A vehicle control method, apparatus, device, and medium

Abstract

The present disclosure relates to a vehicle control method, device, equipment and medium, and relates to the technical field of vehicles, and includes: in the process of downshifting of a vehicle, when a target gear of the vehicle is the second forward gear or a current gear is the second forward gear, detecting whether a preset output shaft speed switching condition is met; when it is detected that the output shaft speed switching condition is met, calculating a first output shaft speed based on a vehicle speed by an anti-lock braking system or a vehicle body electronic stability system of the vehicle; when the first output shaft speed meets a preset downshifting condition, controlling the vehicle to switch to a target gear or a preset gear; wherein the gear number of the preset gear is less than the gear number of the current gear. By using the above technical solution, the technical problem that the output shaft speed abnormally fluctuates due to hardware reasons when the vehicle is stationary, so that the downshifting point cannot meet the downshifting requirement and downshifting processing cannot be performed is solved, and downshifting is forcibly performed under the condition that the current vehicle downshifting condition is met.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicle control, and particularly relates to a vehicle control method, device, equipment and medium. BACKGROUND

[0002] With the gradual popularity of automatic transmissions in current vehicles, the convenience brought by automatic transmission driving to drivers, the popularity of new energy vehicles and automatic driving vehicles also use automatic gear shifting technology.

[0003] Currently, in the process of downshifting of the vehicle, such as the no-power downshifting from the second forward gear D2 to the first forward gear D1, which is a gear shifting after the vehicle is parked, the vehicle speed is 0 after parking, so the output shaft speed of the automatic transmission in the transmission system should also be 0, but it is found in the real vehicle test that due to the vibration of the automatic transmission hardware after parking because of the vibration of the whole vehicle or because of the resonance of the internal parts of the transmission, or because of the accuracy or sensitivity of the sensor, the calculated output shaft speed is abnormally small speed fluctuation, and the sensor detection appears speed fluctuation; thus, in some scenarios, the input shaft speed is inaccurate, or the speed is abnormal due to the hardware, so that the gear shifting cannot be performed. SUMMARY

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a vehicle control method, device, equipment and medium.

[0005] The present disclosure provides a vehicle control method, applied to a vehicle, the method comprising: in the process of downshifting of the vehicle, when the target gear of the vehicle is the second forward gear or the current gear is the second forward gear, detecting whether a preset output shaft speed switching condition is met; when it is detected that the output shaft speed switching condition is met, calculating a first output shaft speed based on the vehicle speed calculated by the anti-lock braking system or the vehicle body electronic stability system of the vehicle; when the first output shaft speed meets a preset downshifting condition, controlling the vehicle to switch to the target gear or a preset gear; wherein the gear number of the preset gear is less than the gear number of the current gear.

[0006] Optionally, after detecting that the output shaft speed switching condition is met, the method further comprises: when the brake release information is detected, the vehicle speed obtained by the anti-lock braking system is not 0, the current throttle opening degree of the vehicle is greater than 0, and the current gear is not the second forward gear, calculating a second output shaft speed based on the vehicle speed obtained by the vehicle speed sensor of the vehicle; judging whether the downshifting condition is met based on the second output shaft speed, and performing a gear shifting operation based on the judgment result.

[0007] Optionally, the detecting whether the preset output shaft speed switching condition is met comprises: detecting whether a switching switch calibration quantity of the output shaft speed of the vehicle is a target value; detecting whether a vehicle speed signal value of the vehicle is 0; detecting whether the vehicle is in a braking state; detecting whether a current output shaft speed of the vehicle is in a fluctuation state; detecting whether a maximum value of the output shaft speed of the vehicle in a preset first time period is less than a preset first speed threshold when the vehicle speed signal value is 0 and the vehicle is in the braking state; detecting whether a vehicle speed sensor of the vehicle is faulty; and detecting whether a current accelerator opening degree of the vehicle is 0.

