CN113135095B - Motor control method, device, electronic device and storage medium - Google Patents

Abstract

The present application relates to a motor control method, device, electronic equipment and storage medium. The method includes: acquiring driving state information of the vehicle, the vehicle including a tractor and a trailer connected to the tractor; the driving state information of the vehicle includes: the speed of the vehicle, the opening degree of the accelerator pedal and the opening degree of the brake pedal of the tractor, and The battery power of the trailer; according to the driving state information, determine the vehicle's operating mode; when the driving state information meets the motor control trigger condition corresponding to the operating mode, determine the target output torque of the trailer motor in the operating mode; according to the target output torque, control the trailer The motor performs torque output. Adopting the method can improve the adaptability of the trailer and the tractor.

Description

Motor control method, device, electronic device and storage medium

technical field

The present application relates to the technical field of vehicles, in particular to a motor control method, device, electronic equipment and storage medium.

Background technique

In the related art, the trailer includes a tractor and a trailer connected to the tractor, the tractor includes a tractor engine, an engine controller, and a vehicle controller, the trailer includes a trailer motor and a motor controller, and the vehicle controller The status is power distribution between the tractor engine and the trailer motor, and the power distribution result is sent as a control signal to the engine controller and the motor controller respectively, so as to control the tractor engine and the trailer motor to output corresponding torque.

However, in the above-mentioned related technologies, since the output control of the trailer motor and the engine of the tractor are interrelated, when the tractor is changed, the power distribution of the entire power system will be affected, which may cause the trailer motor to fail to operate normally, and it is difficult to meet the requirements of the transportation process. In the application scenario that requires a single trailer to be used with multiple tractors, the adaptability is low.

Contents of the invention

Based on this, it is necessary to provide a motor control method, device, electronic device, and storage medium capable of improving adaptability for the above technical problems.

A motor control method, the method comprising:

Obtain the driving state information of the vehicle, the vehicle includes a tractor and the trailer connected to the tractor; the driving state information of the vehicle includes: the speed of the vehicle, the accelerator pedal opening and the braking of the tractor pedal opening, and battery power of the trailer;

determining the running mode of the vehicle according to the driving state information;

When the driving state information satisfies the motor control trigger condition corresponding to the operation mode, determine the target output torque of the trailer motor in the operation mode;

According to the target output torque, the trailer motor is controlled to output torque.

A motor control device, the device comprising:

The acquiring module is used to acquire the driving state information of the vehicle, the vehicle includes a tractor and a trailer connected to the tractor; the driving state information of the vehicle includes: the vehicle speed of the vehicle, the gas pedal of the tractor opening and brake pedal opening, and the battery charge of the trailer in question;

An operating mode determination module, configured to determine an operating mode of the vehicle according to the driving state information;

An output torque determination module, configured to determine the target output torque of the trailer motor in the operation mode when the driving state information satisfies the motor control trigger condition corresponding to the operation mode;

A control module, configured to control the trailer motor to output torque according to the target output torque.

An electronic device, comprising a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

Obtain the driving state information of the vehicle, the vehicle includes a tractor and the trailer connected to the tractor; the driving state information of the vehicle includes: the speed of the vehicle, the accelerator pedal opening and the braking of the tractor pedal opening, and battery power of the trailer;

determining the running mode of the vehicle according to the driving state information;

When the driving state information satisfies the motor control trigger condition corresponding to the operation mode, determine the target output torque of the trailer motor in the operation mode;

According to the target output torque, the trailer motor is controlled to output torque.

A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

Obtain the driving state information of the vehicle, the vehicle includes a tractor and the trailer connected to the tractor; the driving state information of the vehicle includes: the speed of the vehicle, the accelerator pedal opening and the braking of the tractor pedal opening, and battery power of the trailer;

determining the running mode of the vehicle according to the driving state information;

When the driving state information satisfies the motor control trigger condition corresponding to the operation mode, determine the target output torque of the trailer motor in the operation mode;

According to the target output torque, the trailer motor is controlled to output torque.

The motor control method, device, electronic device and storage medium described above obtain the driving state information of the vehicle, determine the running mode of the vehicle according to the driving state information, and determine the motor control trigger condition corresponding to the running mode. The target output torque in the running mode, controlling the motor of the trailer to output torque according to the target output torque, wherein the driving state information includes the vehicle speed, the opening degree of the accelerator pedal and the opening degree of the brake pedal of the tractor, and the battery power of the trailer, Therefore, through the above control method, the trailer only needs to obtain the pedal opening information from the tractor to realize the auxiliary driving or auxiliary braking function without communicating and associating with the power system of the tractor, that is, the power system of the trailer and the power system of the tractor Relatively independent, the same trailer can be easily adapted to different tractors, which is convenient for fast loading and unloading of goods during transportation.

Description of drawings

Fig. 1 is an application environment diagram of a motor control method in an embodiment;

Fig. 2 is a schematic flow chart of a motor control method in an embodiment;

Fig. 3 is a division diagram of vehicle operating modes in an embodiment;

FIG. 4 is a schematic flow chart of a motor control method in a starting mode in an embodiment;

FIG. 5 is a schematic flowchart of a motor control method in an acceleration mode in an embodiment;

FIG. 6 is a schematic flowchart of a motor control method in a high-speed overtaking mode in an embodiment;

FIG. 7 is a schematic flowchart of a motor control method in braking mode in an embodiment;

Fig. 8 is a structural block diagram of a motor control device in an embodiment;

Fig. 9 is an internal structure diagram of an electronic device in one embodiment.

detailed description

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

The motor control method provided in this application can be applied to the application environment shown in FIG. 1 . The application environment involves the vehicle controller as well as the trailer's motor controller, electric drive axle, wheels, power battery and battery management system. The vehicle controller obtains the driving state information of the vehicle through the CAN bus, and when the driving state information meets the corresponding motor control trigger condition, the vehicle controller requests the motor controller to output the corresponding torque. The motor controller controls the motor so that the driving force is transmitted to the wheels through the electric drive axle to drive the vehicle forward, or the braking force on the wheels is transmitted to the motor through the electric drive axle to realize braking energy recovery. The power battery provides high-voltage electric energy for the motor controller. When the vehicle is driven, the motor controller converts DC into three-phase AC to provide electric energy for the motor; when the vehicle brakes, the motor controller converts the three-phase AC of the motor into DC. Charge the battery. The battery management system is used to control the charging and discharging process of the power battery.

