method of the required torque corresponding to the forward gear and the reverse gear may be different, for example, the forward gear may correspond to a method of determining the required torque of the motor based on a two-dimensional mapping relationship between an accelerator opening and a current vehicle speed, and the reverse gear may correspond to a method of determining the required torque of the motor based on the operation state data of the electric locomotive.

In addition, both the forward gear and the reverse gear may correspond to a method of determining a required torque of the motor based on a two-dimensional mapping relationship between an accelerator opening and a current vehicle speed, but a two-dimensional mapping relationship 1 corresponding to the forward gear is different from a two-dimensional mapping relationship 2 corresponding to the reverse gear.

In S206, the required torque of the motor for the current detection period is determined based on a preset required torque determination method, the accelerator opening degree for the current detection period, and the current vehicle speed.

In the implementation, a method of determining the required torque of the motor in the current detection cycle based on a two-dimensional mapping relationship between the accelerator opening and the current vehicle speed is taken as an example of the required torque determining method. The two-dimensional mapping relationship may be an expert experience value or a calibration value, the two-dimensional mapping relationship may be stored in a memory of the electronic device, and the two-dimensional mapping relationships corresponding to different driving gears are different.

The required torque of the motor for the current detection cycle may be determined according to the following equation:

wherein, T_DrvAps is the opening degree of an accelerator pedal, veh is the current speed of the vehicle,

is a two-dimensional mapping relationship.

The required torque of the motor in the current detection period can be determined according to the opening degree of the accelerator pedal in the current detection period, the current vehicle speed and the corresponding two-dimensional mapping relation.

When a driver steps on an accelerator pedal, the driving gear of the electric automobile can be obtained, a corresponding two-dimensional mapping relation is obtained according to the driving gear, and the required torque of the motor in the current detection period is determined according to the speed, the opening degree of the accelerator pedal which is stepped on by the driver and the two-dimensional mapping relation. When the opening of an accelerator pedal is 0 and the vehicle speed is not less than a preset vehicle speed threshold, the required torque of the motor in the current detection period can be less than 0; when the opening degree of an accelerator pedal is 0 and the vehicle speed is less than a preset vehicle speed threshold value, the required torque of the motor in the current detection period can be equal to 0; when the accelerator opening is greater than 0, the required torque of the motor may be greater than 0 for the current detection period.

In S208, a base torque change rate limit for the current detection period is determined based on the required torque for the current detection period and the current vehicle speed.

In implementation, the base torque change rate limit for the current detection cycle corresponding to the current vehicle speed and the requested torque for the current detection cycle may be determined based on a preset correspondence between the requested torque, the vehicle speed, and the base torque change rate limit.

In S210, a torque change rate limit for the current detection period is determined based on the torque change rate factor determined for the current driving mode and the base torque change rate limit for the current detection period.

In the implementation, the driving modes are the first driving mode, the second driving mode and the third driving mode as an example, wherein the energy saving requirements corresponding to the first driving mode, the second driving mode and the third driving mode are sequentially reduced, and the power requirement is sequentially increased.

The current driving mode may be obtained, and a torque rate coefficient corresponding to the current driving mode may be obtained, and the torque rate limit for the current detection period may be determined by multiplying the torque rate coefficient by the torque limit. For example, the first driving mode may correspond to a torque rate of change coefficient of 0.8, the second driving mode may correspond to a torque rate of change coefficient of 1, and the third driving mode may correspond to a torque rate of change coefficient of 1.2. Assuming that the basic torque variation limit of the current detection period is a, the torque variation limit corresponding to the first driving mode may be 0.8a, the torque variation limit corresponding to the second driving mode may be a, and the torque variation limit corresponding to the third driving mode may be 1.2 a.

In S212, a torque variation trend of the current detection cycle is determined based on the required torque of the current detection cycle and the required torque of the previous detection cycle.

In implementation, for example, in the case where the required torque of the current detection cycle is not less than the required torque of the previous detection cycle, the trend of the change in torque of the current detection cycle may be determined to be increasing, and in the case where the required torque of the current detection cycle is less than the required torque of the previous detection cycle, the trend of the change in torque of the current detection cycle may be determined to be decreasing.

