CN117162801A - Vehicle torque regulation and control method and device, new energy automobile and storage medium - Google Patents

Abstract

The application relates to the field of new energy automobiles, and provides a vehicle torque regulation and control method and device, a new energy automobile and a storage medium. The method comprises the following steps: screening out a target order in a network vehicle-restraining mode; if the vehicle is monitored to be in the energy recovery working condition, controlling the vehicle to enter a first regulation mode, determining a recovery torque attenuation factor and sending the recovery torque attenuation factor to a motor controller, so that the motor controller gradually reduces the whole vehicle sliding recovery torque value of a driving motor through a transmission system according to the recovery torque attenuation factor; if the vehicle is in the driving working condition, the vehicle is controlled to enter a second regulation and control mode, the driving torque attenuation gradient is determined and sent to the motor controller, and the motor controller carries out gradient attenuation on the whole vehicle required torque of the driving motor through the transmission system according to the driving torque attenuation gradient. The application can realize more intelligent vehicle torque regulation and control, better promote the convenience of the network about vehicle operation, and simultaneously promote the safety and the comfort of the network about vehicle trip.

Description

A vehicle torque control method, device, new energy vehicle and storage medium

Technical field

This application relates to the field of new energy vehicles, and in particular to a vehicle torque control method, device, new energy vehicle and storage medium.

Background technique

In recent years, with the rapid development of the automobile industry and Internet technology, online car-hailing has become an important mode of transportation for people to travel. Major car companies have also launched special versions of online ride-hailing models specifically targeted at the travel market.

At present, the vast majority of online ride-hailing special edition models basically only make relevant hardware configuration adjustments for mass-produced models. For example, ordinary hinged side doors are replaced with sliding side doors that make it easier to get on and off the vehicle. Set up dedicated/larger luggage storage space in the car, etc.

However, there are few studies on software-based vehicle dynamic response, occupant monitoring and other comfort and safety control systems. For example, how to achieve more intelligent vehicle torque control to better improve the convenience of online car-hailing operations and at the same time improve the safety and comfort of online car-hailing travel.

Contents of the invention

In view of this, embodiments of the present application provide a vehicle torque control method, device, new energy vehicle and storage medium, aiming to achieve more intelligent vehicle torque control and better improve the convenience of online car-hailing operations. At the same time, Improve the safety and comfort of online car-hailing travel.

A first aspect of the embodiments of the present application provides a vehicle torque control method, including:

In the online car-hailing mode, obtain the vehicle's current vehicle location, battery pack remaining power value, average energy consumption value, and online car-hailing order set. The online car-hailing order set includes multiple first candidate orders, each first candidate order All include at least pick-up and drop-off locations;

Based on the current vehicle location, battery pack remaining power value, and average energy consumption value, target orders are selected from multiple first candidate orders. The target orders include the target pick-up location and the target drop-off location;

If it is detected that the vehicle has traveled to the target pick-up position, and that the passengers have boarded and taken their seats, and the vehicle is in energy recovery mode, the vehicle's drive motor's vehicle coasting recovery torque value is obtained, and the vehicle is controlled to enter the first control mode. , and determine the recuperation torque attenuation factor, and send the recuperation torque attenuation factor to the motor controller, so that the motor controller gradually reduces the vehicle coasting recuperation torque value of the drive motor through the transmission system according to the recuperation torque attenuation factor;

If the vehicle is in driving mode, the vehicle's driving motor's vehicle demand torque is obtained, and the vehicle is controlled to enter the second control mode, the driving torque attenuation gradient is determined, and the driving torque attenuation gradient is sent to the motor controller so that the motor The controller performs gradient attenuation on the vehicle demand torque of the drive motor through the transmission system according to the drive torque attenuation gradient.

A second aspect of the embodiment of the present application provides a vehicle torque control device, including:

The acquisition module is configured to obtain the current vehicle location of the vehicle, the remaining battery pack power value, the average energy consumption value, and the online car-hailing order set in the online car-hailing mode. The online car-hailing order set includes multiple first candidate orders, Each first candidate order includes at least a pick-up location and a drop-off location;

The screening module is configured to filter out target orders from multiple first candidate orders based on the current vehicle location, remaining battery pack power value, and average energy consumption value. The target orders include a target pick-up location and a target drop-off location;

The first control module is configured to obtain the vehicle coasting recovery torque value of the vehicle's drive motor if it is detected that the vehicle has traveled to the target pick-up location, and that the passengers have boarded the vehicle and taken their seats, and the vehicle is in energy recovery mode. And control the vehicle to enter the first control mode, determine the recuperation torque attenuation factor, and send the recuperation torque attenuation factor to the motor controller, so that the motor controller gradually reduces the vehicle coasting of the drive motor through the transmission system according to the recuperation torque attenuation factor. Recovery torque value;

The second control module is configured to obtain the vehicle demand torque of the vehicle's drive motor if the vehicle is in a driving condition, control the vehicle to enter the second control mode, determine the drive torque attenuation gradient, and send the drive torque attenuation gradient. The motor controller is provided so that the motor controller performs gradient attenuation of the vehicle demand torque of the drive motor through the transmission system according to the drive torque attenuation gradient.

A third aspect of the embodiment of the present application provides a new energy vehicle, including a vehicle controller, a motor controller, a drive motor and a transmission system;

The vehicle controller is used to implement the vehicle torque control method of the first aspect above to send the recovery torque attenuation factor or the driving torque attenuation gradient to the motor controller;

The motor controller is used to gradually reduce the vehicle coasting recuperation torque value of the drive motor through the transmission system according to the recuperation torque attenuation factor, or to perform gradient attenuation of the vehicle demand torque of the drive motor through the transmission system according to the drive torque attenuation gradient.

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps of the above method are implemented.