While supplying energy to the motor, the motor controller also monitors the running status of the motor system and protects the motor system. While controlling the battery power supply, the battery management system also monitors the remaining power of the battery system to protect the battery system; while ensuring the safety of the battery system and motor system, the vehicle controller coordinates the needs and outputs of the vehicle to protect the vehicle and various key components. Parts safety.

In one embodiment, as shown in FIG. 2 , a motor control method is provided, which is described by taking the method applied to the vehicle controller in FIG. 1 as an example, including the following steps S202 to S208.

S202, acquire the driving state information of the vehicle, the vehicle includes a tractor and a trailer connected to the tractor; the driving state information of the vehicle includes: the speed of the vehicle, the opening degree of the accelerator pedal and the opening degree of the brake pedal of the tractor, and the battery of the trailer electricity.

Wherein, the vehicle speed of the vehicle can be the vehicle speed of the trailer, and the vehicle speed of the trailer can be obtained by calculating the rotation speed of the trailer motor or the wheel speed of the trailer wheel. The vehicle speed of the tractor is obtained directly. The opening of the accelerator pedal is the opening signal converted from the position of the accelerator pedal, and the opening of the brake pedal is the opening signal obtained by converting the position of the brake pedal. Both the opening of the accelerator pedal and the opening of the brake pedal can be expressed in percentages (0 ~100%) means. The battery power of the trailer can be represented by the state of charge (SOC), which is used to reflect the remaining power of the battery. When the battery is fully discharged, when the SOC is 100%, it means the battery is fully charged.

S204. Determine the running mode of the vehicle according to the driving state information.

Specifically, the driving state of the vehicle can be divided into corresponding multiple operating modes according to various preset conditions, and when the driving state information of the vehicle satisfies one of the preset conditions, it is determined that the vehicle is in the operating mode corresponding to the preset condition.

As shown in FIG. 3 , a division diagram of vehicle operation modes in an embodiment is provided, including starting mode, driving mode and braking mode, wherein the driving mode includes acceleration mode, constant-speed cruising mode and high-speed overtaking mode. For example, the vehicle is initially parked on the spot, the driver sets the key switch of the tractor to the ON gear, and after the gear is set to the D gear, the vehicle starts and is ready to drive.

When the condition N1 is satisfied: the vehicle speed is zero, the opening of the brake pedal is zero, and the opening of the accelerator pedal is greater than zero, the vehicle enters the starting mode. After entering the starting mode, when the condition N2 is met: the vehicle has an acceleration intention, and the vehicle speed is greater than or equal to the idling speed (for example, 7km/h), the vehicle enters the acceleration mode.

After the vehicle enters the acceleration mode, when the condition N3 is met: the vehicle has no acceleration intention and the accelerator pedal opening is greater than zero, the vehicle enters the constant-speed cruise mode; when the condition N4 is met: the vehicle speed is greater than or equal to the preset minimum speed of the high-speed overtaking mode (for example, 80km /h), when the accelerator pedal opening is greater than or equal to the preset minimum accelerator pedal opening (for example, 90%) for entering the high-speed overtaking mode, the vehicle enters the high-speed overtaking mode.

After the vehicle enters the constant-speed cruise mode, when the condition N5 is met: the vehicle has an acceleration intention and the vehicle speed is lower than the preset minimum speed of the high-speed overtaking mode, the vehicle enters the acceleration mode again; when the condition N4 is satisfied, the vehicle enters the high-speed overtaking mode.

After the vehicle enters the high-speed overtaking mode, when the condition N6 is met: the accelerator pedal opening is less than or equal to the preset maximum accelerator pedal opening (for example, 80%) for exiting the high-speed overtaking mode, the vehicle enters the constant speed cruising mode again.

After the vehicle enters any one of acceleration mode, constant speed cruise mode, and high-speed overtaking mode, when the condition N7 is met: the opening of the accelerator pedal is equal to zero, and the opening of the brake pedal is greater than zero, the vehicle enters the braking mode.

After the vehicle enters the braking mode, when the conditions N2, N3, and N4 are met, it will enter the acceleration mode, the constant speed cruise mode, and the high-speed overtaking mode respectively; when the condition N8 is met: the opening of the accelerator pedal is equal to zero, and the opening of the brake pedal is greater than zero , When the vehicle speed is zero, the vehicle enters the parking state.

S206. When the driving state information satisfies the motor control trigger condition corresponding to the running mode, determine the target output torque of the trailer motor in the running mode.

Wherein, the motor control trigger condition indicates a condition that needs to be satisfied to trigger the motor to provide auxiliary driving or auxiliary braking, and different operation modes may correspond to different motor control trigger conditions. For example, if the vehicle is in a certain operating mode and the motor control triggering condition corresponding to the operating mode is met, then the target output torque of the trailer motor in the operating mode is determined to provide auxiliary driving or auxiliary braking.

S208. Control the motor of the trailer to output torque according to the target output torque.

Wherein, the target output torque represents the torque sent by the vehicle controller to the motor controller, and the motor controller controls the torque output of the motor according to the target output torque. When the vehicle is in the driving mode, the target output torque is the driving torque, and the motor controller controls the motor to output the driving torque to assist in driving the vehicle forward. When the vehicle is in the braking mode, the target output torque is the braking torque, and the motor controller controls the motor to output the braking torque to help prevent the vehicle from moving forward and realize the recovery of braking energy.

In the above motor control method, by obtaining the driving state information of the vehicle, the running mode of the vehicle is determined according to the driving state information, and when the motor control trigger condition corresponding to the running mode is satisfied, the target output torque of the trailer motor in the running mode is determined , controlling the motor of the trailer to perform torque output according to the target output torque, wherein the driving state information includes the speed of the vehicle, the opening degree of the accelerator pedal and the opening degree of the brake pedal of the tractor, and the battery power of the trailer, thus, through the above control method, The trailer only needs to obtain the pedal opening information from the tractor to realize the auxiliary driving or auxiliary braking function, without communicating and associating with the power system of the tractor, that is, the power system of the trailer and the power system of the tractor are relatively independent, and the same The trailer is adapted to different tractors, which is convenient for fast loading and unloading of goods during transportation.

