# US 2026/0084544 A1 · Torque control method and apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2026/0084544 A1 - Document ID: US20260084544A1 - Status: Published application - Kind: A1 - Application number: 19/408,120 - Filed: 2025-12-03 - Published: 2026-03-26 - Earliest claimed: 2023-06-15 - Assignees: Shenzhen Yinwang Intelligent Technologies Co., Ltd. - Applicants: Shenzhen Yinwang Intelligent Technologies Co., Ltd. - Inventors: Xiaodong Ding; Donghao Liu; Jie Luo; Yongsheng Zhang; Lang He - Web page: https://patentgrep.com/patent/US20260084544A1 ## CPC - B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed - B60W 30/025: {related to comfort of drivers or passengers} - B60W 30/045: Improving turning performance - B60L 2240/16: longitudinal - B60L 2240/423: Torque - B60L 2240/486: Operating parameters - B60L 2250/28: Accelerator pedal thresholds - B60W 10/08: including control of electric propulsion units, e.g. motors or generators - B60W 2050/0091: {of control inputs} - B60W 2510/1005: Transmission ratio engaged - B60W 2520/10: Longitudinal speed - B60W 2520/105: Longitudinal acceleration - B60W 2520/125: Lateral acceleration - B60W 2520/16: Pitch - B60W 2540/10: Accelerator pedal position - B60W 2540/12: Brake pedal position - B60W 2710/083: Torque - B60W 2720/106: Longitudinal acceleration - B60W 2720/403: between front and rear axle - Y02T 10/72: Electric energy management in electromobility - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A torque control method is provided, including: obtaining status information of a vehicle; determining a vehicle status and a required value of longitudinal acceleration based on the status information of the vehicle; determining a corrected value of the longitudinal acceleration based on the status information of the vehicle, the required value of the longitudinal acceleration, and a constraint corresponding to the vehicle status; and controlling torque of the vehicle based on the corrected value of the longitudinal acceleration. A torque control apparatus, a transportation means, a chip system, a computer-readable storage medium, and a computer program product are also disclosed. ## Claims ### Claim 1 A torque control method, wherein the method comprises: obtaining status information of a vehicle; determining a vehicle status and a required value of longitudinal acceleration based on the status information of the vehicle, wherein when the status information indicates to enable a comfort torque control function, the required value of the longitudinal acceleration is determined based on the status information; when the status information indicates not to enable a comfort torque control function, the required value of the longitudinal acceleration is 0; determining a corrected value of the longitudinal acceleration based on the status information of the vehicle, the required value of the longitudinal acceleration, and a constraint corresponding to the vehicle status; and controlling torque of the vehicle based on the corrected value of the longitudinal acceleration. ### Claim 2 (depends on 1) The torque control method according to claim 1, further comprising preprocessing the status information of the vehicle to determine whether to enable the comfort torque control function, comprising: determining, based on the status information, whether an active safety function status in the status information meets a first trigger condition; if the active safety function status meets the first trigger condition, determining, based on the status information, whether a speed, lateral acceleration, and a lateral impact degree in the status information of the vehicle meet a second trigger condition; if the speed, the lateral acceleration, and the lateral impact degree of the vehicle meet the second trigger condition, determining, based on the status information, whether a gear status in the status information of the vehicle meets a third trigger condition; and if the gear status of the vehicle meets the third trigger condition, determining to enable the comfort torque control function. ### Claim 3 (depends on 2) The torque control method according to claim 2, wherein the first trigger condition comprises that the active safety function status is equal to a first threshold, wherein the first threshold indicates that an active safety function is not enabled on the vehicle; the second trigger condition comprises that the speed is within a safe speed range, the lateral acceleration is within a safe lateral acceleration range, and the lateral impact degree is within a safe lateral impact degree range; and the third trigger condition comprises that the gear status is equal to a second threshold, wherein the second threshold is a preset value corresponding to the gear status during normal traveling of the vehicle. ### Claim 4 (depends on 1) The torque control method according to claim 1, wherein determining the corrected value of the longitudinal acceleration comprises: determining, based on the status information, whether the vehicle status is a driving state; and if the vehicle status is the driving state, determining whether the status information of the vehicle and the required value of the longitudinal acceleration meet a first constraint; and if the status information of the vehicle and the required value of the longitudinal acceleration meet the first constraint, determining the required value of the longitudinal acceleration as the corrected value of the longitudinal acceleration; otherwise, determining that the corrected value of the longitudinal acceleration is 0; or if the vehicle status is not the driving state, determining whether the status information of the vehicle and the required value of the longitudinal acceleration meet a second constraint; and if the status information of the vehicle and the required value of the longitudinal acceleration meet the second constraint, determining the required value of the longitudinal acceleration as the corrected value of the longitudinal acceleration; otherwise, determining the corrected value of the longitudinal acceleration from a calibration map table based on the status information of the vehicle. ### Claim 5 (depends on 1) The torque control method according to claim 1, wherein before determining the corrected value of the longitudinal acceleration based on the status