Compared with the existing technology, the beneficial effects of the embodiments of the present application at least include: On the one hand, in the online car-hailing mode, according to the current vehicle location, the remaining power value of the battery pack, and the average energy consumption value, from the network Screening out the target order from multiple first candidate orders in the ride-hailing order collection can improve the travel efficiency of online ride-hailing and avoid the problem that the itinerary cannot be completed normally or efficiently due to factors such as vehicle cruising range. On the other hand, the embodiment of the present application determines what working condition the vehicle is currently in after detecting that the vehicle has traveled to the target pick-up location and that passengers have boarded and taken their seats, and based on the specific working condition of the vehicle, The vehicle is controlled to enter different control modes, thereby achieving more intelligent vehicle torque control, which can better improve the convenience of online car-hailing operations, and at the same time improve the safety and comfort of online car-hailing travel.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the purpose of the present application. For some embodiments, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic diagram of an application scenario according to the embodiment of the present application;

Figure 2 is a schematic flow chart of a vehicle torque control method provided by an embodiment of the present application;

Figure 3 is a schematic diagram of the driving planning route of a first candidate order in the vehicle torque control method provided by the embodiment of the present application;

Figure 4 is a schematic diagram of a combined driving route of a target order in the vehicle torque control method provided by the embodiment of the present application;

Figure 5 is a schematic diagram of a vehicle torque control device provided by an embodiment of the present application;

Figure 6 is a schematic structural diagram of a new energy vehicle provided by an embodiment of the present application;

FIG. 7 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures and technologies are provided to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

A vehicle torque control method, device, and new energy vehicle according to embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Figure 1 is a schematic diagram of an application scenario according to an embodiment of the present application. The application scenario may include new energy vehicles 101 and dispatch systems 102 . The new energy vehicle 101 and the dispatch system 102 can be connected through the network. The network can be a wired network using coaxial cables, twisted pairs and optical fiber connections, or a wireless network that can interconnect various communication devices without wiring, such as Bluetooth, Near Field Communication , NFC), infrared (Infrared), etc., the embodiments of the present application do not limit this.

New energy vehicles 101, including but not limited to vehicle control unit (VCU), IVI, battery pack, motor controller, drive motor, transmission system, etc.

IVI (In-vehicle info ainment), that is, in-vehicle infotainment system. Usually refers to the vehicle central control device with a display screen.

The dispatch system usually refers to a third-party service platform, such as a certain Didi travel platform, a certain group taxi platform, etc.

In an application scenario, when the new energy vehicle 101 receives the online car-hailing mode activation information sent by the IVI through the vehicle controller, it can be determined that the vehicle is in the online car-hailing mode. At this time, the new energy vehicle 101 can further use the vehicle controller to The remaining power value of the battery pack is collected, and the average energy consumption value of the vehicle is obtained. At the same time, a collection of online car-hailing orders sent by the dispatch system 102 can be received. Afterwards, the vehicle controller selects the target order from multiple first candidate orders based on the current vehicle position, the remaining battery pack power value, and the average energy consumption value. The target order includes the target pick-up location and the target drop-off location; if When the vehicle controller detects that the vehicle has traveled to the target pick-up position, and that the passengers have boarded the vehicle and taken their seats, and that the vehicle is in energy recovery mode, it obtains the vehicle coasting recovery torque value of the vehicle's drive motor and controls the vehicle to enter the first control mode, determine the recuperation torque attenuation factor, and send the recuperation torque attenuation factor to the motor controller, so that the motor controller gradually reduces the vehicle coasting recuperation torque value of the drive motor through the transmission system according to the recuperation torque attenuation factor; if the vehicle In the driving condition, the vehicle's driving motor's vehicle demand torque is obtained, and the vehicle is controlled to enter the second control mode, and the driving torque attenuation gradient is determined, and the driving torque attenuation gradient is sent to the motor controller, so that the motor controller According to the driving torque attenuation gradient, the vehicle demand torque of the drive motor is gradient attenuated through the transmission system. Through the above methods, the travel efficiency of online car-hailing can be improved, and the problem that the journey cannot be completed normally or efficiently due to factors such as vehicle cruising range can be avoided. More intelligent vehicle torque control can be achieved, which can better improve online car-hailing. The convenience of car operation while improving the safety and comfort of online car-hailing travel.

Figure 2 is a schematic flowchart of a vehicle torque control method provided by an embodiment of the present application. The vehicle torque control method in Figure 2 can be executed by the vehicle controller in the new energy vehicle 101 in Figure 1 . As shown in Figure 2, the vehicle torque control method includes the following steps:

Step S201, in the online car-hailing mode, obtain the vehicle's current vehicle location, battery pack remaining power value, average energy consumption value, and online car-hailing order set. The online car-hailing order set includes multiple first candidate orders, each of which is the first candidate order. Each candidate order includes at least a pick-up location and a drop-off location.

The online ride-hailing model usually refers to the operation model/business model of online ride-hailing. The online car-hailing model can be subdivided into taxi model, express car model, ride-hailing model, private car model; or C2C model (that is, the company provides an independent third-party commercial car service platform, and connects users with car needs through the website or mobile app Match and form transactions with car service providers (such as private car owners, car rental companies, etc.), B2C model (the private car company provides its own vehicles and professional drivers to serve users, similar to the self-operated taxi company), etc. .

The vehicle controller can monitor the remaining power value of the battery pack in real time and read the remaining SOC value of the battery pack (that is, the remaining power value of the battery pack).

The average energy consumption value usually refers to the average energy consumption per 100 kilometers estimated by the vehicle controller based on the vehicle's driving conditions.

In one embodiment, when receiving the online car-hailing mode activation information sent by IVI, the vehicle controller automatically connects to the dispatch system 102 and obtains the set of online car-hailing orders issued by the dispatch system 102 .

The pick-up location is the location where you board the bus. The drop-off position is where passengers get off the bus.

In addition to the pick-up location and drop-off location, each first candidate order may also include the passenger's basic information (such as contact number, passenger name, etc.), planned driving route, etc.

In some embodiments, the vehicle controller can identify the driver's pupil opening and blink frequency through the DMS (driver monitoring system) and the in-car camera respectively. If it is recognized that the driver's pupil opening is less than the preset threshold (for example, 20mm, etc.) or the blink frequency is less than the preset threshold (for example, 1 time/second), it will immediately send a message to the BCM (Body Control Module). The steering wheel vibrates and the driver's side audio and instruments are requested to provide sound and light prompts to provide timely reminders of driver fatigue, distraction, etc. At the same time, the vehicle controller may send an application to suspend order acceptance to the order dispatch system 102 . When the order dispatching system 102 receives the order-holding application, it will not issue the online car-hailing order set to the vehicle controller for the time being. When the vehicle controller recognizes that the driver's pupil opening is greater than or equal to the preset threshold (for example, 20mm, etc.) or the blink frequency is greater than or equal to the preset threshold (for example, 1 time/second), it will notify the dispatch system. 102 sends an order-receiving application. At this time, when receiving the order-receiving application, the order dispatching system 102 can issue a set of online car-hailing orders to the vehicle controller.