[0008] Correspondingly, the detecting that the output shaft speed switching condition is met comprises: the switching switch calibration quantity of the output shaft speed of the vehicle is the target value, the vehicle speed signal value of the vehicle is 0, the vehicle is in the braking state, the current output shaft speed of the vehicle is in the fluctuation state, the maximum value of the output shaft speed of the vehicle in the preset first time period is less than the preset first speed threshold when the vehicle speed signal value is 0 and the vehicle is in the braking state, the vehicle speed sensor of the vehicle is not faulty, and the current accelerator opening degree of the vehicle is 0.

[0009] Optionally, the detecting whether the vehicle is in the braking state comprises: detecting whether brake pedal information of the vehicle is 1 or a brake pedal opening degree percentage is greater than a preset percentage threshold; or detecting whether a handbrake signal is 1; or detecting whether an automatic parking signal is 1.

[0010] Optionally, the detecting whether the current output shaft speed of the vehicle is in the fluctuation state comprises: calculating a target value based on a vehicle speed calculated by an anti-lock braking system or a vehicle body electronic stability system of the vehicle divided by a wheel radius and multiplied by a main reduction ratio; and calculating a difference value between the target value and the current output shaft speed, and determining that the current output shaft speed is in the fluctuation state when the difference value is not 0 in a preset second time period.

[0011] Optionally, the method further comprises: obtaining an actual output shaft speed of the vehicle, and determining an ascending filter coefficient or a descending filter coefficient based on the actual output shaft speed and the first output shaft speed or the second output shaft speed, filtering the first output shaft speed or the second output shaft speed based on the ascending filter coefficient or the descending filter coefficient, and controlling the vehicle to switch from the actual output shaft speed to the first output shaft speed or the second output shaft speed based on a filtering result.

[0012] Optionally, the method further comprises: when the speed difference between the first output shaft speed or the second output shaft speed and the filtered output shaft speed is within a preset second speed threshold, exiting the current filtering operation; or, obtaining a current filtering duration, and when the current filtering duration is greater than or equal to a preset duration threshold, exiting the current filtering operation.

[0013] The embodiment of the present disclosure further provides a vehicle control device, which is applied to a vehicle, and the device comprises: a detection module, configured to detect whether a preset output shaft speed switching condition is met when the vehicle is in the process of downshifting and a target gear of the vehicle is a forward second gear or a current gear is the forward second gear; a calculation module, configured to calculate a first output shaft speed based on a vehicle speed calculated by an anti-lock braking system or an electronic stability system of the vehicle when it is detected that the output shaft speed switching condition is met; and a control module, configured to control the vehicle to switch to the target gear or a preset gear when the first output shaft speed meets a preset gear switching condition, wherein a gear number of the preset gear is less than a gear number of the current gear.

[0014] The embodiment of the present disclosure further provides an electronic device, which comprises: a processor; a memory for storing executable instructions of the processor; and the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the vehicle control method provided by the embodiment of the present disclosure.

[0015] The embodiment of the present disclosure further provides a computer readable storage medium, which stores a computer program, and the computer program is used to execute the vehicle control method provided by the embodiment of the present disclosure.

[0016] The embodiment of the present disclosure further provides a computer program product, which comprises a computer program, and the computer program is used to execute the vehicle control method provided by the embodiment of the present disclosure when executed by a processor.

[0017] Compared with the prior art, the technical scheme provided by the embodiments of the present disclosure has the following advantages: the vehicle control scheme provided by the embodiments of the present disclosure, in the process of downshifting of the vehicle, when the target gear of the vehicle is the second forward gear or the current gear is the second forward gear, it is detected whether the preset output shaft speed switching condition is met; when it is detected that the output shaft speed switching condition is met, the first output shaft speed is calculated based on the vehicle speed based on the anti-lock braking system or the vehicle body electronic stability system of the vehicle; when the first output shaft speed meets the preset downshifting condition, the vehicle is controlled to switch to the target gear or the preset gear; wherein the gear number of the preset gear is less than the gear number of the current gear. By adopting the above technical scheme, the technical problem that the output shaft speed abnormally fluctuates due to hardware reasons when the vehicle is stationary, so that the downshifting point cannot meet the downshifting requirement and cannot be downshifted is solved, and the downshifting is forced to be performed under the condition that the current vehicle downshifting condition is met. BRIEF DESCRIPTION OF DRAWINGS

[0018] The above and other features, advantages, and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, same or similar reference numerals can represent same or similar elements. It should be understood that the drawings are schematic, and the elements and features are not necessarily drawn to scale.