Further, in the case where the current detection cycle is the first detection cycle, it may be assumed that the required torque of the corresponding previous detection cycle is zero.

In S214, the difference between the required torque of the current detection cycle and the required torque of the previous detection cycle is acquired.

Wherein, the difference between the required torque of the current detection period and the required torque of the previous detection period may be an absolute value of the difference.

In S216, a first torque is determined based on the difference, the torque variation trend, and a preset torque variation rate limit.

In implementation, the first torque may be determined according to a relationship between a difference value between the required torque of the current detection period and the required torque of the previous detection period and a preset torque change rate limit value, and a torque change trend.

For example, in the case where the difference is not greater than the preset torque change rate limit, the required torque of the current detection cycle may be determined as the first torque. For example, if it is assumed that the required torque of the current detection period is 1, the required torque of the previous detection period is 5, and the torque change rate limit is 5, the difference 4 between the required torque of the current detection period and the required torque of the previous detection period is not greater than the preset torque change rate limit 5, and then the required torque 1 of the current detection period may be determined as the first torque.

And when the difference is greater than the preset torque change rate limit value, acquiring a first torque of the motor in a previous detection period, and determining the first torque of the current detection period based on the first torque of the previous detection period, the torque change trend and the torque change rate limit value of the current detection period, that is, increasing or decreasing the first torque of the previous detection period according to the torque change rate limit value. For example, in the case where the difference between the required torque of the previous detection cycle and the required torque of the current detection cycle is greater than the preset torque change rate limit, if the torque change tendency is increasing, the sum of the torque change rate limit and the first torque of the previous detection cycle may be taken as the first torque, and if the torque change tendency is decreasing, the difference between the first torque of the previous detection cycle and the preset torque change rate limit may be taken as the first torque.

For example, if it may be assumed that the required torque of the current detection period is 1, the required torque of the previous detection period is 5, and the torque change rate limit is 3, and the difference 4 between the required torque of the current detection period and the required torque of the previous detection period is greater than the preset torque change rate limit 3, then the first torque of the previous detection period may be acquired (it may be assumed to be 6), if the trend of the torque change is increasing, the sum 10 of the first torque 6 of the previous detection period and the preset torque change rate limit 4 may be used as the first torque, and if the trend of the torque change is decreasing, the difference 2 between the first torque 6 of the previous detection period and the preset torque change rate limit 4 may be used as the first torque.

In S218, a filter coefficient is determined according to the required torque of the current detection period and the current driving mode.

In an implementation, the corresponding filter coefficients may be determined according to the current driving mode, and for example, the driving modes include a first driving mode, a second driving mode and a third driving mode, where energy saving requirements corresponding to the first driving mode, the second driving mode and the third driving mode are sequentially decreased and power requirements are sequentially increased, the filter coefficient corresponding to the second driving mode may be assumed to be a, the filter coefficient of the first driving mode may be 0.9a, and the filter coefficient of the third driving mode may be 1.1 a.

The first torque can be subjected to filtering processing through the filter coefficient, so that the smoothness and the dynamic property of the electric automobile are balanced, namely the smaller the filter coefficient is, the smoother the obtained target required torque is.

In S220, the target required torque of the motor in the previous detection cycle is acquired.

In S222, the first torque is filtered according to the filter coefficient and the target required torque of the motor in the previous detection period, so as to obtain the target required torque of the motor in the current detection period.

In implementation, the target required torque of the previous detection period, the required torque of the current detection period and the filter coefficient may be substituted into the formula

T₂(n)＝α*T₁(n)+(1-α)*T₂(n-1)

Obtaining the target required torque of the motor in the current detection period, wherein n is the current detection period, n-1 is the previous detection period, and T is₂(n) is the target required torque of the current detection period, alpha is a preset filter coefficient, and T₁(n) is the required torque for the current detection period, T₂(n-1) is the target required torque of the previous detection cycle.

