CN112977087B

CN112977087B - Torque determination method, device and equipment for electric automobile

Info

Publication number: CN112977087B
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: 2023-05-26
Anticipated expiration: 2041-03-05
Also published as: CN112977087A

Abstract

The embodiment of the specification discloses a method, a device and equipment for determining torque of an electric automobile, wherein the method comprises the following steps: the method comprises the steps of obtaining the required torque of a motor in a current detection period, the required torque of the motor in a 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, carrying out compensation processing on 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; and determining 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.

Description

Torque determination method, device and equipment for electric automobile

Technical Field

The present invention relates to the field of computer technologies, and in particular, to a method, an apparatus, and a device for determining torque of an electric vehicle.

Background

Electric vehicles are popular because of good dynamic property, economical efficiency and environmental protection, but the torque resistance and disturbance of a transmission device adopted by the electric vehicles are poor, and the problems of poor vehicle drivability and the like caused by vibration of a transmission system due to the change of torque are easily caused, so that the torque of the electric vehicles needs to be processed to reduce the vibration of the transmission system. For example, different torque gradients may be preset, and the requested torque may be loaded or reduced based on a relationship between the requested torque and the fixed torque gradient.

However, the torque determining method processes the motor torque through preset torque gradients, and different torque gradients are required to be set for driving of different electric vehicles and different drivers, so that the torque determining process is complex, and the torque determining accuracy and the determining efficiency are low.

Disclosure of Invention

The embodiment of the invention aims to provide a method, a device and equipment for determining torque of an electric automobile, which are used for solving the problems of low determination efficiency and low determination accuracy in the prior art when determining the torque of the electric automobile.

In order to solve the technical problems, the embodiment of the invention is realized as follows:

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

the method comprises the steps of obtaining the required torque of a motor in a current detection period, the required torque of the motor 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, carrying out compensation processing on 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 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.

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

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

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

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

Optionally, the determining the 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 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 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 to obtain a first torque includes:

Determining a torque change 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;

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

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

when the difference value is not greater 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;

and when the difference value is larger than the torque change rate limit value of the current detection period, acquiring the 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 processing is performed 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, including:

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 period includes:

and when the torque reversing request is not detected, determining the target required torque of the current detection period as the motor executing torque.

Optionally, the determining the motor 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 determining apparatus 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 carrying out 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;

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

and the torque execution module is used for determining 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.

Optionally, the torque acquisition module is configured to:

Optionally, the limit value determining 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 determining apparatus for an electric vehicle, including a processor, a memory, and a computer program stored in the memory and executable on the processor, where the computer program when executed by the processor implements the steps of the torque determining method for an electric vehicle provided in the foregoing 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, where the computer program when executed by a processor implements the steps of the method for determining torque of an electric vehicle provided in the foregoing embodiment.

As can be seen from the technical solution provided in the foregoing embodiment of the present invention, in the embodiment of the present invention, the required torque of the motor in the current detection period, the required torque in the previous detection period, and the vehicle running information are obtained, the vehicle running information includes a current vehicle speed, a current driving mode, a torque change rate limit value of the motor in the current detection period is determined according to the required torque of the current detection period and the vehicle running information, compensation processing is performed on the required torque in 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, so as to obtain a first torque, filtering processing is performed on the first torque based on the required torque in 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, a motor execution torque is determined according to the target required torque in the current detection period, and the motor execution torque is controlled to perform torque output in the current detection period. Therefore, the first torque used for determining the target required torque is the torque obtained by carrying out compensation processing on the required torque of the current detection period, so that step change of the torque can be avoided through the target required torque obtained by carrying out filtering processing on the first torque, the determination accuracy of the target required torque is improved, meanwhile, the problem of low torque determination efficiency and poor accuracy caused by setting different torque gradients according to different driving requirements can be avoided through the requirement of the current detection period and the vehicle driving information, and the determination efficiency and 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 that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

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

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

FIG. 3 is a schematic illustration of a torque reversing process according to the present invention;

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

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

Detailed Description

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

In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, shall fall within the scope of the invention.

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

in S102, the required torque of the motor in the current detection period, the required torque in the previous detection period, and the vehicle running 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 the electric vehicle by a driver, 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 operation state data of the electric vehicle in the current detection period, for example, operation state data of an accelerator pedal opening, a driving gear, a vehicle speed, a motor rotation speed, and the like of the electric vehicle in the current detection period may be acquired, and the required torque in the current detection period may be determined based on the acquired operation state data of the electric vehicle.

