An intelligent networked bus torque gradient adaptive adjustment control method and system

Abstract

The present invention discloses an intelligent connected bus torque gradient adaptive adjustment control method and system, which relates to the technical field of intelligent connected vehicles and includes: obtaining state data during the vehicle driving process in real time; determining the motor drive torque required at the current moment according to the obtained data, and further determining the motor expected torque at the current moment; determining the driving state of the vehicle at the current moment, and then combining with the motor expected torque to determine the lifting torque state and the expected torque gradient at the current moment; based on the expected torque gradient at the current moment and the actual torque gradient at the previous moment, performing torque gradient adaptive adjustment that increases or decreases based on a set scale to obtain the real torque gradient at the current moment; adding or subtracting the real torque gradient at the current moment from the actual motor torque to calculate the final target request torque, and sending it to the motor controller for torque smoothing control. The present invention can achieve smooth control of torque, improve driving comfort and the service life of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent connected vehicles, and particularly to a method and system for adaptively adjusting the torque gradient of an intelligent connected bus. Background Art

[0002] With the increasing development of intelligent and connected technologies, the proportion of intelligent connected buses in the field of new energy commercial vehicles is becoming increasingly important. How to accurately control the vehicle torque change rate, i.e., the torque gradient, so as to improve driving comfort and the durability of the power system has become one of the key technologies in the current research of intelligent connected buses. At present, the vast majority of vehicle torque control methods are controlled by setting a relatively single torque gradient. This control method may cause the torque to change too fast or too slow when the vehicle is driving in different driving states or different working conditions, resulting in phenomena such as vibration of the transmission system or lag in acceleration and deceleration responses, reducing driving comfort. In the long run, it will also cause increased wear of various vehicle components, thereby reducing its durability and affecting the service life of the vehicle. Summary of the Invention

[0003] To solve the deficiencies of the above-mentioned prior art, the present invention provides a method and system for adaptively adjusting the torque gradient of an intelligent connected bus. By real-time detecting the actual torque of the motor, and at the same time combining the opening degrees of the accelerator pedal and the brake pedal, and the ABS (Anti-Lock Brake System) signal to determine the current driving state of the vehicle, and adopting a corresponding torque gradient adaptive adjustment method in this driving state to real-time adjust the torque gradient, realizing smooth control of the torque, ensuring the acceleration and braking performance of the vehicle under different working conditions or different driving states, while improving driving comfort, reducing the impact on the power system, and enhancing the service life of the vehicle.

[0004] In the first aspect, the present invention provides a method for adaptively adjusting the torque gradient of an intelligent connected bus.

[0005] A method for adaptively adjusting the torque gradient of an intelligent connected bus includes:

[0006] Real-time obtaining the state data during the vehicle driving process; the state data includes: the actual speed and actual torque of the motor, the opening degrees of the accelerator pedal and the brake pedal, and the ABS signal;

[0007] According to the state data obtained in real-time, determining the motor drive torque required at the current moment, and further determining the motor expected torque at the current moment; determining the driving state of the vehicle at the current moment, and then combining the motor expected torque to determine the up-down torque state and the expected torque gradient at the current moment;

[0008] Based on the expected torque gradient at the current moment and the actual torque gradient at the previous moment, perform torque gradient adaptive adjustment that increases or decreases based on a set scale to obtain the true torque gradient at the current moment;

[0009] Add or subtract the true torque gradient at the current moment from the actual torque of the motor to calculate the final target requested torque, and send it to the motor controller for torque smoothing control.

[0010] In a second aspect, the present invention provides an intelligent connected bus torque gradient adaptive adjustment control system.

[0011] An intelligent connected bus torque gradient adaptive adjustment control system includes:

[0012] A data acquisition module for real-time acquisition of state data during vehicle driving; the state data includes: actual motor speed and actual torque, opening degrees of the accelerator pedal and the brake pedal, and ABS signals;

[0013] A data processing module for determining the motor drive torque required at the current moment based on the real-time acquired state data, and further determining the expected torque of the motor at the current moment; determining the driving state of the vehicle at the current moment, and then combining the expected torque of the motor to determine the torque increase and decrease state and the expected torque gradient at the current moment;

[0014] A torque gradient adaptive regulation module for performing torque gradient adaptive adjustment that increases or decreases based on a set scale based on the expected torque gradient at the current moment and the actual torque gradient at the previous moment to obtain the true torque gradient at the current moment; adding or subtracting the true torque gradient at the current moment from the actual torque of the motor to calculate the final target requested torque, and sending it to the motor controller for torque smoothing control.