Before taking an order, the vehicle controller uses the DMS driver monitoring system and the in-car camera to identify the driver's pupil opening and blink frequency, ensuring that the driver is driving without fatigue before reporting to the dispatch system. 102 sends an order-receiving application and receives a collection of online car-hailing orders issued by the dispatch system 102, which can effectively prevent drivers from driving fatigued to receive orders and ensure the travel safety of drivers and passengers.

Step S202: Screen out target orders from multiple first candidate orders based on the current vehicle location, battery pack remaining power value, and average energy consumption value. The target orders include a target pick-up location and a target drop-off location.

Step S203, if it is detected that the vehicle has traveled to the target pick-up location, and it is detected that the passengers have boarded the vehicle and taken their seats, and the vehicle is in energy recovery mode, obtain the vehicle coasting recovery torque value of the vehicle's drive motor, and control the vehicle to enter the first step. A control mode, and determines the recuperation torque attenuation factor, and sends the recuperation torque attenuation factor to the motor controller, so that the motor controller gradually reduces the vehicle coasting recuperation torque value of the drive motor through the transmission system according to the recuperation torque attenuation factor.

The energy recovery working condition means that the vehicle is in a sliding energy recovery or braking energy recovery working condition.

The vehicle's coasting recovery torque value is the maximum coasting energy recovery torque allowed for the vehicle.

The recuperation torque attenuation factor refers to the magnitude of the reduction in the vehicle's coasting energy recovery torque value under the same vehicle speed and brake master cylinder pressure. That is, the reduced vehicle's coasting energy recovery torque value is the same as the vehicle's coasting energy recovery torque value before reduction. The proportional coefficient between energy recovery torque values, its value range is 0~1. The regenerative torque attenuation factor can be calibrated and determined based on actual vehicle drivability and ride comfort.

As an example, assuming that the vehicle's coasting recovery torque value is T1 and the recovery torque attenuation factor is α, then the target coasting recovery torque value T2 = T1*α. The motor controller gradually reduces the vehicle coasting recovery torque value of the drive motor through the transmission system according to the recovery torque attenuation factor. Specifically, the motor controller can calculate the target coasting recovery torque value T2 according to the above formula, and then transfer the drive motor to the drive motor through the transmission system. The vehicle coasting recovery torque value T1 gradually decreases to the target coasting recovery torque value T2.

The first control mode can be understood as the energy recovery torque limiting mode.

Step S204, if the vehicle is in driving mode, obtain the vehicle demand torque of the vehicle's drive motor, control the vehicle to enter the second control mode, determine the drive torque attenuation gradient, and send the drive torque attenuation gradient to the motor controller. This allows the motor controller to perform gradient attenuation of the vehicle demand torque of the drive motor through the transmission system according to the drive torque attenuation gradient.

The driving condition refers to the working state of the car when it is driven by power.

The driving torque attenuation gradient is the rate of change of the vehicle's demand torque, which can be understood as how long the vehicle's demand torque decreases from an initial torque value to another torque value. For example, the vehicle's required torque decreases from the initial torque value of negative 1000 Nm to negative 500 Nm in 500 milliseconds, that is, the driving torque attenuation gradient is negative 1 Nm/ms.

The technical solution provided by the embodiments of the present application: on the one hand, in the online car-hailing mode, the embodiments of the present application collect multiple third-order items from the online car-hailing order collection based on the current vehicle location, remaining battery pack power value, and average energy consumption value. Screening out target orders from candidate orders can improve the travel efficiency of online ride-hailing and avoid problems such as the vehicle's cruising range and other factors that lead to the itinerary not being completed normally or efficiently. On the other hand, the embodiment of the present application determines what working condition the vehicle is currently in after detecting that the vehicle has traveled to the target pick-up location and that passengers have boarded and taken their seats, and based on the specific working condition of the vehicle, The vehicle is controlled to enter different control modes, thereby achieving more intelligent vehicle torque control, which can better improve the convenience of online car-hailing operations, and at the same time improve the safety and comfort of online car-hailing travel.

In some embodiments, the above step S202 specifically includes:

Calculate the remaining driving range of the vehicle based on the remaining power value of the battery pack and the average energy consumption value;

Search for the energy replenishment station location closest to its drop-off location in each first candidate order;

Target orders are screened out from multiple first candidate orders based on the remaining driving mileage, current vehicle location, pick-up location, drop-off location, energy replenishment station location and preset redundant mileage of each first candidate order.

First, the remaining cruising range L of the vehicle can be calculated according to formula (1) based on the battery pack capacity C, the battery pack remaining power value φ _soc , and the average energy consumption value τ.

In formula (1), C represents the battery pack capacity in kilowatt hours (kW·h), which is determined according to the vehicle configuration parameters; φ _soc represents the remaining power value of the battery pack (that is, the remaining SOC value of the battery pack); τ represents the vehicle's The average energy consumption is the energy consumption value per 100 kilometers calculated by VCU based on driving conditions, and the unit is kilowatt hours/100 kilometers (kW·h/100km).

As an example, assume that the set of online ride-hailing orders currently received by the vehicle controller includes first candidate orders 01, 02, 03, 04, and 05. Among them, the planned driving routes of the first candidate orders 01, 02, 03, 04, and 05 are as shown in the first driving routes 01, 02, 03, 04, and 05 in Figure 3 respectively. Point A represents the current vehicle position. Taking the first candidate order 01 as an example, the path node sequence of the first driving route 01 is A→B1→C1→D1, where point B1 represents the pick-up location of the first candidate order 01, and point C1 represents the pick-up location of the first candidate order 01. As for the drop-off location, point D1 represents the location of the energy replenishment station closest to the drop-off location in the first candidate order 01. The location of the energy replenishment station usually refers to the location of the charging service station or the location of the refueling service station.

For example, the vehicle controller can search for energy replenishment stations near the drop-off location (point C1) based on the first driving route 01 corresponding to the first candidate order 01 in the online ride-hailing order set issued by the dispatch system 102 , then calculate the distance value between point C1 and each energy replenishment station. The location of the energy replenishment station with the smallest distance value is the closest energy replenishment station location to the drop-off location (point C1) of the first candidate order 01. .