In implementation, different required torque determining methods and different detection periods can be set for different electric vehicles, and in the different detection periods, required torque corresponding to each detection period can be determined based on a preset required torque determining method and running state data of the electric vehicle in the current detection period, so that required torque of the current detection period and required torque of the previous detection period can be obtained. The required torque determining method may be various, for example, different weights may be set for corresponding running state indexes according to different driving requirements (such as energy-saving requirements and power requirements) of the electric automobile, and corresponding required torque is determined based on the obtained running state data of the electric automobile in the current detection period; or, the required torque obtained by processing the running state data of the current detection period may be determined based on a pre-trained required torque determination model (such as a model obtained by training a neural network model based on historical running state data), and the required torque determination method may be different according to different practical application scenarios, which is not particularly 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 of the current detection period and the vehicle running information.

In an implementation, the torque change rate limit corresponding to the required torque and the vehicle travel information of the current detection period may be obtained based on a preset correspondence 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 is an optional and practical method, and in an actual application scenario, there may be a plurality of different methods for determining the torque change rate limit, which may be different according to the actual application scenario, and the embodiment of the present invention is not limited in particular.

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 the first torque.

The first torque may be a torque capable of reducing occurrence of a jump exceeding a preset amplitude of the motor.

In the implementation, in order to avoid situations such as vehicle shrugging caused by jump when the motor actually executes torque due to overlarge change of the required torque of the driver, compensation processing can be performed on the required torque of the current detection period so as to obtain the first torque capable of reducing jump of the motor exceeding a preset amplitude.

When the compensation process is performed on the required torque of the current detection period, the torque variation trend of the current detection period may be further acquired, and 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 value, for example, in a case where the required torque of the current detection period is not less than the preset torque threshold value, 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 value, 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 a situation of the electric vehicle and used for enabling the electric vehicle to run smoothly.

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

After determining the torque variation trend of the current detection period, the compensation process may be performed on the required torque of the current detection period based on the determined torque variation trend, the torque variation rate limit value of the current detection period, the required torque of the previous detection period, and the required torque of the current detection period, so as to obtain the first torque.

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

In addition, the compensation processing can be performed on the required torque of the previous detection period 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 can be obtained), the required torque of the previous detection period, the torque change trend of the previous detection period and the torque change rate limit value of the previous detection period, so as to obtain the first torque of the previous detection period, which can reduce the occurrence of jump exceeding the preset amplitude, of the motor.

And compensating 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, the method for determining the first torque may be multiple, and may be different according to different practical application scenarios, which is not particularly limited in the embodiment of the present invention.

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

In an implementation, to filter out jump, burr, etc. in the first torque, the first torque may be filtered, so that the torque change is smoother and smoother. The method for filtering the first torque may be multiple, and may be different according to different practical application scenarios, which is not particularly limited in the embodiment of the present invention.

In S110, the motor execution torque is determined according to the target demand 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 implementation, since the electric vehicle has a possibility of torque commutation, a method for determining motor execution torque can be determined for a specific driving situation, a motor execution torque corresponding to a target required torque of a current detection period is determined based on the determined method for determining motor execution torque, and the motor is controlled to output torque 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, which is not particularly limited in the embodiment of the present invention.

The embodiment of the invention provides a torque determination method of an electric automobile, 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, 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, determining a compensation process 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, obtaining a first torque, filtering the first torque based on the required torque of the current detection period and the current driving mode, obtaining 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 execute torque output according to the motor execution torque in the current detection period. Therefore, the first torque used for determining the target required torque is the torque obtained by carrying out compensation processing on the required torque of the current detection period, so that step change of the torque can be avoided through the target required torque obtained by carrying out filtering processing on the first torque, the determination accuracy of the target required torque is improved, meanwhile, the problem of low torque determination efficiency and poor accuracy caused by setting different torque gradients according to different driving requirements can be avoided through the requirement of the current detection period and the vehicle driving information, and the determination efficiency and accuracy of the torque can be improved.

In a specific embodiment, as shown in fig. 2, an embodiment of the present invention provides a method for determining torque of an electric vehicle, where an execution body of the method may be an electronic device, and the electronic device may be configured in the electric vehicle, for determining torque and controlling a motor to execute the torque. The method can specifically comprise the following steps

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

The driving gear may include a forward gear, a reverse gear, and the like.

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

In implementation, the required torque determination method corresponding to the running gear of the current detection period may be determined according to the correspondence between the running gear and the required torque determination method. The corresponding relation between the driving gear and the required torque determining method can be determined according to the historical driving gear and the historical required torque determining 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 motor car, and the like. The required torque determination methods for 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 map of 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 operation state data of the electric locomotive.