[0015] In a third aspect, the present invention further provides an electronic device, including a memory, a processor, and computer instructions stored on the memory and running on the processor. When the computer instructions are run by the processor, the steps of the method described in the first aspect are completed.

[0016] In a fourth aspect, the present invention further provides a computer-readable storage medium for storing computer instructions. When the computer instructions are executed by the processor, the steps of the method described in the first aspect are completed.

[0017] The above one or more technical solutions have the following beneficial effects:

[0018] The present invention provides an intelligent connected bus torque gradient adaptive adjustment control method and system. By real-time detecting the actual torque of the motor, and combining the opening degrees of the accelerator pedal and the brake pedal, and the ABS (Anti-Lock Brake System) signal to determine the current driving state of the vehicle, and adopting corresponding torque gradient adaptive adjustment methods under this driving state to adjust the torque gradient in real time, realizing smooth control of the torque, ensuring the acceleration and braking performance of the vehicle under different working conditions or different driving states, improving driving comfort, reducing the impact on the power system, and enhancing the service life of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0020] Figure 1 It is the overall flowchart of the intelligent connected bus torque gradient adaptive adjustment control method described in the embodiment of the present invention;

[0021] Figure 2 It is the flowchart block diagram of the intelligent connected bus torque gradient adaptive adjustment control method described in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] It should be noted that the following detailed descriptions are all exemplary, only for describing the specific embodiments, aiming to provide further explanations for the present invention, and are not intended to limit the exemplary embodiments according to the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those of ordinary skill in the technical field to which the present invention belongs. In addition, it should also be understood that when using the terms "comprising" and / or "including" in this specification, it indicates the presence of features, steps, operations, devices, components, and / or their combinations.

[0023] Embodiment 1

[0024] This embodiment provides an intelligent connected bus torque gradient adaptive adjustment control method. The control method mainly includes: calculating the expected torque and the actual torque, confirming the driving state, setting the expected torque increase / decrease gradient and the torque gradient adaptive gradient. Specifically, in this method, the vehicle controller real-time detects the actual torque of the motor, and combines the opening degrees of the accelerator pedal and the brake pedal, and the ABS signal to determine the current driving state of the vehicle, and adopts corresponding torque gradient adaptive adjustment methods under this driving state to adjust the torque gradient in real time, realizing smooth control of the torque, ensuring the acceleration and braking performance of the vehicle under different working conditions or different driving states, improving driving comfort, reducing the impact on the power system, and enhancing the service life of the vehicle.

[0025] An intelligent networked bus torque gradient adaptive adjustment control method proposed in this embodiment is as follows Figure 1 shown, and specifically includes the following steps:

[0026] Step S1: Real-time obtain the state data during vehicle driving; the state data includes: actual motor speed and actual torque, throttle pedal and brake pedal opening degrees, and ABS signal;

[0027] Step S2: According to the state data obtained in real time, determine the motor drive torque required at the current moment, and then determine the motor desired torque at the current moment; determine the driving state of the vehicle at the current moment, and then combine the motor desired torque to determine the torque increase / decrease state and desired torque gradient at the current moment;

[0028] Step S3: Based on the desired torque gradient at the current moment and the actual torque gradient at the previous moment, perform torque gradient adaptive adjustment that increases or decreases based on a set scale to obtain the actual torque gradient at the current moment;

[0029] Step S4: Based on the addition and subtraction of the actual torque gradient at the current moment and the motor actual torque, calculate the final target request torque, and send it to the motor controller for torque smoothing control.

[0030] The intelligent networked bus torque gradient adaptive adjustment control method proposed in this embodiment is introduced in more detail through the following content.

[0031] In step S1, as Figure 2 shown, during vehicle driving, the opening degrees of the throttle pedal and the brake pedal are collected in real time through in-vehicle sensors, the ABS signal is obtained through the ABS controller, the actual motor speed and actual torque are detected in real time through the motor controller, and the vehicle controller is connected to the motor controller, in-vehicle sensors, and ABS controller through the CAN bus to obtain the actual motor torque, motor speed n, throttle pedal opening degree P acc and brake pedal opening degree P brk and the ABS signal. In fact, the vehicle controller sends the target torque to the motor controller, and the motor controller then feeds back the actually output motor torque to the vehicle controller.

