The present invention provides a pulse width modulation method suitable for a vehicle-mounted motor controller, comprising: taking the instructions of the motor controller, the state quantities of the motor controller and the motor as factors, and taking the temperature of the power switching device and the efficiency of the motor controller as factors At least one of them is used as the optimization target, according to the relationship between the factors and the optimization target, set the weight positive / negative sign and weight value of the corresponding factor; according to each factor and the corresponding weight value, determine whether to adjust the switching frequency; The adjustment degree is set according to the gear position. According to the sampling and operation timing of the motor controller, the switching frequency corresponding to each gear position is set. Finally, the switching frequency is adjusted to the switching frequency of the corresponding gear position according to each factor and the corresponding weight value. The method aims at minimizing the control delay, determines the reduction degree of the switching frequency, improves the update rate of the output duty cycle, improves the sine degree of the output voltage / current, and reduces the harmonic content.