In S222, it may be determined to continue to perform S3224 or S226 to S232 according to whether a torque commutation request is detected, that is, in case a torque commutation request is detected, S226 to S232 may be continued after S222, and in case a torque commutation request is not detected, S224 may be continued after S222.

In S224, when the torque commutation request is not detected, the target required torque of the current detection cycle is determined as the motor execution torque.

In S226, in the case where the torque reversal request is detected, the running gear of the electric vehicle in the current detection period is acquired.

In implementation, taking a running gear as a forward gear or a reverse gear as an example, when the running gear of the electric automobile is changed from driving of the forward gear to speed reduction of the forward gear, or is changed from driving of the forward gear to the reverse gear, the torque of the motor is changed from positive to negative; when the driving gear of the electric automobile is changed from the deceleration of the forward gear to the driving of the forward gear or from the driving of the reverse gear to the driving of the forward gear, the torque of the motor is changed from negative to positive, and in order to prevent the problem that the torque reversing causes the change of the extrusion condition of the gear surface of the transmission system, so that the vibration of the transmission system is caused, the separation and the extrusion of the gear surface are required to be reduced when the torque reversing request is detected.

In S228, the second torque for the current detection period is determined based on the running gear and the target required torque for the current detection period.

In an implementation, taking the driving gear as a forward gear or a reverse gear as an example, the second torque may be the target required torque when the driving gear of the current detection period is the forward gear, and the second torque may be a product of the target required torque and-1 when the driving gear of the current detection period is the reverse gear. In the forward gear state, if the second torque is positive, the electric automobile is in a driving state, and if the second torque is negative, the electric automobile is in a deceleration state; in the reverse gear, if the second torque is negative, the electric vehicle is in a driving state, and if the second torque is positive, the electric vehicle is in a deceleration state.

In S230, the second torque of the previous detection cycle is acquired.

Wherein the second torque of the previous detection period may be determined by the running gear of the previous detection period and the target required torque.

In S232, the motor execution torque of the current detection period is determined based on the preset commutation coefficient, the second torque of the current detection period, and the second torque of the previous detection period.

In implementation, in the case that the absolute value of the second torque is not greater than the preset torque threshold, the second torque of the current detection period and the second torque of the previous detection period are substituted into the formula

T_actmot(n)＝β*T_mot(n)+(1-β)*T_mot(n-1)

Obtaining the motor execution torque of the current detection period, wherein n is the current detection period, n-1 is the previous detection period, T_actmot(n) Motor execution Torque for the Current detection cycle, T_mot(n) is the second torque of the current detection period, beta is a preset commutation coefficient, T_motAnd (n-1) is the second torque of the previous detection period.

The preset reversing coefficient can be reduced along with the reduction of the absolute value of the target required torque, the smaller the preset reversing coefficient is, the smoother the third torque reversing of the motor is, and the more the smooth the third torque reversing is, the more the electric automobile can be ensured to run stably during gear shifting or acceleration and deceleration.

The preset torque threshold may be a torque threshold preset according to the specific conditions of the electric vehicle, for example, the preset torque threshold may be 50Nm, and in the case that the second torque is not greater than 50Nm, or the second torque is not less than-50 Nm, the third torque of the current detection cycle may be determined based on the above formula.

When the target required torque of the motor gradually decreases to approach 0 or the target required torque of the motor gradually increases to approach 0, the target required torque may be processed by the above formula to obtain the motor execution torque of the current detection period as shown in fig. 3.

After the motor execution torque is determined, S234 may be continuously executed, i.e., after S234 or S232, S234 may be continuously executed.

In S234, the motor is controlled to output a torque at the motor execution torque in the current detection period.

Based on the same idea, the embodiment of the present invention further provides a torque determination device for an electric vehicle, as shown in fig. 4.