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

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

In the implementation, taking a method of determining the required torque as an example, the method of determining the required torque of the motor in the current detection period is based on a two-dimensional mapping relation between the opening of the accelerator pedal and the current vehicle speed. The two-dimensional mapping relation can be an expert experience value or a calibration value, and can be stored in a memory of the electronic equipment, and the two-dimensional mapping relation corresponding to different driving gears is different.

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

wherein T is _Drv For the current detection period of the torque demand of the motor, aps is the accelerator opening, veh is the current vehicle speed,

is a two-dimensional mapping relationship.

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

When the driver presses the accelerator pedal, the driving gear of the electric automobile can be obtained, the 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 of the automobile, the opening degree of the accelerator pedal pressed by the driver and the two-dimensional mapping relation. When the opening of the accelerator pedal is 0 and the vehicle speed is not less than a preset vehicle speed threshold value, the required torque of the motor in the current detection period can be less than 0; when the opening of the accelerator pedal is 0 and the vehicle speed is smaller 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 pedal opening is greater than 0, the required torque of the motor for the current detection period may be greater than 0.

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 implementations, the base torque rate limit for the current detection period corresponding to the demand torque for the current detection period and the current vehicle speed may be determined based on a preset correspondence between the demand torque, the vehicle speed, and the base torque rate limit.

In S210, a torque change rate limit value for the current detection period is determined from the torque change rate coefficient determined for the current driving mode and the base torque change rate limit value for the current detection period.

In implementation, taking the driving mode as the first driving mode, the second driving mode and the third driving mode as examples, 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 requirements are sequentially increased.

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

In S212, a torque change trend in the current detection period is determined according to the required torque in the current detection period and the required torque in the previous detection period.

In practice, for example, in the case where the required torque of the current detection period is not less than the required torque of the previous detection period, the torque change trend of the current detection period may be determined to be increased, and in the case where the required torque of the current detection period is less than the required torque of the previous detection period, the torque change trend of the current detection period may be determined to be decreased.

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

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

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

And under the condition that the difference value is larger than the preset torque change rate limit value, the first torque of the motor in the previous detection period can be obtained, the first torque in the current detection period is determined based on the first torque in the previous detection period, the torque change trend and the torque change rate limit value in the current detection period, and the first torque in the previous detection period can be increased or decreased according to the torque change rate limit value. For example, in the case where the difference between the required torque of the previous detection period and the required torque of the current detection period is greater than the preset torque change rate limit, if the torque change trend is increasing, the sum of the torque change rate limit and the first torque of the previous detection period may be taken as the first torque, and if the torque change trend is decreasing, the difference between the first torque of the previous detection period and the preset torque change rate limit may be taken as the first torque.

For example, 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 value is 3, then 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 value 3, then the first torque of the previous detection period (assuming that it may be 6) may be acquired, if the torque change trend is increasing, the sum 10 of the first torque 6 of the previous detection period and the preset torque change rate limit value 4 may be regarded as the first torque, and if the torque change trend is decreasing, the difference 2 between the first torque 6 of the previous detection period and the preset torque change rate limit value 4 may be regarded 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 implementation, the corresponding filter coefficient may be determined according to the current driving mode, and the driving mode includes a first driving mode, a second driving mode and a third driving mode, where 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 requirements are sequentially increased, it may be assumed that the filter coefficient corresponding to the second driving mode is a, the filter coefficient of the first driving mode may be 0.9a, and the filter coefficient of the third driving mode may be 1.1a.

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

In S220, the target demand torque of the motor in the previous detection period 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 practice, the target torque demand of the previous detection period, the torque demand of the current detection period and the filter coefficient can be substituted into the formula

T ₂ (n)＝α*T ₁ (n)+(1-α)*T ₂ (n-1)

To obtain 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, T ₂ (n) is the target required torque of the current detection period, alpha is a preset filter coefficient, T ₁ (n) the required torque for the current detection period, T ₂ (n-1) is the target demand torque of the previous detection period.

In S222, it may be determined whether to continue to perform S3224 or S226 to S232 depending on whether a torque commutation request is detected, that is, in the case where a torque commutation request is detected, S226 to S232 may be continued after S222, and in the case where 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 demand torque of the current detection period is determined as the motor execution torque.