information of the vehicle, the required value of the longitudinal acceleration, and the constraint corresponding to the vehicle status, the method further comprises: obtaining an accelerator pedal opening degree and a brake pedal opening degree from the status information; and comparing the accelerator pedal opening degree and the brake pedal opening degree with respective corresponding status thresholds, to determine an accelerator pedal flag bit and a brake pedal flag bit. ### Claim 6 (depends on 1) The torque control method according to claim 1, wherein controlling the torque of the vehicle based on the corrected value of the longitudinal acceleration comprises: controlling the torque of the vehicle based on a motor driving mode and the corrected value of the longitudinal acceleration. ### Claim 7 (depends on 6) The torque control method according to claim 6, wherein controlling the torque of the vehicle based on the motor driving mode and the corrected value of the longitudinal acceleration comprises: if the motor driving mode is single-motor driving, increasing or decreasing the torque by a single motor based on the corrected value of the longitudinal acceleration; or if the motor driving mode is dual-motor driving, decreasing the torque by a rear motor based on the corrected value of the longitudinal acceleration, or increasing the torque by a front motor based on the corrected value of the longitudinal acceleration. ### Claim 8 (depends on 1) The torque control method according to claim 1, wherein the status information comprises one or more of the following: the active safety function status, the speed, the lateral acceleration, the longitudinal acceleration, the lateral impact degree, the accelerator pedal opening degree, the brake pedal opening degree, or the gear status. ### Claim 9 A torque control apparatus, comprising: a processor; and a memory coupled to the processor and configured to store computer-readable instructions, which when executed by the processor, cause the torque control apparatus to: obtain status information of a vehicle; determine a vehicle status and a required value of longitudinal acceleration based on the status information of the vehicle, wherein when the status information indicates to enable a comfort torque control function, the required value of the longitudinal acceleration is determined based on the status information; when the status information indicates not to enable a comfort torque control function, the required value of the longitudinal acceleration is 0; determine a corrected value of the longitudinal acceleration based on the status information of the vehicle, the required value of the longitudinal acceleration, and a constraint corresponding to the vehicle status; and control torque of the vehicle based on the corrected value of the longitudinal acceleration. ### Claim 10 (depends on 9) The torque control apparatus according to claim 9, wherein the computer-readable instructions, when executed by the processor, further cause the torque control apparatus to preprocess the status information of the vehicle to determine whether to enable the comfort torque control function, including: determining, based on the status information, whether an active safety function status in the status information meets a first trigger condition; if the active safety function status meets the first trigger condition, determining, based on the status information, whether a speed, lateral acceleration, and a lateral impact degree in the status information of the vehicle meet a second trigger condition; if the speed, the lateral acceleration, and the lateral impact degree of the vehicle meet the second trigger condition, determining, based on the status information, whether a gear status in the status information of the vehicle meets a third trigger condition; and if the gear status of the vehicle meets the third trigger condition, determining to enable the comfort torque control function. ### Claim 11 (depends on 10) The torque control apparatus according to claim 10, wherein the first trigger condition comprises that the active safety function status is equal to a first threshold, wherein the first threshold indicates that an active safety function is not enabled on the vehicle; the second trigger condition comprises that the speed is within a safe speed range, the lateral acceleration is within a safe lateral acceleration range, and the lateral impact degree is within a safe lateral impact degree range; and the third trigger condition comprises that the gear status is equal to a second threshold, wherein the second threshold is a preset value corresponding to the gear status during normal traveling of the vehicle. ### Claim 12 (depends on 9) The torque control apparatus according to claim 9, wherein when determining the corrected value of the longitudinal acceleration, the computer-readable instructions, when executed by the processor, further cause the torque control apparatus to: determine, based on the status information, whether the vehicle status is a driving state; and if the vehicle status is the driving state, determine whether the status information of the vehicle and the required value of the longitudinal acceleration meet a first constraint; and if the status information of the vehicle and the required value of the longitudinal acceleration meet the first constraint, determine the required value of the longitudinal acceleration as the corrected value of the longitudinal acceleration; otherwise, determine that the corrected value of the longitudinal acceleration is 0; or if the vehicle status is not the driving state, determine whether the status information of the vehicle and the required value of the longitudinal acceleration meet a second constraint; and if the status information of the vehicle and the required value of the longitudinal acceleration meet the second constraint, determine the required value of the longitudinal acceleration as the corrected value of the longitudinal acceleration; otherwise, determine the corrected value of the longitudinal acceleration from a calibration map table based on the status information of the vehicle. ### Claim 13 (depends on 9) The torque control apparatus according to claim 9, wherein before determining the corrected value of the longitudinal acceleration, the computer-readable instructions, when