Similarly, you can refer to the above method to search for the energy replenishment station location closest to the drop-off location in the first candidate orders 02, 03, 04, and 05, which will not be described again here. For example, in the first candidate orders 02, 03, 04, and 05, the positions of the energy replenishment stations closest to their drop-off locations are points D1, D2, D3, and D3 respectively.

Next, for each first candidate order, calculate the first mileage based on the current vehicle location and pick-up location, calculate the second mileage based on the pick-up location and drop-off location, and calculate the second mileage based on the drop-off location and energy replenishment station location. The third mileage; calculate the total mileage of each first candidate order based on the first mileage, the second mileage, the third mileage and the preset redundant mileage; based on the total mileage and the remaining mileage , filter out at least one second candidate order from a plurality of first candidate orders; select one or more from the at least one second candidate order as the target order.

As an example, continuing to take the first candidate order 01 as an example, based on the location information of point A and point B1 in the first travel route 01 of the first candidate order 01, calculate the first travel mileage L1, that is, the path A→B1 Length; based on the location information of point B1 and point C1, calculate the second mileage L2, that is, the path length of B1→C1; based on the location information of point C1 and point D1, calculate the third mileage L3, that is, the path length of C1→D1 length.

In order to improve the travel efficiency of online ride-hailing services, avoid that the journey cannot be completed normally or efficiently due to factors such as the vehicle's cruising range, and avoid the situation where the vehicle's energy is completely exhausted before reaching the energy replenishment station, a redundancy is generally set up Mileage, the redundant mileage can be set flexibly according to the actual situation, generally it can be set to 1~30km. This redundant mileage can be understood as the vehicle still has energy to support the vehicle's further travel after it can complete all path nodes of the target driving route corresponding to the target order and reach the target energy replenishment station closest to the target drop-off location. A period of mileage, this mileage is the redundant mileage and can be recorded as L4.

Calculate the total mileage L ₀₁ of the first candidate order 01 according to formula (2).

L ₀₁ =L1+L2+L3+L4 (2).

Similarly, the total mileage L ₀₂ , L 03 , L 04 and L 05 of the second candidate orders 02, ₀₃ , ₀₄ and ₀₅ can be calculated by referring to the calculation method of the total mileage L ₀₁ of the first candidate order 01, I won’t go into details here.

In the first case, if the remaining driving mileage L of the vehicle is greater than or equal to the total driving mileage of any one of the first candidate orders 01, 02, 03, 04, and 05, the first candidate orders 01, 02, 03 can be , 04, and 05 are all determined as second candidate orders, and are recorded as second candidate orders 01, 02, 03, 04, and 05 respectively. Then, the vehicle controller further searches to see whether there are ① two second candidate orders that satisfy L greater than or equal to the sum of any two mileage, or ② three second candidates that satisfy L greater than or equal to the sum of any three mileage. order, or ③ satisfies the four second candidate orders where L is greater than or equal to the sum of any four driving miles, or ④ satisfies the situation where L is greater than or equal to the sum of these five driving miles. If yes, none of the above four conditions ①, ②, ③, and ④ are satisfied, then one of the second candidate orders 01, 02, 03, 04, and 05 can be randomly selected as the target order. For example, the second candidate order 01 (corresponding to the first candidate order 01) can be selected as the target order.

In the second case, if the above situation ① is satisfied, assuming that L ≥ L ₀₁ + L ₀₂ or L ≥ L ₀₄ + L ₀₅ is satisfied, then you can choose to use the second candidate order 01 and the second candidate order 02 as the target order, or Take the second candidate order 04 and the second candidate order 05 as target orders. For example, assuming that the second candidate order 01 and the second candidate order 02 are selected as the target orders, the vehicle controller can further merge and adjust the first driving route 01 and the second driving route 02, as shown in the figure Merged driving route 01 shown in 4.

In the same way, if one or more of the situations ②, ③, and ④ are satisfied, you can refer to the handling method of the second situation above to merge and adjust the involved driving routes to obtain the corresponding merged driving route. Here No longer.

In some embodiments, real-time road traffic information of the driving path corresponding to each second candidate order can also be obtained, and one or more from at least one second candidate order can be selected as the target order based on the real-time road traffic information, taking into full consideration Real-time traffic status will help improve the efficiency and quality of order completion, thereby improving passengers’ travel experience.

In some embodiments, the recuperation torque attenuation factor may be determined according to the following steps:

Monitor the vehicle’s real-time speed and real-time brake master cylinder pressure value;

Based on the real-time vehicle speed and real-time brake master cylinder pressure value, the recuperation torque attenuation factor is determined.

In practical applications, the corresponding relationship table between vehicle speed, brake master cylinder pressure value and regenerative torque attenuation factor can be confirmed in advance based on actual vehicle drivability and ride comfort calibration, as shown in Table 1 below.

Table 1 Correspondence table between vehicle speed, brake master cylinder pressure value and regenerative torque attenuation factor

Combined with Table 1 above, in an example, assuming that the vehicle controller monitors the vehicle's real-time speed I V ₁ and the real-time brake master cylinder pressure value P ₁ , then by looking up Table 1, it can be determined that the corresponding recuperation torque attenuation factor is α ₁₁ .

In some embodiments, in the above-mentioned step S203, the vehicle's entire vehicle coasting recuperation torque value is gradually reduced according to the recuperation torque attenuation factor, including:

Collect facial feature information of passengers in the vehicle;

If the passenger in the car is determined to be a special care passenger based on the facial feature information, the recuperation torque attenuation factor is adjusted to obtain the adjusted recuperation torque attenuation factor;

The adjusted recuperation torque attenuation factor is sent to the motor controller, so that the motor controller gradually reduces the vehicle coasting recuperation torque value of the drive motor through the transmission system according to the adjusted recuperation torque attenuation factor.

Facial feature information, that is, facial feature information, mainly includes facial contour feature points, facial features feature points, skin status information, hair color, etc.

Special care passengers usually refer to the elderly, children, pregnant women or those with physical ailments.

As an example, assume that the recuperation torque attenuation factor is α ₁₁ determined based on the monitored real-time vehicle speed and real-time brake master cylinder pressure value. The vehicle controller collects the facial feature information of the passengers in the vehicle through the in-vehicle camera, and The analysis confirms that the passengers in the car are special care passengers (such as an elderly person about 70 years old), then the recuperation torque attenuation factor can be appropriately adjusted to α ₁₁ to obtain the adjusted recuperation torque attenuation factor α' ₁₁ . Then, the adjusted recuperation torque attenuation factor α' ₁₁ is sent to the motor controller, so that the motor controller can gradually reduce the vehicle coasting recuperation torque value of the drive motor through the transmission system according to the adjusted recuperation torque attenuation factor α' ₁₁ .