[0019] Figure 1 A flowchart of a vehicle control method provided by an embodiment of the present disclosure;

[0020] Figure 2 A structural diagram of a vehicle control device provided by an embodiment of the present disclosure;

[0021] Figure 3 A structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0022] Embodiments of the present disclosure will be described in more detail by making reference to the drawings. Although certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms, and should not be interpreted as being limited to the embodiments set forth herein, rather, these embodiments are provided to make the present disclosure more thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes, and are not intended to limit the scope of protection of the present disclosure.

[0023] It should be understood that each step described in the method embodiments of the present disclosure can be executed in different orders and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the execution of the steps shown. The scope of the present disclosure is not limited in this respect.

[0024] As used herein, the term "includes" and its variants are to be read to be analogous to "comprises," "comprising," "includes," "including," and "has," "having," "contains" or "containing." The term "based on" is to be interpreted as "based, at least in part, on." The term "one embodiment" means "at least one embodiment." The term "another embodiment" means "at least one additional embodiment." The term "some embodiments" means "at least some embodiments." Related terms have analogous meanings.

[0025] It should be noted that the terms "first", "second", and the like in the present disclosure are used only to distinguish different devices, modules, or units, and do not imply the order or interdependence of the functions performed by these devices, modules, or units.

[0026] It should be noted that the terms "one", "multiple" in the present disclosure are illustrative and not restrictive, and those skilled in the art should understand that "one or more" should be understood unless otherwise explicitly indicated in the context.

[0027] The names of the messages or information exchanged between the plurality of devices in the embodiments of the present disclosure are only for illustrative purposes, and are not used to limit the scope of the messages or information.

[0028] At present, the power-off downshift from second forward gear D2 to first forward gear D1 is a gear shift after the vehicle is parked, and the vehicle speed is 0 after parking, so the output shaft speed of the automatic transmission in the transmission system should also be 0. However, it is found in real vehicle testing that due to the hardware of the automatic transmission, the vibration of internal parts of the transmission after parking due to vehicle vibration or resonance, or the abnormal small speed fluctuation of the calculated output shaft speed due to the precision or sensitivity of the sensor, the sensor detection has a speed fluctuation.

[0029] In the related art, the power-off D2 to D1 shift delay time is shortened, so that the vehicle speed can be judged to execute the power-off D2 to D1 within a short time delay when the speed fluctuation is 0 speed. However, this temporary measure cannot identify the real working condition and scene of D2 to D1, and may cause misjudgment of D2 to D1 power-off shift.

[0030] Aiming at the problem that the automatic transmission hardware is vibrated after parking due to the whole vehicle vibration or resonance, or the calculated output shaft speed is abnormally small speed fluctuation due to the sensor accuracy or sensitivity, the current project is in the key time of SOP (Standard Operating Procedure), it is very difficult to solve the problem in a short time from the aspect of transmission hardware or whole vehicle resonance, and it is also difficult to replace the sensors of different manufacturers or models to temporarily solve the problem, but it cannot guarantee that the output shaft speed fluctuation problem will not be exposed again.

[0031] Therefore, in order to solve the current problem of speed fluctuation caused by hardware resonance or hardware transmission, or the speed abnormality problem caused by sensor detection hardware part, or the speed abnormality problem caused by sensor itself, the vehicle processing method of the embodiment of the disclosure is from the software strategy, through the working condition and scene recognition, if it is determined that the current vehicle is in the parking state, and the driver has no starting intention within a certain time, and even if the driver has starting intention, the current condition does not trigger the forced downshift strategy, etc. The abnormal fluctuation of the output shaft speed within a certain range is processed in the software, and the current no-power D2 to D1 downshift is inhibited due to the abnormal value of the output shaft speed.