In addition, the decoupling control strategy adopted in the related art in which the power output of the trailer and the power output of the tractor cooperate with each other requires a high degree of cooperation between the power systems of the tractor and the trailer, and the structure and control logic are complicated. Any failure of the power system will bring the risk of paralyzing the power system of the entire vehicle, and the reliability is not high. The above-mentioned embodiment proposes a non-decoupling control strategy, which also has the following advantages: the power system of the trailer and the power system of the tractor are two relatively independent power systems. When the power system fails, it will not affect the operation of another power system, and the reliability is high; the trailer only needs to obtain the pedal opening information from the tractor to realize the auxiliary driving or auxiliary braking function, and the structure and control logic are relatively simple. Low cost; identify the operating mode and working condition changes of the vehicle through the driving state information, and provide auxiliary driving or auxiliary braking for the tractor at the right time, with high control accuracy and good robustness.

In one embodiment, the running mode includes a starting mode; determining the running mode of the vehicle according to the driving state information specifically includes: determining that the running mode of the vehicle is the starting mode when the driving state information meets the starting condition. When the following conditions are met at the same time: the opening of the brake pedal is equal to zero; the opening of the accelerator pedal is greater than zero; the vehicle speed is greater than or equal to zero and less than the idle speed, it is determined that the driving state information meets the starting condition. When the vehicle is in the start mode and meets the following conditions: when the battery power is greater than or equal to the preset minimum dischargeable power value, it is determined that the driving state information satisfies the motor control trigger condition corresponding to the start mode.

Wherein, the idling vehicle speed represents the vehicle speed corresponding to the engine of the tractor in the case of idling. The trailer battery can be discharged only when the remaining power of the trailer battery satisfies a certain range, and the minimum value of the range is the preset minimum value of the dischargeable power, for example, it can be set to 30%.

In one embodiment, when the driving state information satisfies the motor control trigger condition corresponding to the start mode, the target output torque of the trailer motor in the start mode is determined. Determining the target output torque of the trailer motor in the start mode may specifically include the following steps: according to the vehicle speed, obtain the motor drive external characteristic torque at the vehicle speed; according to the motor drive external characteristic torque and the accelerator pedal opening, determine the trailer motor in the start mode Under the target output torque.

Wherein, the external characteristic torque of the motor drive can be obtained by looking up a table according to the current vehicle speed. The target output torque of the trailer motor in the start mode is the product of the external characteristic torque of the motor drive at the current vehicle speed and the opening of the accelerator pedal.

As shown in FIG. 4 , a method for controlling a motor in a starting mode in an embodiment is provided, including the following steps S401 to S409 .

S401. Acquiring driving state information of the vehicle, the driving state information including: vehicle speed, opening degree of the accelerator pedal and the opening degree of the brake pedal of the tractor, and battery power of the trailer.

S402, judging whether the driving state information satisfies the starting condition, if yes, go to step S403, if not, go to step S409.

S403. Determine that the vehicle is in the starting mode.

S404, judging whether the battery power is greater than or equal to the preset minimum dischargeable power, if yes, go to step S405, if not, go to step S408.

S405, according to the vehicle speed, obtain the motor drive external characteristic torque at the vehicle speed;

S406, determining the product of the motor drive external characteristic torque and the accelerator pedal opening percentage as the target drive torque of the trailer motor;

S407, controlling the motor of the trailer to output a target driving torque.

S408, controlling the motor of the trailer to not output torque.

S409, it is determined that the vehicle is not in the starting mode, and it may continue to judge whether the driving state information satisfies the conditions required by other operating modes.

In the above embodiment, when the vehicle is in the starting mode, the engine load of the tractor is heavy, the fuel consumption rate is high, and the emission performance is poor. The auxiliary drive of the trailer motor can help the vehicle to get out of this working condition quickly, thereby reducing fuel consumption and improving emission performance.

In one embodiment, the running mode includes an acceleration mode; determining the running mode of the vehicle according to the driving state information specifically includes: determining that the running mode of the vehicle is the acceleration mode when the driving state information satisfies the acceleration condition. When the following conditions are met at the same time: the opening of the brake pedal is equal to zero; the opening of the accelerator pedal is greater than zero; the vehicle has an acceleration intention; and the vehicle speed is greater than or equal to the idle speed, it is determined that the driving state information meets the acceleration condition. When the vehicle is in the acceleration mode and meets the following conditions: the battery power is greater than or equal to the minimum value of the preset dischargeable power; the vehicle speed is less than or equal to the maximum value of the preset maximum speed that can be assisted, it is determined that the driving state information meets the motor corresponding to the acceleration mode Control trigger conditions.

Determining that the vehicle has an acceleration intention needs to meet certain conditions. The condition can be: the rate of change of the accelerator pedal opening is greater than or equal to the preset rate of change; it can also be: the accelerator pedal opening is greater than or equal to the first preset opening, and the vehicle The acceleration is greater than or equal to the preset acceleration.

Wherein, the rate of change of the opening of the accelerator pedal can be obtained by differential calculation of the opening of the accelerator pedal, and the preset rate of change represents the minimum rate of change of the opening of the accelerator pedal with acceleration intention, for example, 12.5%/s. The first preset opening degree represents the minimum opening degree of the accelerator pedal with acceleration intention, for example, 10%. The acceleration of the vehicle can be obtained through differential calculation of the vehicle speed, and the preset acceleration represents the minimum acceleration with acceleration intention, for example, 0.3m/s ² . It can be understood that the preset rate of change, the first preset opening degree and the preset acceleration can all be set according to actual conditions.

The maximum value of preset assisted vehicle speed indicates the maximum vehicle speed applicable to motor-assisted driving in acceleration mode, for example, 50km/h. When the vehicle speed exceeds the maximum assisted vehicle speed, the thrust generated by the motor drive torque will be greatly reduced, and the power consumption will be large. . Therefore, when the vehicle is in the acceleration mode, the motor is controlled to perform auxiliary driving when the battery power is greater than or equal to the preset minimum dischargeable power and the vehicle speed is less than or equal to the preset maximum assistable vehicle speed.