In some embodiments, if the target pick-up location and/or the target drop-off location of the target order is a hospital or school (such as a kindergarten, elementary school or junior high school), the recovery torque attenuation factor α ₁₁ can also be appropriately increased, Obtain the adjusted recuperation torque attenuation factor α” ₁₁ .

In the embodiment of this application, if the vehicle controller confirms that the passenger in the vehicle is a special care passenger by identifying the facial feature information of the passenger in the vehicle, it can make adjustments based on the recuperation torque attenuation factor obtained by looking up the table to slow down the The vehicle's coasting energy recovery torque value under the same vehicle speed and brake master cylinder pressure value makes the vehicle's deceleration value caused by energy recovery negative torque during coasting and braking smaller, avoiding frequent acceleration and deceleration when the vehicle is driving in urban areas. It can reduce the discomfort caused by the vehicle's negative torque, thereby reducing the dizziness caused by the rapid change of the vehicle's negative torque when passengers are riding in the car, and ensuring standard driving behavior and safety during driving.

In some embodiments, determining the drive torque attenuation gradient includes:

Obtain the vehicle demand torque value, the torque output value of the previous cycle, and the vehicle's standard driving torque attenuation gradient in the online ride-hailing mode;

Set the driving torque gradient attenuation factor according to the vehicle demand torque value and the torque output value of the previous cycle;

According to the standard driving torque gradient and the driving torque gradient attenuation factor, the driving torque attenuation gradient of the vehicle in the online ride-hailing mode is determined.

Car driving modes are mainly divided into three modes: standard mode, economy mode and sports mode.

In the standard mode, the driving plan used by the vehicle is in the most standard condition, and the injectors, throttles, etc. in the vehicle will not change in any way. This mode will have certain fuel-saving capabilities and certain power. Generally, the standard mode is used in urban or rural sections.

In the economic mode, the vehicle will comprehensively judge the working conditions that affect fuel consumption, such as vehicle speed, engine speed, gearbox gear, etc. When the vehicle is driving, the ECU control unit will calculate the optimal amount of fuel to provide to the engine for work, which can effectively reduce fuel consumption. Generally, the economy mode is used when driving on the highway.

In the sports mode, the vehicle's steering wheel becomes heavier, the suspension becomes stiffer, and upshifts are delayed, etc., which makes the vehicle more stable when driving, and also causes the vehicle's engine speed to be higher, and it is always on the move. In the accelerated state, you will have a quick response when refueling, and you can get better driving effects and get more power. Generally, sport mode is used on mountain roads, muddy roads, and when climbing hills.

The standard driving torque attenuation gradient refers to the normal driving torque attenuation gradient of the vehicle in the online ride-hailing mode.

The driving torque gradient attenuation factor refers to the reduction ratio of the standard driving torque attenuation gradient. For example, if the standard drive torque attenuation gradient is 5 Nm/ms and the drive torque gradient attenuation factor is 0.5, then the standard drive torque attenuation gradient is reduced from the original 5 Nm/ms to 2.5 Nm/ms, and the reduction ratio is 2 one part. The driving torque gradient attenuation factor ranges from 0 to 1, generally from 0.5 to 0.8.

Set the driving torque gradient attenuation factor based on the vehicle's required torque value and the torque output value of the previous cycle. Specifically, the torque difference between the vehicle's required torque value and the torque output value of the previous cycle can be calculated, and then proceed based on the torque difference. Look up the table to set the drive torque gradient attenuation factor.

The driving torque attenuation gradient is the product of the standard driving torque attenuation gradient and the driving torque gradient attenuation factor. For example, if the standard driving torque attenuation gradient is 5 Nm/ms and the driving torque gradient attenuation factor is 0.5, then the driving torque attenuation gradient is 2.5 Nm/ms.

When the driving torque gradient attenuation factor is equal to 1, the driving torque attenuation gradient is the fastest gradient calibrated by the entire vehicle. The motor controller controls the driving torque output gradient of the drive motor through the traditional system to execute the output according to the fastest gradient calibrated by the vehicle.

When the driving torque gradient attenuation factor is equal to 0, the driving torque attenuation gradient is the slowest gradient calibrated by the entire vehicle. The motor controller controls the driving torque output gradient of the drive motor through the traditional system to execute the output according to the slowest gradient calibrated by the vehicle.

In this embodiment of the present application, when the vehicle is in the online car-hailing mode, the vehicle currently adopts the economic mode by default.

In some embodiments, in the above step S204, the driving torque attenuation gradient is sent to the motor controller, so that the motor controller performs gradient attenuation of the vehicle demand torque according to the driving torque attenuation gradient, including:

Calculate the remaining arrival mileage of the vehicle from the current vehicle position to the target drop-off location;

If the remaining reached mileage is less than or equal to the preset mileage threshold, the driving torque attenuation gradient is adjusted to obtain the adjusted driving torque attenuation gradient;

The adjusted drive torque attenuation gradient is sent to the motor controller, so that the motor controller performs gradient attenuation of the vehicle demand torque of the drive motor through the transmission system according to the adjusted drive torque attenuation gradient.

The preset mileage threshold can be flexibly set according to the actual situation. For example, it can be set to 3km, 5km, 10km, etc., with no specific restrictions.

As an example, assume that the driving torque attenuation gradient is 2.5 Nm/ms, and the remaining mileage is 3km, which is less than the preset mileage threshold (such as 5km). At this time, the driving torque can be calculated based on the vehicle's real-time speed, external road conditions, etc. Adjust the attenuation gradient, for example, adjust the driving torque attenuation gradient from 2.5 Nm/ms to 2 Nm/ms, that is, the adjusted driving torque attenuation gradient is obtained, and the adjusted driving torque attenuation gradient is sent to the motor controller, so that the motor The controller performs a gradient attenuation of the vehicle demand torque of the drive motor through the transmission system according to 2 Nm/ms to further reduce the dizziness caused by the rapid change of vehicle torque when passengers are riding, while ensuring driving behavior standards and safety during driving. , to improve passengers’ travel experience.