[0032] Therefore, for the abnormal fluctuation of the output shaft speed caused by hardware when the vehicle is stationary, the output shaft speed is processed to ensure that the current vehicle downshift condition is met to force downshift.

[0033] Figure 1 A flowchart of a vehicle control method provided by the embodiment of the disclosure is shown. The method can be executed by a vehicle control device, which can be implemented by software and / or hardware, and can be integrated in an electronic device. As shown in Figure 1 The method includes:

[0034] Step 101, in the process of downshifting the vehicle, when the target gear of the vehicle is the second forward gear or the current gear is the second forward gear, whether the preset output shaft speed switching condition is met is detected.

[0035] Step 102, when it is detected that the output shaft speed switching condition is met, the first output shaft speed is calculated based on the vehicle speed based on the anti-lock braking system or the vehicle body electronic stability system of the vehicle.

[0036] In the embodiments of the present disclosure, during downshifting of the vehicle, the automatic transmission performs current gear position determination, and the target gear position of the automatic transmission is the second forward gear D2 or the current gear position is also the second forward gear D2, so that it can be ensured that the current transmission is preparing for the unpowered downshifting process, and active shielding is needed for abnormal fluctuations of the output shaft speed.

[0037] Firstly, it is detected whether the preset output shaft speed switching condition is met. In some embodiments, the detection of whether the preset output shaft speed switching condition is met includes: detecting whether the output shaft speed switching switch calibration amount of the vehicle is a target value, detecting whether the vehicle speed signal value of the vehicle is 0, detecting whether the vehicle is in a braking state, detecting whether the current output shaft speed of the vehicle is in a fluctuation state, detecting whether the maximum value of the output shaft speed of the vehicle in a preset first time length is less than a preset first speed threshold when the vehicle speed signal value is 0 and the vehicle is in the braking state, detecting whether the vehicle speed sensor of the vehicle is faulty, and detecting whether the current accelerator opening degree of the vehicle is 0.

[0038] The detection of whether the output shaft speed switching switch calibration amount of the vehicle is the target value. The target value can be set according to actual application needs, such as 1. Specifically, the output shaft speed switching switch calibration amount is set. The setting of the output shaft speed switching switch calibration amount improves the use flexibility of the output shaft speed switching function. When the matched vehicle or different transmission is verified not to have similar output shaft speed fluctuation abnormalities, the function can be turned off. However, for the current vehicle with problems, the function needs to be turned on until the problems are solved. If the problems are solved and verified after the project SOP, the function can be turned off through the switch calibration amount, or the function can be kept enabled.

[0039] Wherein, the vehicle speed signal value is detected whether 0, it can be understood that the current vehicle is judged whether in the static state, the vehicle is judged whether in the static state can be through judging the current vehicle speed signal value whether 0, the TCU (Transmission Control Unit, automatic transmission control unit) control software in the vehicle speed in the automatic transmission can be based on the vehicle ABS (Anti-lock Braking System, anti-lock braking system) or ESP (Electronic Stability Program, vehicle body electronic stability system) from wheel end sensor calculation vehicle speed, it can also be based on the output shaft sensor calculation vehicle speed of differential or axle half shaft etc. connected to the transmission. However, at present because the current output shaft speed appears fluctuation, so it needs to judge whether the current output shaft speed is credible, if not credible then using ABS or ESP through sensor calculation vehicle speed.

[0040] Specifically, first target gear or current gear is D2, and the brake pedal or hand brake, ESP of the whole vehicle is in parking for a preset duration such as 1000 ms; the current ABS or ESP calculated driving wheel or four wheel speed is 0, the current ABS or ESP calculated vehicle speed is 0 and lasts for 1000 ms; the current ABS or ESP has no fault and the signal is valid, but the output shaft speed and vehicle speed calculated based on the output shaft at this time are not 0; whether the vehicle speed calculated by ABS or ESP is 0 is used to judge whether the current vehicle speed is 0, if the current vehicle speed is judged to be 0, then the vehicle is in the condition of static.