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

In the implementation, taking a driving gear as a forward gear or a reverse gear as an example, when the driving gear of the electric automobile is changed from the driving of the forward gear to the decelerating of the forward gear or from the driving of the forward gear to the reverse gear, the torque of the motor is changed from positive to negative; when the running gear of the electric vehicle 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 change of the gear surface pressing condition of the transmission system caused by the torque reversing, and the problem of vibration of the transmission system is caused, the disengagement and the pressing of the gear surface need to be alleviated when the torque reversing request is detected.

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

In an implementation, taking a driving gear as a forward gear or a reverse gear as an example, the second torque may be a target required torque in the case where 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 in the case where the driving gear of the current detection period is the reverse gear. Namely, 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 decelerating 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 decelerating state.

In S230, the second torque of the previous detection period 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 demand 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 practice, the second torque of the current detection period and the second torque of the previous detection period are substituted into the formula under the condition that the absolute value of the second torque is not larger than the preset torque threshold value

T _actmot (n)＝β*T _mot (n)+(1-β)*T _mot (n-1)

Obtaining motor execution torque of a current detection period, wherein n is the current detection period, n-1 is the previous detection period, and T is the current detection period _actmot (n) motor execution torque for current detection period, T _mot (n) is the second torque of the current detection period, beta is a preset reversing coefficient, T _mot (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, and the smaller the preset reversing coefficient is calibrated, the smoother the third torque reversing of the motor is, so that the electric automobile can be ensured to stably run during gear shifting or acceleration and deceleration.

The preset torque threshold may be a torque threshold preset according to a specific situation of the electric vehicle, for example, the preset torque threshold may be 50Nm, and in a case where 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 period may be determined based on the above formula.

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

After determining the motor execution torque, S234 may be continued, i.e., after S234 or S232, S234 may be continued.

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

The above method for determining the torque of the electric automobile provided by the embodiment of the invention is based on the same thought, and the embodiment of the invention also provides a device for determining the torque of the electric automobile, as shown in fig. 4.

The torque determination device for an 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 the motor in a current detection period, a required torque of the motor in a previous detection period, and vehicle running information, where the vehicle running 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 in the current detection period and the vehicle running information;

the first processing module 403 is configured to compensate 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;

the second processing module 404 is configured to perform filtering processing on the first torque based on the required torque in 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 405 is configured to determine a motor execution torque according to the target required torque in the current detection period, and control the motor to output torque according to the motor execution torque in the current detection period.

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

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

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

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

In an embodiment of the present invention, the torque execution 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 is characterized in that a required torque of a motor in a current detection period, a required torque in a previous detection period and vehicle running information are obtained, the vehicle running information comprises a current speed and a current driving mode, a torque change rate limit value of the motor in the current detection period is determined according to the required torque of the current detection period and the vehicle running information, compensation processing is carried out 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, a first torque is obtained, filtering processing is carried out on the first torque according to the required torque of the current detection period and the current driving mode, a target required torque of the motor in the current detection period is obtained, a motor executing torque is determined according to the target required torque of the current detection period, and the motor executing torque is controlled to carry out torque output according to the motor executing torque in the current detection period. Therefore, the first torque used for determining the target required torque is the torque obtained by carrying out compensation processing on the required torque of the current detection period, so that step change of the torque can be avoided through the target required torque obtained by carrying out filtering processing on the first torque, the determination accuracy of the target required torque is improved, meanwhile, the problem of low torque determination efficiency and poor accuracy caused by setting different torque gradients according to different driving requirements can be avoided through the requirement of the current detection period and the vehicle driving information, and the determination efficiency and accuracy of the torque can be improved.

Based on the method for determining the torque of the electric vehicle provided in the foregoing embodiment, based on the same thought, the embodiment of the present invention further provides a device for determining the torque of the electric vehicle, for determining the torque and controlling the motor to execute the torque, where,

as shown in fig. 5, the torque determining apparatus 500 of the electric vehicle includes, but is not limited to: radio frequency unit 501, network module 502, audio output unit 503, input unit 504, sensor 505, display unit 506, user input unit 507, interface unit 508, memory 509, processor 510, and power source 511. It will be appreciated by those skilled in the art that the torque determining device structure of the electric vehicle shown in fig. 5 does not constitute a limitation of the torque determining device of the electric vehicle, and the torque determining device of the electric vehicle may include more or less components than illustrated, or may combine certain components, or may be a different arrangement of components. In the embodiment of the invention, the torque determining device of the electric automobile comprises, 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: the method comprises the steps of obtaining the required torque of a motor in a current detection period, the required torque of the motor 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, carrying out compensation processing on 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 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.