The torque determination device of the electric vehicle includes: a torque acquisition module 401, a limit determination module 402, a first processing module 403, a second processing module 404, and a torque execution module 405, wherein:

a torque obtaining module 401, configured to obtain a required torque of a motor in a current detection period, a required torque in a previous detection period, and vehicle driving information, where the vehicle driving information includes a current vehicle speed and a current driving mode;

a limit value determining module 402, configured to determine a torque change rate limit value of the motor in the current detection period according to the required torque of the current detection period and the vehicle driving information;

a first processing module 403, configured to perform compensation processing on the required torque in the current detection period according to the required torque in the current detection period, the required torque in the previous detection period, and the torque change rate limit value in the current detection period, so as to obtain a first torque;

a second processing module 404, configured to filter the first torque based on the required torque of the current detection period and the current driving mode to obtain a target required torque of the motor in the current detection period;

and a torque executing module 405, configured to determine a motor executing torque according to the target required torque in the current detection period, and control the motor to output a torque according to the motor executing torque in the current detection period.

In an embodiment of the present invention, the torque obtaining module 401 is configured to:

In this embodiment of the present invention, the limit determining module 402 is configured to:

In this embodiment of the present invention, the first processing module 403 is configured to:

In this embodiment of the present invention, the second processing module 404 is configured to:

In an embodiment of the present invention, the torque executing module 405 is configured to:

acquiring a second torque of the previous detection period;

The embodiment of the invention provides a torque determining device of an electric automobile, which determines a torque change rate limit value of a motor in a current detection period according to a required torque of the motor in the current detection period and vehicle running information by acquiring the required torque of the motor in the current detection period, the required torque in a previous detection period and the vehicle running information, compensates the required torque of the current detection period according to the required torque of the current detection period, the required torque of the previous detection period and the torque change rate limit value of the current detection period to obtain a first torque, filters the first torque based on the required torque of the current detection period and the current driving mode to obtain a target required torque of the motor in the current detection period, determines a motor execution torque according to the target required torque of the current detection period, and controlling the motor to output torque according to the motor execution torque in the current detection period. Therefore, the first torque for determining the target required torque is the torque obtained by compensating the required torque of the current detection period, so that the step change of the torque can be avoided by filtering the first torque, the determination accuracy of the target required torque is improved, meanwhile, the torque change rate limit value of the current detection period can be determined according to the requirement of the current detection period and the vehicle running information, the problems of low torque determination efficiency and poor accuracy caused by setting different torque gradients according to different driving requirements are avoided, and the determination efficiency and the accuracy of the torque can be improved.

On the basis of the torque determination method for an electric vehicle provided in the above embodiments, based on the same idea, embodiments of the present invention also provide a torque determination device for an electric vehicle for determining a torque and controlling a motor to execute the torque, wherein,

as shown in fig. 5, the torque determination device 500 of the electric vehicle includes, but is not limited to: a radio frequency unit 501, a network module 502, an audio output unit 503, an input unit 504, a sensor 505, a display unit 506, a user input unit 507, an interface unit 508, a memory 509, a processor 510, and a power supply 511. It will be understood by those skilled in the art that the structure of the torque determination device of the electric vehicle shown in fig. 5 does not constitute a limitation of the torque determination device of the electric vehicle, and the torque determination device of the electric vehicle may include more or less components than those shown, or some components may be combined, or a different arrangement of components may be used. In the embodiment of the present invention, the torque determination device of the electric vehicle includes, but is not limited to, a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted terminal, a wearable device, a pedometer, and the like.

Wherein the processor 510 is configured to: acquiring a required torque of a motor in a current detection period, a required torque in a previous detection period and vehicle running information, wherein the vehicle running information comprises a current vehicle speed and a current driving mode; determining a torque change rate limit value of the motor in the current detection period according to the required torque of the current detection period and the vehicle running information; according to the required torque of the current detection period, the required torque of the previous detection period and the torque change rate limit value of the current detection period, compensating the required torque of the current detection period to obtain a first torque; filtering the first torque based on the required torque of the current detection period and the current driving mode to obtain a target required torque of the motor in the current detection period; and determining the motor execution torque according to the target required torque of the current detection period, and controlling the motor to output the torque according to the motor execution torque in the current detection period.

