The embodiment of the invention provides a vehicle control method and device, a controller, a vehicle and a storage medium, and the method comprises the steps that a torque direction change signal of reference torque is obtained, and torque output by a motor is controlled to be transited to a first preset value at a first change rate and is kept at the first preset value, the reference torque is determined based on the torque requested by the vehicle control unit; a peak signal of motor rotating speed fluctuation is detected, the torque output by the motor is controlled to be transited to a second preset value from the first preset value based on a second change rate and is kept at the second preset value, and the second change rate is larger than the first change rate; and when it is detected that a preset exit condition is met, the torque output by the motor is controlled to be transited to the vehicle controller request torque subjected to preset processing. By adopting the method, the motor rotating speed fluctuation can be inhibited to avoid the impact feeling of driving experience caused by the motor rotating speed fluctuation, so that the acceleration and deceleration switching process of the vehicle is softer, and the driving experience is more comfortable.

    本发明实施例提供一种车辆控制方法、装置、控制器、车辆和存储介质,该方法包括:获取参考扭矩的扭矩方向改变信号,控制电机输出的扭矩以第一变化速率过渡到第一预设值,并保持在第一预设值,其中,参考扭矩是基于整车控制器请求扭矩确定的;检测电机转速波动的峰值信号,控制电机输出的扭矩从第一预设值基于第二变化速率过渡到第二预设值,并保持在第二预设值,其中,第二变化速率大于第一变化速率;检测满足预设退出条件,控制电机输出的扭矩过渡到经过预设处理的整车控制器请求扭矩。采用本发明可以抑制电机转速波动,以避免电机转速波动导致的驾驶体验的冲击感,使得车辆加减速切换过程更加柔和、驾驶体验更加舒适。


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    Title :

    Vehicle control method and device, controller, vehicle and storage medium


    Additional title:

    车辆控制方法、装置、控制器、车辆和存储介质


    Contributors:

    Publication date :

    2023-07-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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