In some embodiments, during the entire process of carrying passengers, the vehicle controller can use the DMS driver monitoring system and the in-car camera to identify the pupil opening and blink frequency of the driver and passengers respectively, and then execute different control strategies. For example, while driving with passengers, if it is recognized that the passenger's pupil opening is less than a preset threshold (such as 20mm) or the blink frequency is greater than or equal to the preset threshold (for example, 1 time/second), a message can be sent to the BCM to shut down the vehicle. Windows, turn off the interior lights, turn down the audio volume, and at the same time request the IVI to display the passenger rest mode to notify the driver. When it is detected that the passenger rest mode is turned on, and the VCU estimates the time to arrive at the target drop-off location through the map provided by the dispatch system 102 is lower than the preset time threshold (such as 3 minutes), the VCU can request a voice prompt that the passenger is about to arrive at the destination. And request the BCM to turn on the interior lights at the passenger's location.

In some embodiments, when the origin or destination of the target order confirmed by the VCU is a hospital, or when the facial features of the passengers in the car match those of the elderly or children through the in-car camera, a control request can be sent to the air-conditioning controller. This allows the air conditioning controller to increase the air conditioning temperature to the preset temperature threshold, reduce the fan speed to the preset threshold, and at the same time turn on the internal and external circulation function of the vehicle to ensure a relatively suitable environment inside the vehicle and better improve passenger comfort. .

In some embodiments, when the VCU determines that the smoke concentration in the vehicle exceeds the standard based on the received smoke concentration in the vehicle identified by the vehicle-mounted smoke sensor, it initiates a control opening command to the BCM air purification device and sends a command to open the external circulation status to the air conditioning system to Quickly clean the environment in the car and send a prompt control request to IVI. IVI will prompt passengers not to smoke through the passenger multi-function display and audio system.

In some embodiments, when the VCU detects that the vehicle reaches the target drop-off location, the ADAS system camera and radar system can monitor the situation of vehicles and pedestrians on the side of the vehicle and behind the vehicle. When it is confirmed that there are vehicles or pedestrians passing by the side or behind the vehicle, Request control of the audio system to provide safety warnings to passengers in the car.

In summary, the technical solution provided by the embodiments of this application is based on the common working conditions of online car-hailing, and based on the actual status of the vehicle, the external environment of the vehicle and the characteristics of the passengers in the vehicle, multiple online car-hailing order sets issued by the dispatch system are Screen the first candidate orders and determine the target orders, which can effectively improve the efficiency of the trip. By monitoring that the vehicle has traveled to the target pick-up location and that passengers have boarded and taken their seats, the vehicle is judged to be in what operating condition it is currently in, and the vehicle is controlled to enter different control modes according to the specific operating conditions of the vehicle. This achieves more intelligent vehicle torque control, which can better improve the convenience of online car-hailing operations and at the same time improve the safety and comfort of online car-hailing travel. By monitoring the conditions of the occupants and the driver in the vehicle, and implementing different control strategies for the driver and passengers respectively, the driving safety of the driver and the riding comfort of the passengers can be ensured. Based on the monitoring status of the environment inside and outside the car, strategic controls such as special passenger care, smoke monitoring and control in the car, and safety warnings for passengers getting off the vehicle can ensure travel comfort and safety.

All the above optional technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described again one by one.

The following are device embodiments of the present application, which can be used to execute method embodiments of the present application. For details not disclosed in the device embodiments of this application, please refer to the method embodiments of this application.

Figure 5 is a schematic diagram of a vehicle torque control device provided by an embodiment of the present application. As shown in Figure 5, the vehicle torque control device includes:

The acquisition module 501 is configured to obtain the current vehicle location of the vehicle, the remaining power value of the battery pack, the average energy consumption value, and the online car-hailing order set in the online car-hailing mode. The online car-hailing order set includes multiple first candidate orders. , each first candidate order includes at least a pick-up location and a drop-off location;

The screening module 502 is configured to filter out target orders from multiple first candidate orders based on the current vehicle location, remaining battery pack power value, and average energy consumption value. The target orders include a target pick-up location and a target drop-off location;

The first control module 503 is configured to obtain the vehicle coasting recovery torque value of the vehicle's drive motor if it is detected that the vehicle has traveled to the target pick-up location, and that the passengers have boarded the vehicle and taken their seats, and the vehicle is in energy recovery mode. , and controls the vehicle to enter the first control mode, determines the recuperation torque attenuation factor, and sends the recuperation torque attenuation factor to the motor controller, so that the motor controller gradually reduces the entire vehicle driving motor through the transmission system according to the recuperation torque attenuation factor. Coasting recovery torque value;

The second control module 504 is configured to, if the vehicle is in a driving condition, obtain the vehicle demand torque of the vehicle's drive motor, control the vehicle to enter the second control mode, determine the drive torque attenuation gradient, and set the drive torque attenuation gradient It is sent to the motor controller so that the motor controller can perform gradient attenuation of the vehicle demand torque of the drive motor through the transmission system according to the drive torque attenuation gradient.

The technical solution provided by the embodiments of the present application: on the one hand, in the online car-hailing mode, the embodiments of the present application collect multiple third-order items from the online car-hailing order collection based on the current vehicle location, remaining battery pack power value, and average energy consumption value. Screening out target orders from candidate orders can improve the travel efficiency of online ride-hailing and avoid problems such as the vehicle's cruising range and other factors that lead to the itinerary not being completed normally or efficiently. On the other hand, the embodiment of the present application determines what working condition the vehicle is currently in after detecting that the vehicle has traveled to the target pick-up location and that passengers have boarded and taken their seats, and based on the specific working condition of the vehicle, The vehicle is controlled to enter different control modes, thereby achieving more intelligent vehicle torque control, which can better improve the convenience of online car-hailing operations, and at the same time improve the safety and comfort of online car-hailing travel.

In some embodiments, the above-mentioned screening module 502 includes:

The calculation unit is configured to calculate the remaining cruising range of the vehicle based on the remaining power value of the battery pack and the average energy consumption value;

The search unit is configured to search for the energy replenishment station location closest to its drop-off location in each first candidate order;

The screening unit is configured to select the first candidate order from multiple first candidate orders based on the remaining driving range, the current vehicle location, the pick-up location, the drop-off location, the refueling station location, and the preset redundant mileage of each first candidate order. Filter out target orders.