In one embodiment, when the driving state information satisfies the motor control triggering condition corresponding to the acceleration mode, the target output torque of the trailer motor in the acceleration mode is determined. Determining the target output torque of the trailer motor in the acceleration mode may specifically include the following steps: according to the vehicle speed, obtain the motor drive external characteristic torque at the vehicle speed; Under the target output torque.

Wherein, the external characteristic torque of the motor drive can be obtained by looking up a table according to the current vehicle speed. The target output torque of the trailer motor in the acceleration mode is the product of the external characteristic torque of the motor at the current vehicle speed and the opening of the accelerator pedal.

As shown in FIG. 5 , a motor control method in an acceleration mode in an embodiment is provided, including the following steps S501 to S510 .

S501. Acquiring driving state information of the vehicle, the driving state information includes: vehicle speed, opening degree of the accelerator pedal and the opening degree of the brake pedal of the tractor, and battery power of the trailer.

S502, determine whether the driving state information meets the acceleration condition, if yes, go to step S503, if not, go to step S510.

S503. Determine that the vehicle is in the acceleration mode.

S504, judging whether the battery power is greater than or equal to the preset minimum dischargeable power, if yes, go to step S505, if not, go to step S509.

S505, judging whether the vehicle speed is less than or equal to the maximum value of the preset assistable vehicle speed, if yes, proceed to step S506, if not, proceed to step S509.

S506, according to the vehicle speed, obtain the motor drive external characteristic torque at the vehicle speed;

S507, determining the product of the motor drive external characteristic torque and the accelerator pedal opening percentage as the target drive torque of the trailer motor;

S508, controlling the motor of the trailer to output a target driving torque.

S509, controlling the trailer motor not to output torque.

S510, it is determined that the vehicle is not in the acceleration mode, and it may continue to determine whether the driving state information satisfies the conditions required by other operating modes.

In the above embodiment, when the vehicle is in the acceleration mode, the engine load of the tractor is heavy, the fuel consumption rate is high, and the emission performance is poor. The auxiliary drive of the trailer motor can help the vehicle to get out of this working condition quickly, thereby reducing fuel consumption and improving emission performance.

In one embodiment, the operating mode includes a high-speed overtaking mode, and the driving state information also includes the steering wheel angle of the tractor; determining the operating mode of the vehicle according to the driving state information, specifically includes: when the driving state information meets the high-speed overtaking condition, determining the vehicle The operating mode is high-speed overtaking mode. When the following conditions are met at the same time: the opening of the brake pedal is equal to zero; the opening of the accelerator pedal is greater than or equal to the second preset opening; the vehicle speed is greater than or equal to the minimum value of the preset high-speed vehicle speed, it is determined that the driving state information meets the high-speed overtaking condition. When the vehicle is in the high-speed overtaking mode and meets the following conditions: the battery power is greater than or equal to the preset minimum dischargeable power; the steering wheel angle is less than or equal to the preset maximum power-assisted rotation angle, it is determined that the driving status information meets the high-speed overtaking mode. Motor control trigger condition.

Wherein, the second preset opening represents the minimum opening of the accelerator pedal for entering the high-speed overtaking mode, for example, 90%. The preset minimum high-speed vehicle speed represents the minimum vehicle speed of the high-speed overtaking mode, for example, 80km/h. The preset maximum value of assisted steering angle indicates the maximum steering wheel angle applicable to motor-assisted driving in high-speed overtaking mode, for example, 10°. It can be understood that the second preset opening degree, the preset minimum high-speed vehicle speed and the preset maximum value of the assisted rotation angle can all be set according to actual conditions.

In one embodiment, when the driving state information satisfies the motor control trigger condition corresponding to the high-speed overtaking mode, the target output torque of the trailer motor in the high-speed overtaking mode is determined. Determining the target output torque of the trailer motor in the high-speed overtaking mode may specifically include the following steps: according to the vehicle speed, obtain the motor-driven external characteristic torque at the vehicle speed; determine the motor-driven external characteristic torque as the target of the trailer motor in the high-speed overtaking mode output torque.

Wherein, the external characteristic torque of the motor drive can be obtained by looking up a table according to the current vehicle speed. The target output torque of the trailer motor in the high-speed overtaking mode is the external characteristic torque value of the motor drive at the current vehicle speed.

As shown in FIG. 6 , a motor control method in a high-speed overtaking mode in an embodiment is provided, including the following steps S601 to S610.

S601. Acquiring driving state information of the vehicle, the driving state information includes: vehicle speed, opening degree of the accelerator pedal of the towing vehicle, opening degree of the brake pedal and steering wheel angle, and battery power of the trailer.

S602, judging whether the driving state information satisfies the high-speed overtaking condition, if yes, go to step S603, if not, go to step S610.

S603. Determine that the vehicle is in a high-speed overtaking mode.

S604, judging whether the battery power is greater than or equal to the preset minimum dischargeable power, if yes, go to step S605, if not, go to step S609.

S605, judging whether the steering wheel angle is less than or equal to the preset maximum value of the power-assisted rotation angle, if yes, go to step S606, if not, go to step S609.

S606, according to the vehicle speed, obtain the motor driving external characteristic torque at the vehicle speed;

S607, determining the motor drive external characteristic torque as the target drive torque of the trailer motor;

S608, controlling the motor of the trailer to output a target driving torque.

S609, controlling the trailer motor not to output torque.

S610, it is determined that the vehicle is not in the high-speed overtaking mode, and it may continue to judge whether the driving state information satisfies the conditions required by other operating modes.

In the above-mentioned embodiment, when the vehicle is in the high-speed overtaking mode, the power demand for the vehicle is relatively large, and the running process is relatively dangerous. The auxiliary drive of the trailer motor can help the vehicle to get out of this working condition quickly, helping the vehicle to complete fast overtaking while reducing time in hazardous conditions.

In one embodiment, the running mode includes a braking mode; determining the running mode of the vehicle according to the driving state information specifically includes: determining that the running mode of the vehicle is the braking mode when the driving state information satisfies the braking condition. When the following conditions are met at the same time: the opening of the brake pedal is greater than zero; the opening of the accelerator pedal is equal to zero; and the vehicle speed is greater than zero, it is determined that the driving state information meets the braking condition. When the vehicle is in the braking mode and meets the following conditions: the battery power is less than or equal to the maximum value of the preset rechargeable power; Motor control trigger condition.

