CN115320403B - Driving motor torque limiting control method and system, new energy vehicle and storage medium - Google Patents
Driving motor torque limiting control method and system, new energy vehicle and storage medium Download PDFInfo
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- CN115320403B CN115320403B CN202210972279.4A CN202210972279A CN115320403B CN 115320403 B CN115320403 B CN 115320403B CN 202210972279 A CN202210972279 A CN 202210972279A CN 115320403 B CN115320403 B CN 115320403B
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- 230000009467 reduction Effects 0.000 claims description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a driving motor torque limiting control method, a driving motor torque limiting control system, a new energy vehicle and a storage medium, wherein the driving motor torque limiting control method comprises the following steps of: s010: evaluating a torque limit of the dual clutch DCT transmission to the drive motor and as a first stage limit MotTqMaxLimt of the drive motor limit torque; s020: the maximum torque limit value of the driving motor estimated by the driving motor system is smaller than the first-stage limit MotTqMaxLimt and is used as a second-stage limit MotTqMaxLimt; s030: evaluating the torque limit of the power battery to the drive motor as a third level limit MotTqMaxLimt; s040: the second stage limit MotTqMaxLimt and the third stage limit MotTqMaxLimt are taken to be small and serve as the final drive motor torque limit value MotTqMaxLimt. The invention can release the maximum electric driving capability.
Description
Technical Field
The invention belongs to the technical field of torque control of driving motors, and particularly relates to a torque limit control method and system of a driving motor, a new energy vehicle and a storage medium.
Background
There is a limit to the torque of the driving motor when the driving motor is used, i.e. the driving motor torque can only be used in a certain range. There are many factors that affect the torque usage range of the drive motor, such as the torque capacity of the drive motor itself, the maximum allowable output power of the power battery, the maximum torque of the clutch only for the power plant with the clutch between the drive motor and the propeller shaft, the maximum torque of the transmission shaft (only for the power plant with the transmission), and so on. Therefore, during the running process of the vehicle, the torque of the driving motor needs to be limited to ensure that the torque of the driving motor does not influence other parts of the power system.
According to the method, the device, the whole vehicle controller and the system for limiting the torque of the motor of the automobile disclosed in the patent document CN110789361A, whether the allowable power of the battery is smaller than a preset threshold value is firstly judged, if so, an estimated rotating speed is obtained according to the speed of the actual rotating speed plus the rotating speed of the motor, and then the allowable power of the system and the estimated rotating speed are used for calculating the limit value of the torque of the driving motor. If the allowable power of the battery is greater than or equal to a preset threshold value, the allowable power of the system and the actual rotating speed of the motor are used for calculating the limit value of the motor torque. And the calculated motor torque limit is then reduced with the torque limit of the motor itself to obtain the final motor torque limit. However, this method has several problems:
First, without considering the efficiency of the driving motor, if the driving motor torque limit calculated using the system allowable power and the motor rotation speed is used, the motor operates under the limit value, the output power of the motor is the system allowable power, and the input power of the motor exceeds the system allowable power, in which case the discharge power allowed by the battery is exceeded.
Second, the maximum torque capacity of the power unit other than the drive motor and the power battery of the vehicle is not considered.
Thirdly, the influence on the accuracy of the estimation of the motor rotation speed exists, the motor rotation speed itself fluctuates and needs to be processed such as filtering, and secondly, the motor rotation speed change is also influenced by the operation of a driver and is dynamic, and the estimation of the existence is inaccurate.
Therefore, there is a need to develop a new driving motor torque limit control method, system, new energy vehicle and storage medium.
Disclosure of Invention
The invention aims to provide a driving motor torque limiting control method, a driving motor torque limiting control system, a new energy vehicle and a storage medium, and the maximum electric driving capability can be released.
In a first aspect, the present invention provides a driving motor torque limiting control method, including the steps of:
s010: evaluating a torque limit of the dual clutch DCT transmission to the drive motor and as a first stage limit MotTqMaxLimt of the drive motor limit torque;
S020: the maximum torque limit value of the driving motor estimated by the driving motor system is smaller than the first-stage limit MotTqMaxLimt and is used as a second-stage limit MotTqMaxLimt;
S030: evaluating the torque limit of the power battery to the drive motor as a third level limit MotTqMaxLimt;
S040: the second stage limit MotTqMaxLimt and the third stage limit MotTqMaxLimt are taken to be small and serve as the final drive motor torque limit value MotTqMaxLimt.