In this embodiment of the present invention, the processor 510 is further configured to: acquiring the opening degree and the driving gear of an accelerator pedal in the current detection period; acquiring a preset required torque determination method corresponding to the driving gear of the current detection period; and determining the required torque of the current detection period based on the preset required torque determination method, the accelerator opening of the current detection period and the current vehicle speed.

In this embodiment of the present invention, the processor 510 is further configured to: determining a basic torque change rate limit value of the current detection period according to the required torque of the current detection period and the current vehicle speed; and determining the torque change rate limit value of the current detection period according to the torque change rate coefficient determined by the current driving mode and the basic torque change rate limit value of the current detection period.

In this embodiment of the present invention, the processor 510 is further configured to: determining the torque variation trend of the current detection period according to the required torque of the current detection period and the required torque of the previous detection period; acquiring a difference value between the required torque of the current detection period and the required torque of the previous detection period; determining the first torque based on the difference, the torque variation trend, and a torque variation rate limit for the current detection period.

In this embodiment of the present invention, the processor 510 is further configured to: when the difference value is not larger than the torque change rate limit value of the current detection period, determining the required torque of the current detection period as the first torque; when the difference value is larger than the torque change rate limit value of the current detection period, acquiring a first torque of the motor in the previous detection period, and determining the first torque of the current detection period based on the first torque of the previous detection period, the torque change trend and the torque change rate limit value of the current detection period.

In this embodiment of the present invention, the processor 510 is further configured to: determining a filter coefficient according to the required torque of the current detection period and the current driving mode; acquiring a target required torque of the motor in the previous detection period; and filtering the first torque according to the filter coefficient and the target required torque of the motor in the previous detection period to obtain the target required torque of the motor in the current detection period.

In this embodiment of the present invention, the processor 510 is further configured to: determining the target required torque of the current detection period as the motor execution torque when no torque commutation request is detected.

In this embodiment of the present invention, the processor 510 is further configured to: determining a second torque of the current detection period based on the driving gear of the current detection period and the target required torque; acquiring a second torque of the previous detection period; and determining the motor execution torque based on a preset reversing coefficient, the second torque of the current detection period and the second torque of the previous detection period.

The embodiment of the invention provides a torque determining device of an electric vehicle, which determines a torque change rate limit value of a motor in a current detection period according to a required torque of the motor in the current detection period and vehicle running information, wherein the vehicle running information comprises a current vehicle speed and a current driving mode, compensates the required torque of the current detection period according to the required torque of the current detection period, the required torque of the previous detection period and the torque change rate limit value of the current detection period to obtain a first torque, filters the first torque based on the required torque of the current detection period and the current driving mode to obtain a target required torque of the motor in the current detection period, determines a motor execution torque according to the target required torque of the current detection period, and controlling the motor to output torque according to the motor execution torque in the current detection period. Therefore, the first torque for determining the target required torque is the torque obtained by compensating the required torque of the current detection period, so that the step change of the torque can be avoided by filtering the first torque, the determination accuracy of the target required torque is improved, meanwhile, the torque change rate limit value of the current detection period can be determined according to the requirement of the current detection period and the vehicle running information, the problems of low torque determination efficiency and poor accuracy caused by setting different torque gradients according to different driving requirements are avoided, and the determination efficiency and the accuracy of the torque can be improved.

It should be understood that, in the embodiment of the present invention, the radio frequency unit 501 may be used for receiving and sending signals during a message sending and receiving process or a call process, and specifically, receives downlink data from a base station and then processes the received downlink data to the processor 510; in addition, the uplink data is transmitted to the base station. In general, radio frequency unit 501 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like. In addition, the radio frequency unit 501 can also communicate with a network and other devices through a wireless communication system.

The torque determination device of the electric vehicle provides wireless broadband internet access to the user via the network module 502, such as helping the user send and receive e-mails, browse web pages, access streaming media, and the like.

The audio output unit 503 may convert audio data received by the radio frequency unit 501 or the network module 502 or stored in the memory 509 into an audio signal and output as sound. Also, the audio output unit 503 may also provide audio output (e.g., a call signal reception sound, a message reception sound, etc.) related to a specific function performed by the torque determination device 500 of the electric vehicle. The audio output unit 503 includes a speaker, a buzzer, a receiver, and the like.