Wherein, the trailer battery can be charged only when the remaining power of the trailer battery satisfies a certain range, and the maximum value of the range is the preset maximum value of rechargeable power, for example, it can be set to 80%. The preset minimum braking speed indicates the minimum vehicle speed applicable to motor-assisted braking in the braking mode, for example, 7km/h. If the vehicle speed is lower than the minimum braking speed, the vehicle speed is already very small and there is no need to control the motor for assistance. brake.

In one embodiment, when the driving state information satisfies the motor control trigger condition corresponding to the braking mode, the target output torque of the trailer motor in the braking mode is determined. Determining the target output torque of the trailer motor in braking mode may specifically include the following steps: according to the vehicle speed, obtain the motor braking external characteristic torque at the vehicle speed; according to the motor braking external characteristic torque and the opening of the brake pedal, determine the The target output torque of the motor in braking mode.

Wherein, the motor braking external characteristic torque can be obtained by looking up a table according to the current vehicle speed. The target output torque of the trailer motor in braking mode is the product of the braking external characteristic torque of the motor at the current vehicle speed and the opening of the brake pedal.

As shown in FIG. 7 , a motor control method in braking mode in an embodiment is provided, including the following steps S701 to S710 .

S701. Acquiring driving state information of the vehicle, the driving state information including: vehicle speed, opening degree of the accelerator pedal and the opening degree of the brake pedal of the tractor, and battery power of the trailer.

S702, judging whether the driving state information satisfies the braking condition, if yes, go to step S703, if not, go to step S710.

S703. Determine that the vehicle is in the braking mode.

S704, judging whether the battery power is less than or equal to the preset maximum chargeable power, if yes, go to step S705, if not, go to step S709.

S705, judging whether the vehicle speed is greater than or equal to the preset minimum brakeable vehicle speed, if yes, proceed to step S706, if not, proceed to step S709.

S706. According to the vehicle speed, obtain the braking external characteristic torque of the motor at the vehicle speed;

S707, determining the product of the motor braking external characteristic torque and the brake pedal opening percentage as the target braking torque of the trailer motor;

S708, controlling the motor of the trailer to output a target braking torque.

S709, controlling the motor of the trailer to not output torque.

S710, it is determined that the vehicle is not in the braking mode, and it may continue to judge whether the driving state information satisfies the conditions required by other operating modes.

In the above embodiments, when the vehicle is in the braking mode, kinetic energy will be dissipated, and the auxiliary braking of the trailer motor can improve the braking performance of the vehicle while recovering braking energy to reduce energy dissipation.

In one embodiment, when the vehicle is not in the above-mentioned starting mode, acceleration mode, high-speed cruising mode and braking mode, such as in constant-speed cruising mode and coasting mode (simultaneously satisfying the following conditions: the opening degree of the accelerator pedal and the opening degree of the brake pedal are equal to equal to zero, the vehicle speed is greater than zero) and other operating modes, the engine load of the tractor is small, the overall operation is in a relatively economical range, and the fuel consumption rate and emission indicators are relatively low. Therefore, the motor of the trailer does not output torque under this working condition. To maintain the power of the trailer battery.

It should be understood that although the various steps in the flow charts in FIGS. 2-7 are displayed sequentially as indicated by the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in Figures 2-7 may include multiple steps or stages, these steps or stages are not necessarily executed at the same moment, but may be executed at different moments, the execution of these steps or stages The sequence is not necessarily performed sequentially, but may be performed alternately or alternately with other steps or at least a part of steps or stages in other steps.

It should be noted that each of the above-mentioned embodiments is suitable for traction locomotives carrying various powers, such as traditional diesel engines, gasoline engines or natural gas engines, and to a certain extent also suitable for carrying pure electric power, gasoline-electric hybrid power and fuel Battery powered tractor head. The type of trailer in each of the above embodiments can be a full trailer or a semi-trailer, and the semi-trailer is not limited to a self-unloading semi-trailer, a low-bed semi-trailer, a barn-type semi-trailer, a container semi-trailer, a tank-type semi-trailer, a box-type semi-trailer, Oil transport semi-trailer, light semi-trailer, vehicle transport semi-trailer, powder material transport semi-trailer, chemical liquid transport semi-trailer, fence type semi-trailer, gooseneck type semi-trailer, skeleton container Trailer, bulk cement tank transport semi-trailer and other multi-axle and single-axle semi-trailers.

In one embodiment, as shown in FIG. 8 , a motor control device is provided, including: an acquisition module 810, an operation mode determination module 820, an output torque determination module 830 and a control module 840, wherein:

The acquisition module 810 is used to acquire the driving state information of the vehicle, the vehicle includes a tractor and a trailer connected to the tractor; the driving state information of the vehicle includes: the speed of the vehicle, the opening degree of the accelerator pedal and the opening degree of the brake pedal of the tractor, and the battery level of the trailer.

The running mode determining module 820 is configured to determine the running mode of the vehicle according to the driving state information.

The output torque determining module 830 is configured to determine the target output torque of the trailer motor in the running mode when the driving state information satisfies the motor control triggering condition corresponding to the running mode.

The control module 840 is used to control the motor of the trailer to output torque according to the target output torque.

In one embodiment, the running mode includes a starting mode; when the running mode determination module 820 determines the running mode of the vehicle according to the driving state information, it is specifically used to determine that the running mode of the vehicle is the starting mode when the driving state information meets the starting condition The running mode determination module 820 is also used to determine that the driving state information meets the starting condition when the following conditions are met at the same time: the brake pedal opening is equal to zero; the accelerator pedal opening is greater than zero; the vehicle speed is greater than or equal to zero and less than the idle speed; The output torque determination module 830 is also used to determine that the driving state information satisfies the motor control trigger condition corresponding to the start mode when the vehicle is in the start mode and meets the following condition: when the battery power is greater than or equal to the preset dischargeable minimum value.