Optionally, the step S010 is specifically:
The PCU receives an actual gear of the dual-clutch DCT transmission sent by the TCU, if the actual gear is any one of 2, 4 and 6 gears, the maximum bearing torque corresponding to the 2 shaft is used as the torque limit of the dual-clutch DCT transmission on the driving motor, otherwise, the maximum bearing torque corresponding to the 1 shaft is used as the torque limit of the dual-clutch DCT transmission on the driving motor; the dual clutch DCT transmission is used for reducing the torque limit of the driving motor and the maximum bearing torque of the clutch sent by the TCU, and is used as a first-stage limit MotTqMaxLimt for limiting the torque of the driving motor.
Optionally, the step S030 specifically includes:
The PCU receives the real-time voltage U and the real-time current I of the power battery sent by the BMS, calculates the real-time discharging power Pact of the power battery based on the real-time voltage U and the real-time current I of the power battery, simultaneously receives the maximum allowable discharging power BattPwrMax of the power battery sent by the BMS, calculates the difference value delta P between the maximum allowable discharging power BattPwrMax of the power battery and the real-time discharging power Pact of the power battery, marks a slope table according to the delta P, the value of the slope table is Rate, and calculates the third-stage limit MotTqMaxLimt3 of limiting torque of the driving motor according to the maximum allowable discharging power BattPwrMax, rate of the power battery, namely the third-stage limit MotTqMaxLimt < 3 > = MotTqMaxLimt +rate at the last moment.
Optionally, the correspondence between Δp and Rate and the influence on MotTqMaxLimt are:
When Δp is less than 0, the Rate value is less than or equal to 0, according to MotTqMaxLimt3 = MotTqMaxLimt +rate at the previous time, motTqMaxLimt3 is reduced, current MotTqMaxLimt is also reduced, the execution torque of the driving motor is limited, the actual discharge power Pact of the power battery is reduced, and the actual discharge power of the power battery does not exceed the maximum allowable discharge power of the power battery;
when the delta P is more than or equal to 0, the value of the Rate is more than or equal to 0, namely when the torque required by the vehicle for the driving motor is reduced, the Pact is reduced along with the reduction, and the limit value of the torque for the driving motor is recovered by taking the Rate as a positive value.
In a second aspect, the present invention provides a driving motor torque limiting control system, comprising a DCT transmission, BMS, TCU, PCU, PEU, a driving motor and a power battery; the PCU is respectively connected with the BMS, the TCU and the PEU; the power battery is respectively connected with the BMS and the driving motor; the driving motor is respectively connected with the DCT transmission and the PEU; the TCU is connected with the DCT; the DCT transmission is provided with two clutches, namely a K1 clutch and a K2 clutch, the driving motor is respectively connected with the K1 clutch and the K2 clutch, and different clutches are selected according to different transmission gears to drive the vehicle; the drive motor torque limit control system is configured to perform the steps of the drive motor torque limit control method according to the present invention.
In a third aspect, the present invention provides a new energy vehicle, which uses the torque limiting control system for a driving motor according to the present invention.
In a fourth aspect, the present invention provides a storage medium having a computer readable program stored therein, the computer readable program when called being capable of executing the steps of the drive motor torque limitation control method according to the present invention.
The invention has the following advantages: the method does not need to introduce the rotation speed of the driving motor, does not need to estimate the rotation speed of the driving motor, and does not need to use the calculation of the power rotation torque. The method has the greatest advantages that the driving motor torque is limited by the closed loop of the maximum allowable power of the power battery and the actual power of the power battery, the method is simple, the driving motor efficiency value under different conditions is not needed to be considered, meanwhile, the redundancy amount is not needed to be reserved (because the driving motor efficiency value is worry to be inaccurate, the torque value with a certain redundancy amount is reserved for ensuring that the actual discharging power of the power battery is smaller than the maximum allowable discharging power of the power battery), and the maximum electric driving capability can be released.