[0032] Based on the acquisition of the above state data, calculate the motor desired torque T aim (which can be simply referred to as the desired torque) according to the states of the throttle and brake and the motor speed. By comparing the desired torque with the motor actual torque T ral , adjust to obtain the final actual torque gradient T sf , and finally use this actual torque gradient T sfIt is added to or subtracted from the actual torque of the motor to obtain the final target torque T, which is then sent to the motor controller for torque smoothing control.

[0033] In step S2, the desired torque is calculated, the driving state is confirmed, and the desired lift torque gradient is set, specifically including:

[0034] Step S2.1: Determine the motor drive torque required at the current moment according to the opening degrees of the accelerator pedal and the brake pedal and the actual motor speed, and then determine the motor desired torque at the current moment.

[0035] First, according to the comparison results of the opening degrees of the accelerator pedal and the brake pedal with the opening degree setting thresholds, different methods are selected for looking up tables to determine the motor drive torque required at the current moment. Among them, different methods for looking up tables include: looking up tables according to the accelerator pedal opening degree and the motor speed, and looking up tables according to the brake pedal opening degree and the motor speed.

[0036] Secondly, among the motor drive torque and the maximum motor torque allowed by the available discharge power of the current battery, the minimum or maximum value is taken according to the different table lookup methods as the motor desired torque at the current moment.

[0037] Specifically, if the opening degree of the accelerator pedal (which can be abbreviated as the accelerator opening degree) is greater than the accelerator opening degree setting threshold, in this embodiment, the accelerator opening degree setting threshold is set to 5, and the opening degree of the brake pedal (which can be abbreviated as the brake opening degree) is less than the brake opening degree setting threshold, and in this embodiment, the brake opening degree setting threshold is also set to 5, P acc >5&&P brk <5, then the motor drive torque T is obtained by looking up the table according to the accelerator pedal opening degree and the motor speed signal acc , and it is stipulated that the drive torque is a positive torque, which is greater than 0, that is, T acc =map(P acc ,n); then, the motor drive torque T acc is compared with the maximum motor torque T dis allowed by the available discharge power P of the current battery dis , and the minimum value is taken to obtain the motor desired torque T aim .

[0038] Among them, the calculation formula for the maximum motor torque T dis allowed by the battery discharge power is: Then the motor desired torque is

[0039] In addition, if the opening degree of the brake pedal is greater than the brake opening degree setting threshold, and in this embodiment, the brake opening degree setting threshold is also set to 5, then the motor drive torque T is obtained by looking up the table according to the brake pedal opening degree and the motor speed signal brk, it is stipulated that the braking torque is a negative torque, which is less than 0, i.e., T brk = map(P brk , n); After that, the motor drive torque T acc is compared with the maximum motor torque T chg allowed by the current battery available charging power P chg to obtain the motor desired torque T aim .

[0040] Among them, the calculation formula for the maximum motor torque allowed by the battery discharge power is: Then the motor desired torque is

[0041] Based on the above analysis, the calculation formula for the motor desired torque T aim is as follows:

[0042]

[0043] At the same time, the vehicle control unit obtains the actual motor torque T ral .

[0044] Step S2.2: Determine the driving state of the vehicle at the current moment according to the actual motor torque, the opening degrees of the accelerator pedal and the brake pedal, and the ABS signal, and then determine the lifting torque state and the desired torque gradient at the current moment in combination with the motor desired torque.

[0045] First of all, according to the actual motor torque, the opening degrees of the accelerator pedal and the brake pedal, and the ABS signal, the vehicle driving state state is divided into five categories, including: driving state, braking state, braking-to-driving state, driving-to-braking state, and ABS activation state, and the priorities of the five driving states increase in turn.