In some embodiments, the above screening unit includes:

The first calculation component is configured to, for each first candidate order, calculate the first mileage based on the current vehicle location and the pick-up location, calculate the second mileage based on the pick-up location and drop-off location, and calculate the second mileage based on the drop-off location and pick-up location. Ability to stand in position and calculate third mileage;

The second calculation component is configured to calculate the total driving mileage of each first candidate order based on the first driving mileage, the second driving mileage, the third driving mileage and the preset redundant mileage;

A filtering component configured to filter out at least one second candidate order from the plurality of first candidate orders based on the total driving mileage and the remaining driving mileage;

The selection component is configured to select one or more from the at least one second candidate order as the target order.

In some embodiments, the above-mentioned first control module 503 includes:

a monitoring unit configured to monitor the real-time vehicle speed and real-time brake master cylinder pressure value of the vehicle;

The determining unit is configured to determine the recuperation torque attenuation factor based on the real-time vehicle speed and the real-time brake master cylinder pressure value.

In some embodiments, the above-mentioned first control module 503 also includes:

a collection unit configured to collect facial feature information of passengers in the vehicle;

The adjustment unit is configured to adjust the recuperation torque attenuation factor to obtain an adjusted recuperation torque attenuation factor if the passenger in the vehicle is determined to be a special care passenger based on the facial feature information;

The sending unit is configured to send the adjusted recuperation torque attenuation factor to the motor controller, so that the motor controller gradually reduces the vehicle coasting recuperation torque value of the drive motor through the transmission system according to the adjusted recuperation torque attenuation factor.

In some embodiments, the above-mentioned second control module 504 includes:

The acquisition unit is configured to acquire the vehicle demand torque value, the torque output value of the previous period, and the standard driving torque attenuation gradient of the vehicle in the online ride-hailing mode;

a setting unit configured to set the driving torque gradient attenuation factor according to the vehicle demand torque value and the torque output value of the previous cycle;

The gradient determination unit is configured to determine the driving torque attenuation gradient of the vehicle in the online ride-hailing mode based on the standard driving torque gradient and the driving torque gradient attenuation factor.

In some embodiments, the above-mentioned second control module 504 also includes:

a mileage calculation unit configured to calculate the remaining arrival mileage of the vehicle traveling from the current vehicle position to the target drop-off location;

a gradient adjustment unit configured to adjust the driving torque attenuation gradient to obtain an adjusted driving torque attenuation gradient if the remaining reached mileage is less than or equal to a preset mileage threshold;

The data sending unit is configured to send the adjusted driving torque attenuation gradient to the motor controller, so that the motor controller performs gradient attenuation of the vehicle demand torque of the drive motor through the transmission system according to the adjusted driving torque attenuation gradient.

It should be understood that the sequence number of each step in the above embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

Figure 6 is a schematic structural diagram of a new energy vehicle provided by an embodiment of the present application. For convenience of description, only parts related to the embodiments of the present application are shown in the figure. As shown in Figure 6, the new energy vehicle includes a vehicle controller 601, a motor controller 602, a drive motor 603 and a transmission system 604.

The vehicle controller 601 is used to implement the vehicle torque control method as described above, so as to send the recuperation torque attenuation factor or the driving torque attenuation gradient to the motor controller 602 .

The motor controller 602 is used to gradually reduce the vehicle coasting recuperation torque value of the drive motor 603 through the transmission system 604 according to the recuperation torque attenuation factor, or through the transmission system according to the driving torque attenuation gradient. 604 performs gradient attenuation on the vehicle demand torque of the drive motor 603 .

FIG. 7 is a schematic diagram of the electronic device 7 provided by the embodiment of the present application. As shown in FIG. 7 , the electronic device 7 of this embodiment includes: a processor 701 , a memory 702 , and a computer program 703 stored in the memory 702 and executable on the processor 701 . When the processor 701 executes the computer program 703, the steps in each of the above method embodiments are implemented. Alternatively, when the processor 701 executes the computer program 703, it implements the functions of each module/unit in each of the above device embodiments.

The electronic device 7 may be a desktop computer, a notebook, a handheld computer, a cloud server and other electronic devices. The electronic device 7 may include, but is not limited to, a processor 701 and a memory 702 . Those skilled in the art can understand that FIG. 7 is only an example of the electronic device 7 and does not constitute a limitation on the electronic device 7. It may include more or less components than shown in the figure, or different components.

The processor 701 can be a central processing unit (CPU), other general-purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or field-processable processor. Programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

The memory 702 may be an internal storage unit of the electronic device 7 , for example, a hard disk or memory of the electronic device 7 . The memory 702 may also be an external storage device of the electronic device 7, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SD) card, a flash memory card ( Flash Card), etc. The memory 702 may also include both an internal storage unit of the electronic device 7 and an external storage device. Memory 702 is used to store computer programs and other programs and data required by the electronic device.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above functional units and modules is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs. Module completion means dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be hardware-based. It can also be implemented in the form of software functional units.

Integrated modules/units can be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. Based on this understanding, this application can implement all or part of the processes in the methods of the above embodiments. It can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. The computer program can be processed after being processed. When the processor is executed, the steps of each of the above method embodiments can be implemented. A computer program may include computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. Computer-readable media may include: any entity or device that can carry computer program code, recording media, USB flash drives, mobile hard drives, magnetic disks, optical disks, computer memory, read-only memory (Read-Only Memory, ROM), random access Memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium is not Including electrical carrier signals and telecommunications signals.

The above embodiments are only used to illustrate the technical solutions of the present application, but are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments. Modifications are made to the recorded technical solutions, or equivalent substitutions are made to some of the technical features; these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and shall be included in this application. within the scope of protection.