Drawings
FIG. 1 is a schematic diagram of a hybrid transmission of a P2+ dual clutch DCT in accordance with one embodiment;
FIG. 2 is a signal interaction diagram of a controller for limiting torque of a driving motor in the present embodiment
FIG. 3 is a logic diagram of the torque limiting control of the drive motor in this embodiment;
FIG. 4 is a flow chart of torque limitation of the driving motor in the present embodiment;
Fig. 5 is a schematic diagram of the effect of the power battery on the torque limit of the driving motor in the present embodiment.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 2 to 4, in the present embodiment, a driving motor torque limitation control method includes the steps of:
S010: evaluating the torque limit of the dual clutch DCT transmission 1 to the drive motor 6 and as a first stage limit MotTqMaxLimt1 of the drive motor 6 limiting torque;
s020: taking the maximum torque limit value of the driving motor 6 estimated by the driving motor system from the first-stage limit MotTqMaxLimt and taking the maximum torque limit value as a second-stage limit MotTqMaxLimt;
S030: evaluating the torque limit of the power battery 7 to the drive motor 6 as a third-stage limit MotTqMaxLimt;
S040: the second stage limit MotTqMaxLimt and the third stage limit MotTqMaxLimt are taken to be small and serve as the final drive motor torque limit value MotTqMaxLimt.
In this embodiment, the step S010 specifically includes:
The PCU4 receives the actual gear of the dual-clutch DCT transmission 1 sent by the TCU3, if the actual gear is any one of 2, 4 and 6 gears, the maximum bearing torque corresponding to the 2 shaft is used as the torque limit of the dual-clutch DCT transmission 1 to the driving motor 6, otherwise, the maximum bearing torque corresponding to the 1 shaft is used as the torque limit of the dual-clutch DCT transmission 1 to the driving motor 6; the dual clutch DCT transmission 1 takes the torque limit of the driving motor 6 and the maximum bearing torque of the clutch sent by the TCU3 down, and is used as a first-stage limit MotTqMaxLimt1 for limiting the torque of the driving motor 6.
In this embodiment, for MotTqMaxLimt1, the PCU4 gathers the drive motor torque capacities of the K1 clutch, the K2 clutch, the transmission 1 shaft 14, and the transmission 2 shaft 13. During running of the vehicle, the use of 1 axis or 2 axes can be selected according to different conditions. The PCU4 can determine the operating axis of the DCT transmission 6 of the present dual clutch by means of the actual gear signal transmitted by the TCU 3. The maximum bearing torque for the working shaft is mainly a mechanical stress limit. The maximum bearing torque of the K1 clutch 12 and the K2 clutch 11 is limited by mechanical stress and is influenced by the sliding temperature, when the sliding temperature exceeds a certain temperature range, the transmission torque capacity of the clutch is reduced, and the TCU3 transmits the maximum bearing torque of the clutch to the PCU4 after comprehensive evaluation. MotTqMaxLimt =min (maximum bearing torque for working shaft, maximum bearing torque for clutch).
In this embodiment, the step S020 is specifically:
The PEU5 evaluates the maximum torque limit MotTqMax of the drive motor 6 itself from the current state of the drive motor 6 (e.g., temperature, fault condition, etc.), and sends it to the PCU4. The PCU4 receives the maximum torque limit MotTqMax of the driving motor 6 itself sent by the PEU5, and performs a reduction with the first-stage limit MotTqMaxLimt1 to obtain a second-stage limit MotTqMaxLimt of the torque limit of the driving motor 6.
In this embodiment, the step S030 specifically includes:
The PCU4 receives the real-time voltage U and the real-time current I of the power battery sent by the BMS2, calculates real-time discharge power Pact of the power battery based on the real-time voltage U and the real-time current I of the power battery, i.e., pact=u×i, and meanwhile, the PCU4 receives the maximum allowable discharge power BattPwrMax of the power battery sent by the BMS2, calculates a difference value Δp between the maximum allowable discharge power BattPwrMax of the power battery and the real-time discharge power Pact of the power battery, marks a slope table according to the Δp, the value of the slope table is Rate, and calculates a third-stage limit MotTqMaxLimt, i.e., a third-stage limit MotTqMaxLimt < MotTqMaxLimt +rate, of limiting torque of the driving motor 6 according to the maximum allowable discharge power BattPwrMax, rate of the power battery.
In this embodiment, the corresponding relationship between Δp and Rate and the influence on MotTqMaxLimt are:
When Δp is less than 0, the value of Rate is less than or equal to 0, according to MotTqMaxLimt3 = MotTqMaxLimt +rate at the previous time, motTqMaxLimt3 is reduced, current MotTqMaxLimt is also reduced, the execution torque of the driving motor 6 is limited, the actual discharge power Pact of the power battery 7 is reduced, and the actual discharge power of the power battery 7 cannot exceed the maximum allowable discharge power of the power battery;
When ΔP is greater than or equal to 0, the value of Rate is greater than or equal to 0, i.e., when the torque required by the vehicle for the driving motor 6 decreases, then Pact decreases, and the limit value of the torque for the driving motor 6 before is recovered by the Rate being a positive value.