The input unit 504 is used to receive an audio or video signal. The input Unit 504 may include a Graphics Processing Unit (GPU) 5041 and a microphone 5042, and the Graphics processor 5041 processes image data of a still picture or video obtained by an image capturing device (e.g., a camera) in a video capturing mode or an image capturing mode. The processed image frames may be displayed on the display unit 506. The image frames processed by the graphic processor 5041 may be stored in the memory 509 (or other storage medium) or transmitted via the radio frequency unit 501 or the network module 502. The microphone 5042 may receive sounds and may be capable of processing such sounds into audio data. The processed audio data may be converted into a format output transmittable to a mobile communication base station via the radio frequency unit 501 in case of the phone call mode.

The torque determination device 500 of the electric vehicle further includes at least one sensor 505, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor includes an ambient light sensor that can adjust the brightness of the display panel 5061 according to the brightness of ambient light, and a proximity sensor that can turn off the display panel 5061 and/or a backlight when the torque determination device 500 of the electric vehicle is moved to the ear. As one of the motion sensors, the accelerometer sensor can detect the magnitude of acceleration in each direction (generally three axes), detect the magnitude and direction of gravity when stationary, and can be used to identify the torque determination device attitude (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration identification related functions (such as pedometer, tapping) and the like of the electric vehicle; the sensors 505 may also include fingerprint sensors, pressure sensors, iris sensors, molecular sensors, gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc., which are not described in detail herein.

The display unit 506 is used to display information input by the user or information provided to the user. The Display unit 506 may include a Display panel 5061, and the Display panel 5061 may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like.

The user input unit 507 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of a torque determination device of an electric vehicle. Specifically, the user input unit 507 includes a touch panel 5071 and other input devices 5072. Touch panel 5071, also referred to as a touch screen, may collect touch operations by a user on or near it (e.g., operations by a user on or near touch panel 5071 using a finger, stylus, or any suitable object or attachment). The touch panel 5071 may include two parts of a touch detection device and a touch controller. The touch detection device detects the touch direction of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch sensing device, converts the touch information into touch point coordinates, sends the touch point coordinates to the processor 510, and receives and executes commands sent by the processor 510. In addition, the touch panel 5071 may be implemented in various types such as a resistive type, a capacitive type, an infrared ray, and a surface acoustic wave. In addition to the touch panel 5071, the user input unit 507 may include other input devices 5072. In particular, other input devices 5072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which are not described in detail herein.

Further, the touch panel 5071 may be overlaid on the display panel 5061, and when the touch panel 5071 detects a touch operation thereon or nearby, the touch operation is transmitted to the processor 510 to determine the type of the touch event, and then the processor 510 provides a corresponding visual output on the display panel 5061 according to the type of the touch event. Although in fig. 5, the touch panel 5071 and the display panel 5061 are two independent components to implement the input and output functions of the torque determination device of the electric vehicle, in some embodiments, the touch panel 5071 and the display panel 5061 may be integrated to implement the input and output functions of the torque determination device of the electric vehicle, and are not limited herein.

The interface unit 508 is an interface for connecting an external device to the torque determination apparatus 500 of the electric vehicle. For example, the external device may include a wired or wireless headset port, an external power supply (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device having an identification module, an audio input/output (I/O) port, a video I/O port, an earphone port, and the like. The interface unit 508 may be used to receive input (e.g., data information, power, etc.) from an external device and transmit the received input to one or more elements within the torque determination apparatus 500 of the electric vehicle or may be used to transmit data between the torque determination apparatus 500 of the electric vehicle and the external device.

The memory 509 may be used to store software programs as well as various data. The memory 509 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 409 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

The processor 510 is a control center of the torque determination device of the electric vehicle, connects various parts of the torque determination device of the entire electric vehicle using various interfaces and lines, and performs various functions and processes of the torque determination device of the electric vehicle by operating or executing software programs and/or modules stored in the memory 509 and calling up data stored in the memory 509, thereby performing overall monitoring of the torque determination device of the electric vehicle. Processor 510 may include one or more processing units; preferably, the processor 510 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into processor 510.