[0046] In this embodiment, determining the driving state of the vehicle at the current moment according to the actual motor torque, the opening degrees of the accelerator pedal and the brake pedal, and the ABS signal includes:

[0047] If the opening degree of the accelerator pedal is greater than the accelerator opening degree set threshold of 5, and the actual motor torque is greater than 0, i.e., P acc > 5 && T ral > 0, at this time the vehicle is in the driving state, denoted as state A;

[0048] If the opening degree of the brake pedal is greater than the brake opening degree set threshold of 5, and the actual motor torque is less than 0, i.e., P brk > 5 && T ral < 0, at this time the vehicle is in the braking state, denoted as state B;

[0049] If the opening degree of the accelerator pedal is greater than the accelerator opening degree set threshold of 5, and the actual motor torque is less than 0, i.e., Pacc >5&&T ral <0, at this time, the vehicle is in the braking-to-driving state, denoted as state C;

[0050] If the brake pedal opening is less than the set threshold of the brake opening, and the actual motor torque is greater than 0, that is, P brk <5&&T ral >0, at this time, the vehicle is in the driving-to-braking state, denoted as state D;

[0051] If the ABS signal is valid, that is, abs = 1, at this time, the vehicle is in the ABS activation state, denoted as state E. Among them, the priority of the vehicle driving state state is E > C > B > D > A.

[0052] Based on the above analysis, the vehicle driving state can be expressed as:

[0053]

[0054] Secondly, for each vehicle driving state, according to the actual motor torque and the desired motor torque at the current moment, determine the lifting torque state at the current moment, and calculate and determine the desired torque gradient under different lifting torque states.

[0055] In this embodiment, the vehicle controller sets different torque gradients T according to the above five divided vehicle driving states s , where the torque gradient T s is divided into two types: the torque increase gradient T up and the torque decrease gradient T dowm . If the actual motor torque is less than the desired motor torque, that is, T ral <T aim , it is a torque increase state; if the actual motor torque is greater than the desired motor torque, that is, T ral >T aim , it is a torque decrease state. For each vehicle driving state, first determine the lifting torque state at the current moment according to the actual motor torque and the desired motor torque at the current moment.

[0056] Secondly, take the actual motor torque T ral when entering the current vehicle driving state as the reference torque, and set the reference torque change time as t;

[0057] If the vehicle is in state A, that is, the driving state, then the torque increase gradient is The torque decrease gradient is Among them, T amax represents the maximum driving peak torque of the whole vehicle;

[0058] If the vehicle is in state B, that is, the braking state, then the torque increase gradient is The torque decrease gradient Among them, Tbmax Represents the maximum braking peak torque of the whole vehicle;

[0059] If the vehicle is in state C, i.e., the braking-to-driving state, to avoid the driver feeling drive lag, the negative torque needs to be quickly cleared, i.e., quickly increase the torque. At this time, taking the actual torque T of the motor when entering state C ral As the reference torque, the torque increase gradient is The torque decrease gradient is

[0060] If the vehicle is in state D, i.e., the driving-to-braking state, to avoid the driver feeling braking lag, the positive torque needs to be quickly cleared, i.e., quickly decrease the torque. At this time, taking the actual torque T of the motor when entering state D ral As the reference torque, the torque increase gradient is The torque decrease gradient is

[0061] If the vehicle is in state E, i.e., the ABS activation state, regardless of whether the motor torque is positive or negative at this time, the torque needs to be cleared. The clearing time is denoted as Taking the actual torque T of the motor when entering state E ral As the reference torque, the torque gradient is

[0062] Based on the above analysis, the expected torque gradient can be expressed as:

[0063]

[0064] In step S3, based on the expected torque gradient at the current moment and the actual torque gradient at the previous moment, perform torque gradient adaptive adjustment that increases or decreases based on a set scale to obtain the true torque gradient at the current moment.

[0065] In this step S3, perform adaptive gradient adjustment. Since the torque gradients in the five driving states are different, and the torque increase and decrease gradients in the same driving state are also different, when switching between driving states or torque increase and decrease, to avoid sudden gradient changes and cause torque spikes, it is necessary to perform adaptive adjustment on the gradient so that the torque change is smooth.

[0066] First, obtain the torque increase and decrease state and the expected torque gradient T at the current moment s , and the torque increase and decrease state and the actual torque gradient T at the previous moment s_last , and calculate the true torque gradient T at the current moment based on this sf .