[0041] Wherein, the vehicle is detected whether in the braking state, in some embodiments, the vehicle is detected whether in the braking state, including: detecting whether the brake pedal information of the vehicle is 1 or the brake pedal opening percentage is greater than a preset percentage threshold; or, detecting whether the hand brake signal is 1; or, detecting whether the automatic parking signal is 1.

[0042] Specifically, the current vehicle is in a braking state, which can be determined by a brake pedal, a hand brake signal or an automatic parking signal. For the brake pedal, if the brake pedal signal of the driver is 1 or the brake pedal opening percentage is greater than a preset percentage threshold, such as 35%, it is determined that the driver stops the vehicle by the brake pedal. For the hand brake signal, when the hand brake signal is 1, it is determined that the driver has pulled up the hand brake or parked the vehicle by the electronic hand brake switch. For the automatic parking signal, the function is the same as the hand brake. When the automatic parking signal is 1, the vehicle is stopped. Some vehicles with ESP may have an automatic parking function. When the driver stops the vehicle, the automatic parking function of the ESP is enabled to stop the vehicle. When the driver has the intention to start, the automatic parking function needs to be manually released or the accelerator is directly stepped on to start. The EPS determines that the current starting torque reaches a certain value, and then the automatic parking switch is released. When the braking state of the vehicle is determined to be true, it is determined that the driver has the demand to stop the vehicle and park.

[0043] In some embodiments, the method further includes: determining whether the current output shaft speed of the vehicle is in a fluctuation state, including: calculating a target value based on a vehicle speed calculated by an anti-lock braking system or a vehicle body electronic stability system of the vehicle, dividing the target value by a wheel radius, and multiplying the target value by a main reduction ratio; calculating a difference value between the target value and the current output shaft speed, and determining that the current output shaft speed is in a fluctuation state when the difference value is not 0 within a preset second time length.

[0044] Specifically, the current output shaft speed is in a fluctuation state, and the determination method includes: first dividing the vehicle speed calculated by the ABS and ESP sensors by the wheel radius, multiplying the value by the main reduction ratio, and then converting the unit to the same unit as the output shaft speed, i.e. rpm, which is revolutions per minute; then, the calculated speed and the output shaft speed are subtracted. Under normal circumstances, the output shaft speed calculated by ABS and ESP is 0. If the difference value between the output shaft speed calculated by the sensor is not 0 within a certain time, which can be preset, such as 1000 ms, it can be determined that the actual output shaft speed is fluctuating due to sensor accuracy or hardware vibration.

[0045] In some embodiments, the method further includes: when the vehicle speed signal value is 0 and the vehicle is in a braking state, determining whether a maximum value of the output shaft speed of the vehicle within a preset first time length is less than a preset first speed threshold.

[0046] Specifically, when the vehicle speed signal value is 0 and the vehicle is in a braking state, it indicates that the vehicle has been braked to a stop under the condition that the vehicle is currently being braked, and the maximum value of the output shaft speed within a preset first time period, such as 500 ms, is less than a first speed threshold, such as 60 rpm, it is confirmed that the current speed fluctuation is caused by the resonance of the vehicle vibration and the internal parts of the transmission, and the accuracy and sensitivity of the sensor, and it is within the target range through real vehicle test, and it is controllable. If the current maximum value is exceeded, it is considered that it is not caused by the current function.

[0047] In the method, whether the vehicle speed sensor of the vehicle is faulty is detected, specifically, the current vehicle speed sensor is not faulty, and no open / short circuit fault is reported. If there is a fault, the output shaft speed calculation logic under the current function is executed, and it is considered that the output shaft speed calculated by the diagnostic module is reliable, and the output shaft speed calculation logic under the current function is not executed.