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

In an 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 an embodiment of the present invention, the processor 510 is further configured to: determining a torque change 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; and determining the first torque based on the difference, the torque variation trend and the torque variation rate limit of the current detection period.

In an embodiment of the present invention, the processor 510 is further configured to: when the difference value is not greater 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; and when the difference value is larger than the torque change rate limit value of the current detection period, acquiring the 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 an 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 an embodiment of the present invention, the processor 510 is further configured to: and when the torque reversing request is not detected, determining the target required torque of the current detection period as the motor executing torque.

In an 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 torque determining equipment of an electric automobile, which is used for determining a torque change rate limit value of the motor in a current detection period according to the required torque of the motor in the current detection period and the vehicle driving information, determining the required torque of the motor in the current detection period according to the required torque of the motor in the current detection period and the vehicle driving information by acquiring the required torque of the motor in the current detection period, the required torque of the motor in the previous detection period and the vehicle driving information, compensating the required torque of the motor in the current detection period according to the required torque of the current detection period, the required torque of the motor in the current detection period and the torque change rate limit value of the motor in the current detection period to acquire first torque, filtering the first torque based on the required torque of the motor in the current detection period and the current driving mode to acquire target required torque of the motor in the current detection period, determining motor execution torque according to the target required torque of the current detection period, and controlling the motor to execute torque in the current detection period to perform torque output. Therefore, the first torque used for determining the target required torque is the torque obtained by carrying out compensation processing on the required torque of the current detection period, so that step change of the torque can be avoided through the target required torque obtained by carrying out filtering processing on the first torque, the determination accuracy of the target required torque is improved, meanwhile, the problem of low torque determination efficiency and poor accuracy caused by setting different torque gradients according to different driving requirements can be avoided through the requirement of the current detection period and the vehicle driving information, and the determination efficiency and 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 to receive and send information or signals during a call, specifically, receive downlink data from a base station, and then process the downlink data with the processor 510; and, the uplink data is transmitted to the base station. Typically, the 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 may also communicate with networks and other devices through a wireless communication system.

The torque determination device of the electric vehicle provides wireless broadband internet access to the user through the network module 502, such as helping the user to send and receive e-mail, 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 for receiving an audio or video signal. The input unit 504 may include a graphics processor (Graphics Processing Unit, GPU) 5041 and a microphone 5042, the graphics processor 5041 processing image data of still pictures 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 graphics 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. Microphone 5042 may receive sound and may be capable of processing such sound into audio data. The processed audio data may be converted into a format output that can be transmitted to the mobile communication base station via the radio frequency unit 501 in case of a phone call mode.

The torque determining device 500 of the electric vehicle further comprises 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 backlight when the torque determination device 500 of the electric vehicle moves to the ear. As one of the motion sensors, the accelerometer sensor can detect the acceleration in all directions (generally three axes), can detect the gravity and the direction when the accelerometer sensor is stationary, and can be used for identifying the torque determination equipment gesture (such as horizontal and vertical screen switching, related games and magnetometer gesture calibration) of the electric automobile, vibration identification related functions (such as pedometer and knocking) and the like; the sensor 505 may further include a fingerprint sensor, a pressure sensor, an iris sensor, a molecular sensor, a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, etc., which are not described herein.

The display unit 506 is used to display information input by a 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 (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 to generate key signal inputs related to user settings and function control of the torque determination device of the 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 thereon or thereabout by a user (e.g., operations of the user on touch panel 5071 or thereabout using any suitable object or accessory such as a finger, stylus, etc.). Touch panel 5071 may include two parts, a touch detection device and a touch controller. The touch detection device detects the touch azimuth 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 detection 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 resistive, capacitive, infrared, and 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, physical keyboards, function keys (e.g., volume control keys, switch keys, etc.), trackballs, mice, joysticks, and so forth, 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 thereabout, the touch operation is transmitted to the processor 510 to determine a type of touch event, and then the processor 510 provides a corresponding visual output on the display panel 5061 according to the type of touch event. Although in fig. 5, the touch panel 5071 and the display panel 5061 are provided as two separate components to implement the input and output functions of the torque determining device of the electric vehicle, in some embodiments, the touch panel 5071 may be integrated with the display panel 5061 to implement the input and output functions of the torque determining device of the electric vehicle, which is not limited herein.