The torque determination device 500 of the electric vehicle may further include a power supply 511 (such as a battery) for supplying power to each component, and preferably, the power supply 511 may be logically connected to the processor 510 through a power management system, so as to implement functions of managing charging, discharging, and power consumption through the power management system.

Preferably, an embodiment of the present invention further provides a torque determination device for an electric vehicle, including a processor 510, a memory 509, and a computer program stored on the memory 509 and being executable on the processor 510, where the computer program, when executed by the processor 510, implements each process of the above data verification method embodiment based on a neural network, and can achieve the same technical effect, and in order to avoid repetition, the details are not described herein again.

Based on the same technical concept, embodiments of the present invention further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the embodiment of the torque determining method for an electric vehicle, and can achieve the same technical effect, and is not described herein again to avoid repetition. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.

An embodiment of the present invention provides a computer-readable storage medium for determining a torque change rate limit of a motor in a current detection period by acquiring a required torque of the motor in the current detection period, a required torque in a previous detection period, and vehicle driving information including a current vehicle speed, a current driving mode, according to the required torque of the current detection period and the vehicle driving information, compensating the required torque of the current detection period according to the required torque of the current detection period, the required torque of the previous detection period, and the torque change rate limit of the current detection period to obtain a first torque, filtering the first torque based on the required torque of the current detection period and the current driving mode to obtain a target required torque of the motor in the current detection period, determining a motor execution torque according to the target required torque of the current detection period, and controlling the motor to output torque according to the motor execution torque in the current detection period. Therefore, the first torque for determining the target required torque is the torque obtained by compensating the required torque of the current detection period, so that the step change of the torque can be avoided by filtering the first torque, the determination accuracy of the target required torque is improved, meanwhile, the torque change rate limit value of the current detection period can be determined according to the requirement of the current detection period and the vehicle running information, the problems of low torque determination efficiency and poor accuracy caused by setting different torque gradients according to different driving requirements are avoided, and the determination efficiency and the accuracy of the torque can be improved.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, electronic devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing electronic device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing electronic device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing electronic devices to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing electronic device to cause a series of operational steps to be performed on the computer or other programmable electronic device to produce a computer implemented process such that the instructions which execute on the computer or other programmable electronic device provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing electronic device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage electronic devices, or any other non-transmission medium that can be used to store information that can be accessed by computing electronic devices. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or electronic device that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or electronic device. The word "comprising", without further limitation, means that the element so defined is not intended to exclude the presence of other elements in the process, method, article, or electronic device in which the element is included.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A method of determining torque of an electric vehicle, the method comprising:

2. The method of claim 1, wherein the obtaining the required torque of the electric machine at the current detection cycle comprises:

3. The method of claim 2, wherein determining a torque rate limit for the electric machine during the current detection period based on the requested torque for the current detection period and the vehicle travel information comprises:

4. The method of claim 3, wherein the compensating the required torque of the current detection period according to the required torque of the current detection period, the required torque of the previous detection period, and the torque change rate limit of the current detection period to obtain the first torque comprises:

5. The method of claim 4, wherein determining the first torque based on the difference value, the torque change trend, and a torque rate limit for the current detection period comprises:

6. The method according to claim 5, wherein the filter processing of the first torque to obtain a target required torque of the motor in the current detection period based on the required torque of the current detection period and the current driving mode, includes:

7. The method according to any one of claims 1-6, wherein said determining a motor execution torque based on the target required torque for the current detection period comprises:

8. The method according to any one of claims 1-6, wherein said determining a motor execution torque from said target required torque comprises:

acquiring a second torque of the previous detection period;

9. A torque determination device for an electric vehicle, the device comprising:

10. A torque determination device of an electric vehicle, characterized by comprising a processor, a memory and a computer program stored on the memory and operable on the processor, the computer program, when executed by the processor, implementing the steps of the torque determination method of the electric vehicle according to any one of claims 1 to 8.