[0048] In the method, whether the current throttle opening degree of the vehicle is 0 is detected, specifically, the current throttle opening degree is 0, and it is ensured that the driver has no driving demand. If the driver has the action of stepping on the throttle, the fluctuation optimization function for the output shaft speed cannot be triggered.

[0049] Further, the output shaft speed switching switch of the vehicle is calibrated to a target value, the vehicle speed signal value of the vehicle is 0, the vehicle is in a braking state, the current output shaft speed of the vehicle is in a fluctuation state, when the vehicle speed signal value is 0 and the vehicle is in a braking state, the maximum value of the output shaft speed of the vehicle within a preset first time period is less than a preset first speed threshold, the vehicle speed sensor of the vehicle is not faulty, and the current throttle opening degree of the vehicle is 0, it is determined that the output shaft speed switching condition is met.

[0050] That is, the current output shaft speed fluctuates due to the resonance of the vehicle vibration and the internal parts of the transmission, or the accuracy and sensitivity of the sensor, and the currently matched TCU software has opened this function, allowing the function to be triggered, and “flg_OutSpdUseCan = 1”.

[0051] Therefore, after the function is triggered, the output shaft calculated speed is replaced by the output shaft speed calculated by the vehicle speed through the ABS and the ESP, otherwise the sensor calculated output shaft speed is still used.

[0052] In step 103, when the first output shaft speed meets a preset downshift condition, the vehicle is controlled to switch to a target gear or a preset gear; wherein the gear number of the preset gear is less than the gear number of the current gear.

[0053] Specifically, after the output shaft speed switching condition is met, the anti-lock braking system or the electronic stability program of the vehicle is used to calculate the first output shaft speed based on the vehicle speed to determine the shift point for downshifting, that is, to determine whether the first output shaft speed meets the preset downshifting condition, that is, whether the first output shaft speed meets the output shaft speed at the time of the downshifting operation. When the first output shaft speed meets the preset downshifting condition, the vehicle is controlled to switch to the target gear position or the preset gear position; wherein the gear number of the preset gear position is less than the gear number of the current gear position.

[0054] The strategy is executed when the target gear position or the current gear position is in D2. The output shaft speed calculated by the sensor is switched to the speed calculated by the ABS or the ESP. The strategy can be used when downshifting from D2 to D1, or after downshifting to D1, or when the driver does not need to release the brake or start the vehicle. If the driver performs the following operations, the function is exited, and the sensor-calculated output shaft speed is used normally.

[0055] In some embodiments, after detecting that the output shaft speed switching condition is met, the method further comprises: detecting brake release information and that the vehicle speed obtained by the anti-lock braking system is not 0, obtaining that the current throttle opening of the vehicle is greater than 0, and that the current gear position is not the second forward gear, calculating the second output shaft speed based on the vehicle speed obtained by the vehicle speed sensor of the vehicle; determining whether the downshifting condition is met based on the second output shaft speed, and performing a shift operation based on the determination result.

[0056] Specifically, the driver releases the brake, and the ABS-calculated vehicle speed is not 0; it proves that the driver has the demand for starting driving or coasting regardless of whether the current gear position is in D1, D2, or N; the sensor-calculated speed can be used normally; the current throttle opening is greater than 0, which also proves that the driver has the demand for driving the vehicle, and the sensor-calculated output shaft speed can be switched normally at this time; the current transmission gear position is not D2, and has been switched to D1 or R or N, then the current speed replacement is exited.

[0057] When all the above conditions are met, it is proved that the driver has the demand for starting driving, and the sensor-calculated output shaft speed is replaced by the ABS or ESP-calculated speed, "flg_OutSpdUseCan = 0".

[0058] In some embodiments, the actual output shaft speed of the vehicle is obtained, and an ascending filter coefficient or a descending filter coefficient is determined based on the actual output shaft speed and the first output shaft speed or the second output shaft speed, and the first output shaft speed or the second output shaft speed is filtered based on the ascending filter coefficient or the descending filter coefficient, and the vehicle is controlled to switch from the actual output shaft speed to the first output shaft speed or the second output shaft speed based on the filtering result.