The interface unit 508 is an interface in which an external device is connected to the torque determination apparatus 500 of the electric vehicle. For example, the external devices may include a wired or wireless headset port, an external power (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 an 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 for 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, phonebook, etc.) created according to the use of the handset, etc. In addition, 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 determining apparatus of the electric vehicle, connects respective parts of the torque determining apparatus of the entire electric vehicle using various interfaces and lines, and performs various functions and processes data of the torque determining apparatus of the electric vehicle by running or executing software programs and/or modules stored in the memory 509 and calling data stored in the memory 509, thereby performing overall monitoring of the torque determining apparatus of the electric vehicle. Processor 510 may include one or more processing units; preferably, the processor 510 may integrate an application processor that primarily handles operating systems, user interfaces, applications, etc., with a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 510.

The torque determining device 500 of the electric vehicle may further include a power source 511 (such as a battery) for supplying power to the respective components, and preferably, the power source 511 may be logically connected to the processor 510 through a power management system, so as to perform functions of managing charge, discharge, power consumption management, etc. through the power management system.

Preferably, the embodiment of the present invention further provides a torque determining device for an electric vehicle, including a processor 510, a memory 509, and a computer program stored in the memory 509 and capable of running on the processor 510, where the computer program when executed by the processor 510 implements each process of the above embodiment of the data verification method based on a neural network, and the same technical effects can be achieved, and for avoiding repetition, a description is omitted herein.

Based on the same technical concept, the embodiment of the invention further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements each process of the embodiment of the method for determining torque of the electric vehicle, and can achieve the same technical effect, so that repetition is avoided, and no further description is given here. Wherein the computer readable storage medium is selected from Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk.

The embodiment of the invention provides a computer readable storage medium, which is used for acquiring the required torque of a motor in a current detection period, the required torque in a previous detection period and vehicle driving information, wherein the vehicle driving information comprises a current 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 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 value 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 the motor execution torque according to the target required torque of the current detection period, and controlling the motor to execute torque output according to the motor execution torque in the current detection period. Therefore, the first torque used for determining the target required torque is the torque obtained by carrying out compensation processing on the required torque of the current detection period, so that step change of the torque can be avoided through the target required torque obtained by carrying out filtering processing on the first torque, the determination accuracy of the target required torque is improved, meanwhile, the problem of low torque determination efficiency and poor accuracy caused by setting different torque gradients according to different driving requirements can be avoided through the requirement of the current detection period and the vehicle driving information, and the determination efficiency and accuracy of the torque can be improved.

It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 apparatus 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 apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

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

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

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 storage media for a computer 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 the computing electronic device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

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. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of additional like elements in a process, method, article, or electronic device comprising the element.

The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.

Claims

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

the method comprises the steps of obtaining the required torque of a motor in a current detection period, the required torque of the motor in a previous detection period and vehicle running information, wherein the vehicle running information comprises a current vehicle speed and a current driving mode, and the driving mode is determined based on the power requirement and the energy-saving requirement of a driver on an electric vehicle;

determining 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;

the filtering processing is performed 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, including:

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

the determining the motor execution torque according to the target required torque of the current detection period comprises the following steps:

when the torque reversing request is not detected, determining the target required torque of the current detection period as the motor executing torque;

acquiring a second torque of the previous detection period;

2. The method of claim 1, wherein the obtaining the required torque of the motor for the current detection period comprises:

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

4. The method of claim 3, wherein compensating the torque demand of the current sensing period to obtain the first torque based on the torque demand of the current sensing period, the torque demand of the previous sensing period, and the torque change rate limit of the current sensing period, comprises:

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

6. A torque determining apparatus of an electric vehicle, characterized by comprising:

the system comprises a torque acquisition module, a control module and a control module, wherein the torque acquisition module is used for acquiring the required torque of a motor in a current detection period, the required torque in a previous detection period and vehicle running information, the vehicle running information comprises a current vehicle speed and a current driving mode, and the driving mode is determined based on the power demand and the energy-saving demand of a driver on an electric vehicle;

The torque execution module is used for determining 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;

the second processing module is used for determining a filter coefficient according to the required torque of the current detection period and the current driving mode;

the torque executing module is used for determining the target required torque of the current detection period as the motor executing torque when the torque reversing request is not detected;

the torque execution module is used for acquiring a driving gear of the electric automobile in the current detection period when a torque reversing request is detected;

Acquiring a second torque of the previous detection period;

7. A torque determining apparatus of an electric vehicle, characterized by comprising a processor, a memory and a computer program stored on the memory and executable on the processor, which when executed by the processor realizes the steps of the torque determining method of an electric vehicle according to any one of claims 1 to 5.