In one embodiment, when the output torque determination module 830 determines the target output torque of the trailer motor in the running mode when the driving state information meets the motor control trigger condition corresponding to the running mode, it is specifically used to determine the target output torque of the trailer motor in the running mode when the driving state information meets the starting mode. When the corresponding motor control trigger condition is determined, the target output torque of the trailer motor in the start mode is determined; when the output torque determination module 830 determines the target output torque of the trailer motor in the start mode, it is specifically used to obtain the vehicle speed according to the vehicle speed. The characteristic torque driven by the motor; according to the characteristic torque driven by the motor and the opening of the accelerator pedal, the target output torque of the trailer motor in the start mode is determined.

In one embodiment, the running mode includes an acceleration mode; when the running mode determination module 820 determines the running mode of the vehicle according to the driving state information, it is specifically used to determine that the running mode of the vehicle is the accelerating mode when the driving state information meets the acceleration condition The operating mode determination module 820 is also used to determine that the driving state information meets the acceleration when the following conditions are met simultaneously: the brake pedal opening is equal to zero; the accelerator pedal opening is greater than zero; the vehicle has an acceleration intention; the vehicle speed is greater than or equal to the idle speed; Condition; Wherein, when the following conditions are met: the rate of change of the accelerator pedal opening is greater than or equal to the preset rate of change; the accelerator pedal opening is greater than or equal to the first preset opening, and the acceleration of the vehicle is greater than or equal to the preset acceleration When at least one of the following conditions is met, it is determined that the vehicle has an acceleration intention; the output torque determination module 830 is also used when the vehicle is in the acceleration mode and the following conditions are met at the same time: the battery power is greater than or equal to the preset minimum dischargeable power; the vehicle speed is less than or When it is equal to the maximum value of the preset assistable vehicle speed, it is determined that the driving state information satisfies the motor control trigger condition corresponding to the acceleration mode.

In one embodiment, when the output torque determination module 830 determines the target output torque of the trailer motor in the running mode when the driving state information meets the motor control trigger condition corresponding to the running mode, it is specifically used to determine the target output torque of the trailer motor in the running mode when the driving state information satisfies the acceleration mode. When the corresponding motor control trigger condition is determined, the target output torque of the trailer motor in the acceleration mode is determined; when the output torque determination module 830 determines the target output torque of the trailer motor in the acceleration mode, it is specifically used to obtain the vehicle speed according to the vehicle speed. The characteristic torque driven by the motor; according to the characteristic torque driven by the motor and the opening of the accelerator pedal, the target output torque of the trailer motor in acceleration mode is determined.

In one embodiment, the running mode includes a high-speed overtaking mode; when the running mode determination module 820 determines the running mode of the vehicle according to the driving state information, it is specifically used to determine that the running mode of the vehicle is when the driving state information meets the high-speed overtaking condition. High-speed overtaking mode; the operation mode determination module 820 is also used when the following conditions are met at the same time: the brake pedal opening is equal to zero; the accelerator pedal opening is greater than or equal to the second preset opening; the vehicle speed is greater than or equal to the preset high-speed minimum speed value, it is determined that the driving state information meets the high-speed overtaking condition; the driving state information also includes: the steering wheel angle of the tractor; the output torque determination module 830 is also used when the vehicle is in the high-speed overtaking mode and meets the following conditions simultaneously: the battery power is greater than or It is equal to the preset minimum value of dischargeable electricity; when the steering wheel angle is less than or equal to the preset maximum value of power-assisted rotation angle, it is determined that the driving state information satisfies the motor control trigger condition corresponding to the high-speed overtaking mode.

In one embodiment, the output torque determination module 830 determines the target output torque of the trailer motor in the running mode when the driving state information meets the motor control trigger condition corresponding to the running mode, and is specifically used when the driving state information meets the high-speed overtaking When the motor control trigger condition corresponding to the mode is used, the target output torque of the trailer motor in the high-speed overtaking mode is determined; when the output torque determination module 830 determines the target output torque of the trailer motor in the high-speed overtaking mode, it is specifically used to obtain the target output torque according to the vehicle speed. The motor drive external characteristic torque at the vehicle speed; the motor drive external characteristic torque is determined as the target output torque of the trailer motor in the high-speed overtaking mode.

In one embodiment, the running mode includes a braking mode; when the running mode determination module 820 determines the running mode of the vehicle according to the driving state information, it is specifically used to determine that the running mode of the vehicle is when the driving state information satisfies the braking condition. Braking mode; the operating mode determination module 820 is also used to determine that the driving state information meets the braking condition when the following conditions are met at the same time: the brake pedal opening is greater than zero; the accelerator pedal opening is equal to zero; the vehicle speed is greater than zero; The determination module 830 is also used to determine the driving state when the vehicle is in the braking mode and the following conditions are met at the same time: the battery power is less than or equal to the preset maximum chargeable power; the vehicle speed is greater than or equal to the preset minimum brakeable speed The information satisfies the motor control trigger condition corresponding to the braking mode.

In one embodiment, the output torque determination module 830 is specifically used to determine the target output torque of the trailer motor in the running mode when the driving state information meets the motor control trigger condition corresponding to the running mode, and is specifically used when the driving state information meets the braking condition. When the motor control trigger condition corresponding to the mode is used, the target output torque of the trailer motor in the braking mode is determined; when the output torque determination module 830 determines the target output torque of the trailer motor in the braking mode, it is specifically used to obtain the target output torque according to the vehicle speed. Motor braking external characteristic torque at vehicle speed; according to the motor braking external characteristic torque and the opening of the brake pedal, determine the target output torque of the trailer motor in braking mode.

For the specific definition of the motor control device, refer to the above definition of the motor control method, which will not be repeated here. Each module in the above-mentioned motor control device can be fully or partially realized by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, and can also be stored in the memory of the computer device in the form of software, so that the processor can invoke and execute the corresponding operations of the above-mentioned modules.

In one embodiment, an electronic device is provided. The electronic device may be a server, and its internal structure may be as shown in FIG. 9 . The electronic device includes a processor, memory and network interface connected by a system bus. Wherein, the processor of the electronic device is used to provide calculation and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a motor control method is realized.