[0059] Specifically, when it is detected that the “flg_OutSpdUseCan” is switched from 0 to 1 or from 1 to 0, the filtering of the output shaft speed replacement is triggered, and the filtering values include the filtering value “k_OutSpdUseCANUpFilter” for the case that the output shaft speed increases and the filtering value “k_OutSpdUseCANDnFilter” for the case that the output shaft speed decreases.

[0060] For example, when it is detected that the “flg_OutSpdUseCan” is switched from 0 to 1, the vehicle is switched from the actual output shaft speed 10 to the first output shaft speed 20, and it is determined that the output shaft speed increases, so that the ascending filter coefficient is obtained, for example, 0.1, so that 10 is multiplied by 0.1 and 10 is added to obtain 11, and 11 is multiplied by 0.1 and 11 is added to obtain 12.1, and so on, and the actual output shaft speed 10 is gradually switched to the first output shaft speed 20 according to the time points in sequence, and the same applies to the case that the output shaft speed decreases.

[0061] In some embodiments, when it is detected that the speed difference between the first output shaft speed or the second output shaft speed and the output shaft speed after the filtering is within a preset second speed threshold, the current filtering operation is exited; or, the current filtering time length is obtained, and when the current filtering time length is greater than or equal to a preset time threshold, the current filtering operation is exited.

[0062] When it is detected that the speed difference between the current target speed and the speed after the actual filtering is within a preset second speed threshold, for example, 10 rpm, the current filtering is allowed to be exited, because the speed difference is relatively small, and the sudden change of the speed or the impact problem of the shift quality will not occur. Or, the current filtering time is relatively long, and the preset time threshold can be preset to 1000 ms. According to the preset filtering within a certain speed difference range, the filtering can be completed within 1000 ms. If the current filtering time exceeds this time value, it is indicated that an abnormal situation is not within the processing range of the abnormal function based on the output shaft speed, and therefore the filtering calculation is forced to be exited.

[0063] Therefore, the present application can solve the problem that the output shaft fluctuation causes the D2 to D1 downshift scenario to be unable to be executed by identifying the detailed working condition under which the current gear shift is required, replacing the output shaft speed calculated based on the vehicle-based ABS vehicle speed and the ESP vehicle speed, and ensuring the current gear shift; the output shaft speed fluctuation caused by the vehicle vibration, the internal component vibration of the transmission, the accuracy and sensitivity of the sensor, etc. can be solved by the vehicle NVH (Noise, Vibration, Harshness) modification or the replacement of the sensor supplier, and the function of the present application can effectively solve the problem of the output shaft speed fluctuation caused by other reasons or any other reasons, which causes the downshift to be unable to be performed; the present application also provides a smooth calculation method based on the output shaft speed calculation when the two different calculation methods are switched, and sets the rising filter and the falling filter two filtering methods, and sets the method of quickly exiting the filter and the method of preventing the filter from being abnormally exited due to special reasons.

[0064] The vehicle control scheme provided by the present application detects whether a preset output shaft speed switching condition is met when the target gear of the vehicle is the second forward gear or the current gear is the second forward gear during the downshift of the vehicle, calculates a first output shaft speed based on the vehicle speed of the anti-lock braking system or the vehicle body electronic stability system of the vehicle when the output shaft speed switching condition is met, and controls the vehicle to switch to the target gear or a preset gear when the first output shaft speed meets a preset downshift condition, wherein the gear number of the preset gear is less than the gear number of the current gear. The above technical scheme solves the technical problem that the output shaft speed fluctuates abnormally due to hardware reasons when the vehicle is stationary, the gear shift point cannot meet the downshift requirement, and the downshift cannot be processed, and ensures that the downshift is forced to be performed when the current vehicle downshift condition is met.