[0067] Secondly, if the torque was increasing at the previous moment and is also increasing at the current moment, or if the torque was decreasing at the previous moment and is also decreasing at the current moment, that is, the torque states at two adjacent moments are the same. If the increasing / decreasing torque states at two adjacent moments are the same, then compare the expected torque gradient at the current moment with the actual torque gradient at the previous moment, and based on the comparison result, perform an incremental or decremental setting scale on the actual torque gradient at the previous moment. The value after each incremental or decremental scale is used as the actual torque gradient at the current moment until the actual torque gradient is equal to the expected torque gradient.

[0068] Specifically, compare the actual torque gradient T s_last at the previous moment with the expected torque gradient T s at the current moment. If T s_last < T s , then start counting, and increment T s_last by the set scale, that is, T s_last is incremented by 1 each time, and the value after each scale increment is used as the actual torque gradient at the current moment, that is, T sf = T s_last + 1, until the actual torque gradient T sf is equal to the expected torque gradient T s at the current moment; and if T s_last > T s , then start counting, and decrement T s_last by the set scale, that is, T sf = T s_last - 1, until the actual torque gradient T sf is equal to the expected torque gradient T s at the current moment.

[0069] Then, if the torque was increasing at the previous moment and is decreasing at the current moment, or if the torque was decreasing at the previous moment and is increasing at the current moment, that is, the torque states at two adjacent moments are different. If the increasing / decreasing torque states at two adjacent moments are different, or the actual torque gradient at the previous moment is 0 and the expected torque gradient is greater than 0, then the actual torque gradient at the current moment starts counting from 0 and is incremented by the set scale until the actual torque gradient is equal to the expected torque gradient.

[0070] Specifically, if the torque states at two adjacent moments are different, then the actual torque gradient T sf at the current moment starts counting from 0 and is incremented by the set scale, that is, T sf is incremented by 1 each time, T sf = 1 + 2 + 3 +..., until the actual torque gradient T sf is equal to the expected torque gradient T s at the current moment;

[0071] If the actual torque gradient at the previous moment is 0, i.e., T s_last = 0, it means that the previous moment is neither in the torque increasing state nor in the torque decreasing state. At the same time, if the desired torque gradient T s > 0, then the true torque gradient T sf starts counting from 0 and increases by a set scale, i.e., T sf is incremented by 1 each time, T sf = 1 + 2 + 3 +..., until the true torque gradient T sf is equal to the desired torque gradient T s at the current moment.

[0072] In step S4, after adaptive adjustment, the true torque gradient at the current moment is added to or subtracted from the actual torque of the motor to calculate the final target requested torque T, which is sent to the motor controller for torque smoothing control.

[0073] Specifically, if the actual torque T ral of the motor at the current moment is less than the desired torque T aim of the motor, i.e., T ral < T aim , then the current moment is in the torque increasing state, and the true torque gradient at the current moment is added to the actual torque of the motor, i.e., T = T ral + T sf ; if the actual torque T ral of the motor at the current moment is greater than the desired torque T aim of the motor, i.e., T ral > T aim , then the current moment is in the torque decreasing state, and the true torque gradient at the current moment is added to the actual torque of the motor, i.e., T = T ral - T sf . In summary, the calculation formula for the motor requested target torque is:

[0074]

[0075] Embodiment 2

[0076] This embodiment provides an intelligent connected bus torque gradient adaptive adjustment control system, including:

[0077] A data acquisition module for real-time acquisition of the state data during vehicle driving; the state data includes: the actual speed and actual torque of the motor, the opening degrees of the accelerator pedal and the brake pedal, and the ABS signal; in this embodiment, the data acquisition module includes an on-vehicle sensor and a motor controller;

[0078] A data processing module, which is used to determine the motor drive torque required at the current moment according to the real-time acquired status data, and then determine the expected motor torque at the current moment; determine the driving state of the vehicle at the current moment, and then combine the expected motor torque to determine the lifting torque state and the expected torque gradient at the current moment; in this embodiment, the data processing module includes a vehicle controller.

[0079] A torque gradient adaptive regulation module, which is used to perform torque gradient adaptive adjustment that increases or decreases based on a set scale based on the expected torque gradient at the current moment and the actual torque gradient at the previous moment, to obtain the real torque gradient at the current moment; based on the addition and subtraction of the real torque gradient at the current moment and the actual motor torque, calculate the final target request torque and send it to the motor controller for torque smoothing control. In this embodiment, the data processing module includes a vehicle controller.