The calibration proposal for Rate is as follows:
When Δp is < 0:
| △P(kw) | -0.5 | -1 | -2 | -3 | -5 | -8 | -10 |
| Rate(Nm/s) | -300 | -500 | -800 | -1000 | -1500 | -2000 | -5000 |
When ΔP is not less than 0:
| △P(kw) | 0 | 3 | 4 | 5 | 8 | 10 | 12 |
| Rate(Nm/s) | 0 | 50 | 100 | 300 | 500 | 800 | 1000 |
In this embodiment, the step S040 specifically includes:
The PCU (4) will take the second stage limit MotTqMaxLimt and the third stage limit MotTqMaxLimt to a small value to obtain the final drive motor torque limit MotTqMaxLimt.
As shown in fig. 5, the method does not need to introduce the rotation speed of the driving motor 6, does not need to estimate the rotation speed of the driving motor 6, and does not need to use the calculation of the power rotation torque. The method has the greatest advantages that the torque of the driving motor 6 is limited by the closed loop of the maximum allowable discharging power of the power battery and the actual discharging power of the power battery, the method is simple, the efficiency value of the driving motor 6 under different conditions is not needed to be considered, meanwhile, the redundancy amount is not needed to be reserved (because the efficiency value of the driving motor 6 is worry about inaccuracy, the torque value with a certain redundancy amount is reserved for ensuring that the actual discharging power of the power battery 7 is smaller than the allowable maximum discharging power of the power battery 7), and the maximum electric driving capability can be released.
As shown in fig. 1, in the present embodiment, a driving motor torque limitation control system includes a DCT transmission 1, a BMS2, a TCU3PCU4, a PEU5, a driving motor 6, and a power battery 7; the PCU4 is respectively connected with the BMS2, the TCU3 and the PEU 5; the power battery 7 is respectively connected with the BMS2 and the driving motor 6; the driving motor 6 is respectively connected with the DCT transmission 1 and the PEU 5; the TCU3 is connected with the DCT transmission 1; the DCT transmission 1 is provided with two clutches, namely a K1 clutch 12 and a K2 clutch 11, the driving motor 6 is respectively connected with the K1 clutch 12 and the K2 clutch 11, and different clutches are selected according to different transmission gears to drive a vehicle; the drive motor torque limit control system is configured to be able to perform the steps of the drive motor torque limit control method as described in the present embodiment.
As shown in fig. 1, in this embodiment, ICE represents an automotive electric control system, BMS represents a battery management system, PEU represents a motor control unit, TCU represents an automatic transmission control unit, and PCU represents a power control unit.
In this embodiment, a new energy vehicle adopts the driving motor torque limitation control system as described in this embodiment.
In the present embodiment, a storage medium has stored therein a computer readable program that when called is capable of executing the steps of the drive motor torque limitation control method as described in the present embodiment.
The above examples are preferred embodiments of the method of the present invention, but the embodiments of the method of the present invention are not limited by the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the present invention should be made in the equivalent manner, and are included in the scope of the present invention.
Claims (5)
1. A torque limiting control method of a driving motor is characterized by comprising the following steps:
S010: evaluating a torque limit of the dual clutch DCT transmission (1) on the drive motor (6) and as a first stage limit MotTqMaxLimt1 of the drive motor (6) limiting torque;
S020: taking the maximum torque limit value of the driving motor (6) estimated by the driving motor system from the first-stage limit MotTqMaxLimt and taking the maximum torque limit value as a second-stage limit MotTqMaxLimt;
s030: evaluating the torque limit of the power battery (7) on the drive motor (6) as a third-stage limit MotTqMaxLimt;
S040: the second stage limit MotTqMaxLimt and the third stage limit MotTqMaxLimt3 are taken to be small and serve as a final drive motor torque limit value MotTqMaxLimt;
the step S010 specifically includes:
The PCU (4) receives an actual gear of the dual-clutch DCT transmission (1) sent by the TCU (3), if the actual gear is any one of 2, 4 and 6 gears, the maximum bearing torque corresponding to the 2 shaft is used as the torque limit of the dual-clutch DCT transmission (1) to the driving motor (6), otherwise, the maximum bearing torque corresponding to the 1 shaft is used as the torque limit of the dual-clutch DCT transmission (1) to the driving motor (6); the method comprises the steps that a dual-clutch DCT transmission (1) is used for reducing torque limitation of a driving motor (6) and maximum bearing torque of a clutch sent by a TCU (3) and is used as a first-stage limitation MotTqMaxLimt1 of torque limitation of the driving motor (6);
The step S030 specifically includes:
The PCU (4) receives the real-time voltage U and the real-time current I of the power battery sent by the BMS (2), calculates real-time discharging power Pact of the power battery based on the real-time voltage U and the real-time current I of the power battery, meanwhile, the PCU (4) receives the maximum allowable discharging power BattPwrMax of the power battery sent by the BMS (2), calculates the difference value P between the maximum allowable discharging power BattPwrMax of the power battery and the real-time discharging power Pact of the power battery, marks a slope table according to the difference value P, the slope table has a value of Rate, calculates a third-stage limit MotTqMaxLimt3 of limiting torque of the driving motor (6) according to the maximum allowable discharging power BattPwrMax, rate of the power battery, namely, the third-stage limit MotTqMaxLimt3 = MotTqMaxLimt +Rate at the last moment.