Those skilled in the art can understand that the structure shown in FIG. 9 is only a block diagram of a part of the structure related to the solution of this application, and does not constitute a limitation on the computer equipment on which the solution of this application is applied. The specific computer equipment can be More or fewer components than shown in the figures may be included, or some components may be combined, or have a different arrangement of components.

In one embodiment, an electronic device is provided, which includes a memory and a processor, where a computer program is stored in the memory, and the processor implements the steps in the foregoing method embodiments when executing the computer program.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the foregoing method embodiments are implemented.

It should be understood that the terms "first" and "second" in the above embodiments are used for description purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented through computer programs to instruct related hardware, and the computer programs can be stored in a non-volatile computer-readable memory In the medium, when the computer program is executed, it may include the processes of the embodiments of the above-mentioned methods. Wherein, any references to memory, storage, database or other media used in the various embodiments provided in the present application may include at least one of non-volatile memory and volatile memory. The non-volatile memory may include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory or optical memory, and the like. Volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above-mentioned embodiments only represent several implementation modes of the present application, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.

Claims (11)

1. A method of controlling a motor, the method comprising:

acquiring running state information of a vehicle, wherein the vehicle comprises a tractor and a trailer connected with the tractor; the running state information of the vehicle includes: the vehicle speed, the accelerator pedal opening and the brake pedal opening of the tractor, the battery power of the trailer and the steering wheel angle of the tractor;

determining the running mode of the vehicle according to the speed of the vehicle, the opening degree of an accelerator pedal and the opening degree of a brake pedal of the tractor;

when at least one of the vehicle speed, the battery capacity and the steering wheel angle of the vehicle meets a motor control trigger condition corresponding to the running mode, determining a target output torque of a trailer motor in the running mode;

controlling the trailer motor to output torque according to the target output torque;

wherein the operation modes include: a starting mode, an accelerating mode, a high-speed overtaking mode and a braking mode;

determining a target output torque of the trailer motor in the operating mode when the operating mode of the vehicle is the launch mode or the acceleration mode, comprising:

according to the vehicle speed, obtaining the motor driving external characteristic torque under the vehicle speed;

determining a target output torque of the trailer motor in the starting mode or the accelerating mode according to the motor driving external characteristic torque and the opening degree of the accelerator pedal;

determining a target output torque of the trailer motor in the operating mode when the operating mode of the vehicle is the high-speed overtaking mode, comprising:

according to the vehicle speed, obtaining the external characteristic torque of the motor drive under the vehicle speed;

determining the motor driving external characteristic torque as a target output torque of the trailer motor in the high-speed overtaking mode;

determining a target output torque of the trailer motor in the operating mode when the operating mode of the vehicle is the braking mode, comprising:

according to the vehicle speed, obtaining the external characteristic torque of the motor brake at the vehicle speed;

determining a target output torque of the trailer motor in the braking mode according to the external characteristic torque of the motor braking and the opening degree of the brake pedal;

wherein the determining the operation mode of the vehicle according to the vehicle speed of the vehicle, the accelerator pedal opening degree and the brake pedal opening degree of the tractor comprises: when the speed of the vehicle, the opening degree of an accelerator pedal of the tractor and the opening degree of a brake pedal meet a high-speed overtaking condition, determining that the running mode of the vehicle is the high-speed overtaking mode;

when the following conditions are simultaneously met, determining that the vehicle speed of the vehicle, the accelerator pedal opening degree of the tractor and the brake pedal opening degree meet the high-speed overtaking condition:

the first item: the brake pedal opening is equal to zero;

the second term is: the opening degree of the accelerator pedal is greater than or equal to a second preset opening degree;

the third item: the vehicle speed is greater than or equal to a preset high-speed vehicle speed minimum value;

when the vehicle is in the high-speed overtaking mode and the following conditions are simultaneously met, judging that at least one of the speed, the battery capacity or the steering wheel angle of the vehicle meets the motor control triggering condition corresponding to the high-speed overtaking mode:

the first item: the electric quantity of the battery is greater than or equal to a preset minimum value of dischargeable electric quantity;

the second term is: and the steering wheel rotating angle is less than or equal to the maximum value of the preset boosting rotating angle.

2. The method of claim 1, wherein the run mode comprises the launch mode; determining the running mode of the vehicle according to the speed of the vehicle, the opening degree of an accelerator pedal of the tractor and the opening degree of a brake pedal, wherein the method comprises the following steps: when the vehicle speed, the accelerator pedal opening degree and the brake pedal opening degree of the tractor meet starting conditions, determining that the running mode of the vehicle is the starting mode;

when the following conditions are simultaneously met, determining that the vehicle speed of the vehicle, the accelerator pedal opening degree of the tractor and the brake pedal opening degree meet the starting conditions:

the first item: the opening degree of the brake pedal is equal to zero;

the second term: the opening degree of the accelerator pedal is greater than zero;

the third item: the vehicle speed is greater than or equal to zero and less than the idle speed;

when the vehicle is in the starting mode and the following conditions are met, at least one of the speed of the vehicle, the battery capacity or the steering wheel angle is judged to meet the motor control triggering condition corresponding to the starting mode:

the battery electric quantity is greater than or equal to a preset minimum value of dischargeable electric quantity.

3. The method of claim 1, wherein the operating mode comprises the acceleration mode; determining the running mode of the vehicle according to the speed of the vehicle, the opening degree of an accelerator pedal of the tractor and the opening degree of a brake pedal, wherein the method comprises the following steps: when the speed of the vehicle, the opening degree of an accelerator pedal of the tractor and the opening degree of a brake pedal meet an acceleration condition, determining that the running mode of the vehicle is the acceleration mode;

determining that the vehicle speed of the vehicle, the accelerator pedal opening degree of the tractor, and the brake pedal opening degree satisfy the acceleration condition when the following conditions are simultaneously satisfied:

the first item: the opening degree of the brake pedal is equal to zero;

the second term is: the opening degree of the accelerator pedal is greater than zero;

the third item: the vehicle has an intention to accelerate;

the fourth item: the vehicle speed is greater than or equal to an idle speed;

wherein it is determined that the vehicle has the intention to accelerate when at least one of the following conditions is satisfied:

the first item: the change rate of the opening degree of the accelerator pedal is greater than or equal to a preset change rate;

the second term is: the opening degree of the accelerator pedal is greater than or equal to a first preset opening degree, and the acceleration of the vehicle is greater than or equal to a preset acceleration;

when the vehicle is in the acceleration mode and the following conditions are simultaneously met, at least one of the speed, the battery capacity or the steering wheel angle of the vehicle is judged to meet the motor control triggering condition corresponding to the acceleration mode:

the first item: the electric quantity of the battery is greater than or equal to a preset minimum value of dischargeable electric quantity;

the second term is: the vehicle speed is less than or equal to the maximum preset moped speed.