executed by the processor, further cause the torque control apparatus to: obtain an accelerator pedal opening degree and a brake pedal opening degree from the status information; and compare the accelerator pedal opening degree and the brake pedal opening degree with respective corresponding status thresholds, to determine an accelerator pedal flag bit and a brake pedal flag bit. ### Claim 14 (depends on 9) The torque control apparatus according to claim 9, wherein when controlling the torque of the vehicle based on the corrected value of the longitudinal acceleration, the computer-readable instructions, when executed by the processor, further cause the torque control apparatus to: control the torque of the vehicle based on a motor driving mode and the corrected value of the longitudinal acceleration. ### Claim 15 (depends on 14) The torque control apparatus according to claim 14, wherein when controlling the torque of the vehicle based on the motor driving mode and the corrected value of the longitudinal acceleration, the computer-readable instructions, when executed by the processor, further cause the torque control apparatus to: if the motor driving mode is single-motor driving, increase or decrease the torque by a single motor based on the corrected value of the longitudinal acceleration; or if the motor driving mode is dual-motor driving, decrease the torque by a rear motor based on the corrected value of the longitudinal acceleration, or increase the torque by a front motor based on the corrected value of the longitudinal acceleration. ### Claim 16 (depends on 9) The torque control apparatus according to claim 9, wherein the status information comprises one or more of the following: the active safety function status, the speed, the lateral acceleration, the longitudinal acceleration, the lateral impact degree, the accelerator pedal opening degree, the brake pedal opening degree, or the gear status. ### Claim 17 A chip system, comprising: at least one processor and at least one interface circuit, wherein the at least one interface circuit is configured to perform a transceiver function and send instructions to the at least one processor, and when the at least one processor executes the instructions, the at least one processor is caused to: obtain status information of a vehicle; determine a vehicle status and a required value of longitudinal acceleration based on the status information of the vehicle, wherein when the status information indicates to enable a comfort torque control function, the required value of the longitudinal acceleration is determined based on the status information; when the status information indicates not to enable a comfort torque control function, the required value of the longitudinal acceleration is 0; determine a corrected value of the longitudinal acceleration based on the status information of the vehicle, the required value of the longitudinal acceleration, and a constraint corresponding to the vehicle status; and control torque of the vehicle based on the corrected value of the longitudinal acceleration. ### Claim 18 (depends on 17) The chip system according to claim 17, wherein the instructions, when executed by the at least one processor, further cause the at least one processor to preprocess the status information of the vehicle to determine whether to enable the comfort torque control function, including: determining, based on the status information, whether an active safety function status in the status information meets a first trigger condition; if the active safety function status meets the first trigger condition, determining, based on the status information, whether a speed, lateral acceleration, and a lateral impact degree in the status information of the vehicle meet a second trigger condition; if the speed, the lateral acceleration, and the lateral impact degree of the vehicle meet the second trigger condition, determining, based on the status information, whether a gear status in the status information of the vehicle meets a third trigger condition; and if the gear status of the vehicle meets the third trigger condition, determining to enable the comfort torque control function. ### Claim 19 (depends on 18) The chip system according to claim 18, wherein the first trigger condition comprises that the active safety function status is equal to a first threshold, wherein the first threshold indicates that an active safety function is not enabled on the vehicle; the second trigger condition comprises that the speed is within a safe speed range, the lateral acceleration is within a safe lateral acceleration range, and the lateral impact degree is within a safe lateral impact degree range; and the third trigger condition comprises that the gear status is equal to a second threshold, wherein the second threshold is a preset value corresponding to the gear status during normal traveling of the vehicle. ### Claim 20 (depends on 17) The chip system according to claim 17, wherein when determining the corrected value of the longitudinal acceleration, the instructions, when executed by the at least one processor, cause the at least one processor to: determine, based on the status information, whether the vehicle status is a driving state; and if the vehicle status is the driving state, determine whether the status information of the vehicle and the required value of the longitudinal acceleration meet a first constraint; and if the status information of the vehicle and the required value of the longitudinal acceleration meet the first constraint, determine the required value of the longitudinal acceleration as the corrected value of the longitudinal acceleration; otherwise, determine that the corrected value of the longitudinal acceleration is 0; or if the vehicle status is not the driving state, determine whether the status information of the vehicle and the required value of the longitudinal acceleration meet a second constraint; and if the status information of the vehicle and the required value of the longitudinal acceleration meet the second constraint, determining the required value of the longitudinal acceleration as the corrected value of the longitudinal acceleration; otherwise, determine the corrected value of the longitudinal acceleration from a calibration map table based on the status information of the vehicle.