2. The drive motor torque limit control method according to claim 1, characterized in that: the correspondence of father P and Rate and the effect on MotTqMaxLimt3 are:
When the P is less than 0, the value of the Rate is less than or equal to 0, according to MotTqMaxLimt & lt MotTqMaxLimt & gt Rate at the last moment, motTqMaxLimt is reduced, the current MotTqMaxLimt is also reduced, the execution torque of the driving motor (6) is limited, the actual discharge power Pact of the power battery (7) is reduced, and the actual discharge power of the power battery cannot exceed the maximum allowable discharge power of the power battery;
when the fatter P is more than or equal to 0, the value of the Rate is more than or equal to 0, namely when the torque required by the vehicle for the driving motor (6) is reduced, the Pact is reduced along with the reduction, and the limit value of the torque for the driving motor (6) is recovered by taking the Rate as a positive value.
3. A driving motor torque limiting control system comprises a DCT transmission (1), a BMS (2), a TCU (3), a PCU (4), a PEU (5), a driving motor (6) and a power battery (7); the PCU (4) is respectively connected with the BMS (2), the TCU (3) and the PEU (5); the power battery (7) is respectively connected with the BMS (2) and the driving motor (6); the driving motor (6) is respectively connected with the DCT transmission (1) and the PEU (5); the TCU (3) is connected with the DCT transmission (1); the DCT transmission (1) is provided with two clutches, namely a K1 clutch (12) and a K2 clutch (11), the driving motor (6) is respectively connected with the K1 clutch (12) and the K2 clutch (11), and different clutches are selected according to different transmission gears to drive a vehicle; the method is characterized in that:
the drive motor torque limit control system is configured to be able to perform the steps of the drive motor torque limit control method according to claim 1 or 2.
4. The utility model provides a new forms of energy car which characterized in that: a drive motor torque limiting control system as defined in claim 3.
5. A storage medium, characterized by: a computer readable program stored therein, which when called is capable of executing the steps of the drive motor torque limitation control method according to claim 1 or 2.
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| CN202210972279.4A CN115320403B (en) | 2022-08-15 | 2022-08-15 | Driving motor torque limiting control method and system, new energy vehicle and storage medium |
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| CN202210972279.4A CN115320403B (en) | 2022-08-15 | 2022-08-15 | Driving motor torque limiting control method and system, new energy vehicle and storage medium |
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| CN113665372A (en) * | 2021-09-14 | 2021-11-19 | 上汽通用五菱汽车股份有限公司 | Vehicle battery power management method, apparatus and computer readable storage medium |
| CN114734835A (en) * | 2022-05-17 | 2022-07-12 | 浙江极氪智能科技有限公司 | Vehicle torque control method, system, vehicle and storage medium |
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| JP3985550B2 (en) * | 2002-02-28 | 2007-10-03 | アイシン・エィ・ダブリュ株式会社 | Electric vehicle drive control device, electric vehicle drive control method, and program thereof |
| JP4131188B2 (en) * | 2003-04-09 | 2008-08-13 | アイシン・エィ・ダブリュ株式会社 | Control device for hybrid vehicle |
| JP2016007934A (en) * | 2014-06-24 | 2016-01-18 | 日産自動車株式会社 | Electric-vehicular control apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113665372A (en) * | 2021-09-14 | 2021-11-19 | 上汽通用五菱汽车股份有限公司 | Vehicle battery power management method, apparatus and computer readable storage medium |
| CN114734835A (en) * | 2022-05-17 | 2022-07-12 | 浙江极氪智能科技有限公司 | Vehicle torque control method, system, vehicle and storage medium |
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