4. The method of claim 1, wherein the operating mode comprises the braking mode; determining an operation mode of the vehicle according to the vehicle speed of the vehicle, the accelerator pedal opening degree of the tractor and the brake pedal opening degree, wherein the operation mode comprises the following steps: when the speed of the vehicle, the opening degree of an accelerator pedal of the tractor and the opening degree of a brake pedal meet the braking condition, determining that the running mode of the vehicle is the braking mode;

determining that the vehicle speed of the vehicle, the accelerator pedal opening degree of the tractor and the brake pedal opening degree satisfy the braking condition when the following conditions are simultaneously satisfied:

the first item: the opening degree of the brake pedal is greater than zero;

the second term: the opening degree of the accelerator pedal is equal to zero;

the third item: the vehicle speed is greater than zero;

when the vehicle is in the braking mode and the following conditions are met, at least one of the speed, the battery capacity or the steering wheel angle of the vehicle is judged to meet the motor control triggering condition corresponding to the braking mode:

the first item: the electric quantity of the battery is less than or equal to a preset maximum value of chargeable electric quantity;

the second term is: the vehicle speed is greater than or equal to a preset minimum value of the brakeable vehicle speed.

5. The method of claim 1, further comprising:

and when the vehicle speed is zero, the opening degree of the brake pedal is zero and the opening degree of the accelerator pedal is greater than zero, the vehicle enters the starting mode.

6. The method of claim 5, further comprising:

after the vehicle enters the starting mode, when the vehicle has an acceleration intention and the vehicle speed of the vehicle is greater than or equal to the idle speed, the vehicle enters the acceleration mode;

wherein it is determined that the vehicle has the intention to accelerate when at least one of the following conditions is satisfied:

the first item: the change rate of the opening degree of the accelerator pedal is greater than or equal to a preset change rate;

the second term: the opening degree of the accelerator pedal is larger than or equal to a first preset opening degree, and the acceleration of the vehicle is larger than or equal to a preset acceleration.

7. The method of claim 6, further comprising:

after the vehicle enters the acceleration mode, when the vehicle speed is greater than or equal to a preset minimum vehicle speed of the high-speed overtaking mode and the accelerator pedal opening is greater than or equal to a preset minimum accelerator pedal opening for entering the high-speed overtaking mode, the vehicle enters the high-speed overtaking mode.

8. The method of claim 1, wherein the operating modes further comprise a constant speed cruise mode, the method further comprising:

and after the vehicle enters any one of the acceleration mode, the constant-speed cruise mode and the high-speed overtaking mode, when the opening degree of the accelerator pedal is equal to zero and the opening degree of the brake pedal is greater than zero, the vehicle enters the braking mode.

9. A motor control apparatus, characterized in that the apparatus comprises:

the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring the running state information of a vehicle, and the vehicle comprises a tractor and a trailer connected with the tractor; the running state information of the vehicle includes: the vehicle speed, the accelerator pedal opening and the brake pedal opening of the tractor, the battery power of the trailer and the steering wheel angle of the tractor;

the operation mode determination module is used for determining the operation mode of the vehicle according to the speed of the vehicle, the opening degree of an accelerator pedal and the opening degree of a brake pedal of the tractor;

the output torque determining module is used for determining the target output torque of a trailer motor in the running mode when at least one of the vehicle speed, the battery capacity and the steering wheel angle of the vehicle meets the motor control triggering condition corresponding to the running mode;

the control module is used for controlling the trailer motor to output torque according to the target output torque;

wherein the operation modes include: a starting mode, an accelerating mode, a high-speed overtaking mode and a braking mode;

the control module is further used for obtaining the motor driving external characteristic torque under the vehicle speed according to the vehicle speed when the running mode of the vehicle is the starting mode or the accelerating mode; determining a target output torque of the trailer motor in the starting mode or the accelerating mode according to the motor driving external characteristic torque and the opening degree of the accelerator pedal;

the control module is further used for obtaining the motor driving external characteristic torque under the vehicle speed according to the vehicle speed when the running mode of the vehicle is the high-speed overtaking mode; determining the motor driving external characteristic torque as a target output torque of the trailer motor in the high-speed overtaking mode;

the control module is further used for obtaining the motor braking external characteristic torque under the vehicle speed according to the vehicle speed when the running mode of the vehicle is the braking mode; determining a target output torque of the trailer motor in the braking mode according to the external characteristic torque of the motor brake and the opening degree of the brake pedal;

the operation mode determination module is further used for determining that the operation mode of the vehicle is the high-speed overtaking mode when the vehicle speed of the vehicle, the accelerator pedal opening degree of the tractor and the brake pedal opening degree meet the high-speed overtaking condition;

the operation mode determination module is further configured to determine that the vehicle speed of the vehicle, the accelerator pedal opening degree of the tractor and the brake pedal opening degree meet the high-speed overtaking condition when the following conditions are simultaneously met:

the first item: the brake pedal opening is equal to zero;

the second term is: the opening degree of the accelerator pedal is greater than or equal to a second preset opening degree;

the third item: the vehicle speed is greater than or equal to a preset high-speed vehicle speed minimum value;

the output torque determining module is further configured to determine that at least one of a vehicle speed, a battery capacity, or a steering wheel angle of the vehicle meets a motor control trigger condition corresponding to the high-speed overtaking mode when the vehicle is in the high-speed overtaking mode and the following conditions are simultaneously met:

the first item: the electric quantity of the battery is greater than or equal to a preset minimum value of dischargeable electric quantity;

the second term is: and the steering wheel rotating angle is less than or equal to the maximum value of the preset boosting rotating angle.

10. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 8 when executing the computer program.

11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.

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