[0080] Embodiment III

[0081] This embodiment provides an electronic device, including a memory, a processor, and computer instructions stored on the memory and running on the processor. When the computer instructions are run by the processor, the steps in an intelligent connected bus torque gradient adaptive adjustment control method as described above are completed.

[0082] Embodiment IV

[0083] This embodiment also provides a computer-readable storage medium for storing computer instructions. When the computer instructions are executed by the processor, the steps in an intelligent connected bus torque gradient adaptive adjustment control method as described above are completed.

[0084] The steps involved in Embodiments II to IV above correspond to those in Method Embodiment I. For specific implementation manners, reference may be made to the relevant description part of Embodiment I. The term "computer-readable storage medium" should be understood to include a single medium or multiple media including one or more instruction sets; it should also be understood to include any medium that can store, encode, or carry an instruction set for execution by a processor and enable the processor to execute any method in the present invention.

[0085] Those skilled in the art should understand that the above-mentioned modules or steps of the present invention can be implemented by a general-purpose computer device. Optionally, they can be implemented by program codes executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0086] The above are only the preferred embodiments of the present invention. Although the specific implementation manners of the present invention have been described in conjunction with the accompanying drawings, it is not a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications or deformations that can be made without creative efforts on the basis of the technical solution of the present invention are still within the protection scope of the present invention.

Claims

1. An intelligent network-connected bus torque gradient adaptive adjustment control method, characterized in that Including: Obtaining the state data during the vehicle driving process in real time; The state data includes: the actual rotational speed and actual torque of the motor, the opening degrees of the accelerator pedal and the brake pedal, and the ABS signal; According to the state data obtained in real time, determining the motor driving torque required at the current moment, and then determining the motor desired torque at the current moment; determining the driving state of the vehicle at the current moment, and then combining with the motor desired torque to determine the lifting torque state and the desired torque gradient at the current moment; Based on the desired torque gradient at the current moment and the actual torque gradient at the previous moment, performing torque gradient adaptive adjustment with an increasing or decreasing setting scale to obtain the true torque gradient at the current moment; Based on adding or subtracting the true torque gradient at the current moment from the actual motor torque, calculating the final target request torque and sending it to the motor controller for torque smoothing control.

2. The intelligent networked bus torque gradient adaptive adjustment control method according to claim 1, wherein Determining the motor driving torque required at the current moment according to the opening degrees of the accelerator pedal and the brake pedal and the actual rotational speed of the motor, and then determining the motor desired torque at the current moment, including: According to the comparison results between the opening degrees of the accelerator pedal and the brake pedal and the opening degree setting thresholds, selecting different methods for look-up table to determine the motor driving torque required at the current moment; among them, using different methods for look-up table includes: looking up the table according to the accelerator pedal opening degree and the motor rotational speed, and looking up the table according to the brake pedal opening degree and the motor rotational speed; Among the motor driving torque and the maximum motor torque allowed by the available discharge power of the current battery, taking the minimum value or the maximum value according to different look-up table methods as the motor desired torque at the current moment.

3. The intelligent networked bus torque gradient adaptive adjustment control method according to claim 2, characterized in that, If the accelerator pedal opening degree is greater than the accelerator opening degree setting threshold and the brake pedal opening degree is less than the brake opening degree setting threshold, then look up the table according to the accelerator pedal opening degree and the motor rotational speed signal to obtain the motor driving torque; taking the minimum value among the motor driving torque and the maximum motor torque allowed by the available discharge power of the current battery as the motor desired torque at the current moment; If the brake pedal opening degree is greater than the brake opening degree setting threshold, then look up the table according to the brake pedal opening degree and the motor rotational speed signal to obtain the motor driving torque; taking the maximum value among the motor driving torque and the maximum motor torque allowed by the available discharge power of the current battery as the motor desired torque at the current moment.

4. The intelligent network-connected bus torque gradient adaptive adjustment control method according to claim 1, wherein The driving state of the vehicle is divided into five categories, including the driving state, the braking state, the braking-to-driving state, the driving-to-braking state, and the ABS activation state, and the priorities of the five driving states increase in turn.