Claims (10)

1. A vehicle torque control method, characterized by comprising: In the online car-hailing mode, obtain the vehicle's current vehicle location, battery pack remaining power value, average energy consumption value, and online car-hailing order set. The online car-hailing order set includes multiple first candidate orders, each of which The first candidate orders all include at least a pick-up location and a drop-off location; According to the current vehicle location, battery pack remaining power value, and average energy consumption value, target orders are selected from the plurality of first candidate orders, where the target orders include a target pick-up location and a target drop-off location; If it is detected that the vehicle has traveled to the target pick-up position, and it is detected that the passengers have boarded the vehicle and taken their seats, and the vehicle is in energy recovery mode, the vehicle coasting recovery torque value of the vehicle's drive motor is obtained, and the control The vehicle enters the first control mode, determines the recuperation torque attenuation factor, and sends the recuperation torque attenuation factor to the motor controller, so that the motor controller gradually decreases through the transmission system according to the recuperation torque attenuation factor. The vehicle coasting recovery torque value of the drive motor; If the vehicle is in a driving condition, obtain the vehicle demand torque of the driving motor of the vehicle, control the vehicle to enter the second control mode, determine the driving torque attenuation gradient, and send the driving torque attenuation gradient. The motor controller is provided so that the motor controller performs gradient attenuation of the vehicle demand torque of the drive motor through the transmission system according to the drive torque attenuation gradient. 2. The method according to claim 1, characterized in that, based on the current vehicle location, remaining battery pack power value, and average energy consumption value, selecting target orders from the plurality of first candidate orders includes: Calculate the remaining driving range of the vehicle based on the remaining power value and average energy consumption value of the battery pack; Search for the energy replenishment station location closest to its drop-off location in each first candidate order; According to the remaining driving range, the current vehicle position, the pick-up location, drop-off location, energy replenishment station location and preset redundant mileage of each first candidate order, from the plurality of first candidate orders Filter out target orders. 3. The method according to claim 2, characterized in that, according to the remaining driving range, the current vehicle position, the pick-up position, the drop-off position, the energy replenishment station position and the preset position of each first candidate order Based on the redundant mileage, target orders are selected from the multiple first candidate orders, including: For each of the first candidate orders, the first driving mileage is calculated based on the current vehicle position and the pick-up position, the second driving mileage is calculated based on the pick-up position and the drop-off position, and the second driving mileage is calculated based on the drop-off position and the pick-up position. Ability to stand in position and calculate third mileage; Calculate the total driving mileage of each first candidate order based on the first driving mileage, the second driving mileage, the third driving mileage and the preset redundant mileage; Filter out at least one second candidate order from the plurality of first candidate orders based on the total driving mileage and the remaining available driving mileage; Select one or more from the at least one second candidate order as the target order. 4. The method according to claim 1, characterized in that determining the recuperation torque attenuation factor includes: Monitor the real-time vehicle speed and real-time brake master cylinder pressure value of the vehicle; Based on the real-time vehicle speed and the real-time brake master cylinder pressure value, the recuperation torque attenuation factor is determined. 5. The method according to claim 1 or 4, characterized in that gradually reducing the vehicle coasting recuperation torque value of the vehicle according to the recuperation torque attenuation factor includes: Collect facial feature information of passengers in the vehicle; If it is determined that the passenger in the car is a special care passenger based on the facial feature information, the recuperation torque attenuation factor is adjusted to obtain an adjusted recuperation torque attenuation factor; The adjusted recuperation torque attenuation factor is sent to the motor controller, so that the motor controller gradually reduces the vehicle coasting recuperation torque value of the drive motor through the transmission system according to the adjusted recuperation torque attenuation factor. 6. The method of claim 1, wherein determining the driving torque attenuation gradient includes: Obtain the vehicle demand torque value, the torque output value of the previous cycle, and the standard driving torque attenuation gradient of the vehicle in the online ride-hailing mode; Set the driving torque gradient attenuation factor according to the vehicle demand torque value and the torque output value of the previous period; According to the standard driving torque gradient and the driving torque gradient attenuation factor, the driving torque attenuation gradient of the vehicle in the online ride-hailing mode is determined. 7. The method according to claim 1 or 6, characterized in that the driving torque attenuation gradient is sent to a motor controller, so that the motor controller responds to the vehicle demand according to the driving torque attenuation gradient. Torque performs gradient decay, including: Calculate the remaining arrival mileage of the vehicle from the current vehicle position to the target drop-off location; If the remaining reached mileage is less than or equal to the preset mileage threshold, the driving torque attenuation gradient is adjusted to obtain an adjusted driving torque attenuation gradient; The adjusted driving torque attenuation gradient is sent to the motor controller, so that the motor controller performs gradient attenuation of the vehicle demand torque of the drive motor through the transmission system according to the adjusted driving torque attenuation gradient. 8. A vehicle torque control device, characterized in that it includes: The acquisition module is configured to obtain the current vehicle position of the vehicle, the remaining battery pack value, the average energy consumption value, and the online car-hailing order set of the vehicle in the online car-hailing mode. The online car-hailing order set includes multiple first candidates. Orders, each of the first candidate orders includes at least a pick-up location and a drop-off location; The screening module is configured to filter out target orders from the plurality of first candidate orders based on the current vehicle location, the remaining battery pack value, and the average energy consumption value. The target orders include a target pick-up location and a target drop-off point. guest location; The first control module is configured to obtain the entire driving motor of the vehicle if it is detected that the vehicle has traveled to the target pick-up position, and that the passengers have boarded the vehicle and taken their seats, and the vehicle is in energy recovery mode. The vehicle coasts to recover the torque value, and controls the vehicle to enter the first control mode, determines the recovery torque attenuation factor, and sends the recovery torque attenuation factor to the motor controller, so that the motor controller controls the recovery torque according to the The attenuation factor gradually reduces the vehicle coasting recovery torque value of the drive motor through the transmission system; The second control module is configured to, if the vehicle is in a driving condition, obtain the vehicle demand torque of the drive motor of the vehicle, control the vehicle to enter the second control mode, and determine the driving torque attenuation gradient, and The driving torque attenuation gradient is sent to the motor controller, so that the motor controller performs gradient attenuation of the vehicle demand torque of the drive motor through the transmission system according to the driving torque attenuation gradient. 9. A new energy vehicle, characterized by including a vehicle controller, a motor controller, a drive motor and a transmission system; The vehicle controller is used to implement the vehicle torque control method as claimed in any one of claims 1 to 7, to send the recovery torque attenuation factor or the driving torque attenuation gradient to the motor controller; The motor controller is used to gradually reduce the vehicle coasting recuperation torque value of the drive motor through the transmission system according to the recuperation torque attenuation factor, or to adjust the driving force through the transmission system according to the driving torque attenuation gradient. The motor's vehicle demand torque undergoes gradient attenuation. 10. A computer-readable storage medium, the computer-readable storage medium stores a computer program, characterized in that, when the computer program is executed by a processor, the method of any one of claims 1 to 7 is implemented. step.