5. The intelligent network-connected bus torque gradient adaptive adjustment control method according to claim 1, characterized in that Determining the driving state of the vehicle at the current moment according to the actual motor torque, the opening degrees of the accelerator pedal and the brake pedal, and the ABS signal, including: If the accelerator pedal opening degree is greater than the accelerator opening degree setting threshold and the actual motor torque is greater than 0, the vehicle is in the driving state at this time; If the brake pedal opening degree is greater than the brake opening degree setting threshold and the actual motor torque is less than 0, the vehicle is in the braking state at this time; If the accelerator pedal opening degree is greater than the accelerator opening degree setting threshold and the actual motor torque is less than 0, the vehicle is in the braking-to-driving state at this time; If the brake pedal opening degree is less than the brake opening degree setting threshold and the actual motor torque is greater than 0, the vehicle is in the driving-to-braking state at this time; If the ABS signal is valid, the vehicle is in the ABS activation state at this time.

6. The torque gradient adaptive adjustment control method for an intelligent connected bus according to claim 5, characterized in that, For each vehicle driving state, based on the actual motor torque and the desired motor torque at the current moment, determine the lifting torque state at the current moment, and calculate and determine the desired torque gradient under different lifting torque states, including: If the actual motor torque is less than the desired motor torque, it is in the torque increasing state; if the actual motor torque is greater than the desired motor torque, it is in the torque decreasing state. Taking the actual torque T of the motor when entering the current vehicle driving state ral as the reference torque, and setting the reference torque change time to t; If the vehicle is in the driving state, the torque increase gradient is The torque decrease gradient is where T amax represents the maximum driving peak torque of the whole vehicle; If the vehicle is in a braking state, the torque increase gradient is Torque decrease gradient where T bmax represents the maximum braking peak torque of the whole vehicle; If the vehicle is in the braking-to-driving state, the torque increase gradient is The torque decrease gradient is If the vehicle is in the drive-to-brake state, the torque increase gradient is The torque decrease gradient is If the vehicle is in an ABS-activated state, the torque gradient is 7. The intelligent networked bus torque gradient adaptive adjustment control method according to claim 1, wherein Based on the desired torque gradient at the current moment and the actual torque gradient at the previous moment, perform torque gradient adaptive adjustment with increasing or decreasing based on a set scale to obtain the true torque gradient at the current moment, including: Obtain the lifting torque state and the desired torque gradient at the current moment, as well as the lifting torque state and the actual torque gradient at the previous moment; If the lifting torque states at two adjacent moments are the same, then compare the desired torque gradient at the current moment and the actual torque gradient at the previous moment, and perform an increase or decrease of the set scale based on the comparison result on the basis of the actual torque gradient at the previous moment. Each value after the increase or decrease of each scale is used as the true torque gradient at the current moment until the true torque gradient is equal to the desired torque gradient; If the lifting torque states at two adjacent moments are different, or the actual torque gradient at the previous moment is 0 and the desired torque gradient is greater than 0, then the true torque gradient at the current moment starts counting from 0 and performs an increase of the set scale until the true torque gradient is equal to the desired torque gradient.

8. An intelligent networked bus torque gradient adaptive adjustment control system, characterized in that, Including: A data acquisition module for real-time acquisition of state data during vehicle driving; The state data includes: the actual motor speed and actual torque, the opening degrees of the accelerator pedal and the brake pedal, and the ABS signal; A data processing module for determining the required motor driving torque at the current moment based on the real-time acquired state data, and then determining the desired motor torque at the current moment; determining the driving state of the vehicle at the current moment, and then combining the desired motor torque to determine the lifting torque state and the desired torque gradient at the current moment; A torque gradient adaptive control module for performing torque gradient adaptive adjustment with increasing or decreasing based on a set scale based on the desired torque gradient at the current moment and the actual torque gradient at the previous moment to obtain the true torque gradient at the current moment; adding and subtracting the true torque gradient at the current moment from the actual motor torque to calculate the final target request torque, and sending it to the motor controller for torque smoothing control.

9. An electronic device, characterized in that, Including a memory, a processor, and computer instructions stored on the memory and running on the processor. When the computer instructions are run by the processor, the steps of an intelligent connected bus torque gradient adaptive adjustment control method as described in any one of claims 1-7 are completed.

10. A computer-readable storage medium, characterized in that, For storing computer instructions, when the computer instructions are executed by the processor, the steps of an intelligent connected bus torque gradient adaptive adjustment control method as described in any one of claims 1-7 are completed.

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