[0065] Figure 2 A structural schematic diagram of a vehicle control device provided by the present application, which can be realized by software and / or hardware, and can be integrated in an electronic device. As shown in Figure 2 the device applied to a vehicle includes:

[0066] The detection module 201 is configured to detect whether a preset output shaft speed switching condition is met when the target gear of the vehicle is the second forward gear or the current gear is the second forward gear during the downshift of the vehicle.

[0067] The calculation module 202 is configured to calculate a first output shaft speed based on the vehicle speed of the anti-lock braking system or the vehicle body electronic stability system of the vehicle when the output shaft speed switching condition is met.

[0068] The control module 203 is configured to control the vehicle to switch to the target gear or a preset gear when the first output shaft speed meets a preset gear switching condition, and the preset gear has a gear number smaller than that of the current gear.

[0069] Optionally, the device further comprises a processing module configured to: when the brake release information is detected, the vehicle speed obtained by the anti-lock braking system is not 0, the current throttle opening degree of the vehicle is greater than 0, and the current gear is not the forward second gear, calculate the second output shaft speed based on the vehicle speed obtained by the vehicle speed sensor of the vehicle; determine whether the downshift condition is met based on the second output shaft speed, and perform the gear shifting operation based on the determination result.

[0070] Optionally, the detection module 201 is specifically configured to: detect whether the output shaft speed switching switch calibration quantity of the vehicle is a target value; detect whether the vehicle speed signal value of the vehicle is 0; detect whether the vehicle is in a braking state; detect whether the current output shaft speed of the vehicle is in a fluctuation state; when the vehicle speed signal value is 0 and the vehicle is in the braking state, detect whether the maximum value of the output shaft speed of the vehicle within a preset first time length is less than a preset first speed threshold; detect whether the vehicle speed sensor of the vehicle is faulty; and detect whether the current throttle opening degree of the vehicle is 0.

[0071] Correspondingly, the detection of the satisfaction of the output shaft speed switching condition comprises: the output shaft speed switching switch calibration quantity of the vehicle is the target value, the vehicle speed signal value of the vehicle is 0, the vehicle is in the braking state, the current output shaft speed of the vehicle is in the fluctuation state, when the vehicle speed signal value is 0 and the vehicle is in the braking state, the maximum value of the output shaft speed of the vehicle within the preset first time length is less than the preset first speed threshold, the vehicle speed sensor of the vehicle is not faulty, and the current throttle opening degree of the vehicle is 0, it is determined that the output shaft speed switching condition is met.

[0072] Optionally, the detection of whether the vehicle is in the braking state comprises: detection of whether the brake pedal information of the vehicle is 1 or the brake pedal opening percentage is greater than a preset percentage threshold; or, detection of whether the handbrake signal is 1; or, detection of whether the automatic parking signal is 1.

[0073] Optionally, the detection of whether the current output shaft speed of the vehicle is in the fluctuation state comprises: calculating a target value based on the vehicle speed calculated by the anti-lock braking system or the vehicle body electronic stability system of the vehicle divided by the wheel radius and multiplied by the main reduction ratio; calculating the difference between the target value and the current output shaft speed, and determining that the current output shaft speed is in the fluctuation state when the difference is not 0 within a preset second time length.

[0074] Optionally, the device further comprises an acquisition filtering module configured to acquire an actual output shaft speed of the vehicle, and determine an ascending filtering coefficient or a descending filtering coefficient based on the actual output shaft speed and the first output shaft speed or the second output shaft speed, filter the first output shaft speed or the second output shaft speed based on the ascending filtering coefficient or the descending filtering coefficient, and control the vehicle to switch from the actual output shaft speed to the first output shaft speed or the second output shaft speed based on a filtering result.

[0075] Optionally, the device further comprises a filtering control module configured to exit a current filtering operation when detecting that a speed difference between the first output shaft speed or the second output shaft speed and a filtered output shaft speed is within a preset second speed threshold, or acquire a current filtering duration, and exit the current filtering operation when the current filtering duration is greater than or equal to a preset duration threshold.

[0076] The vehicle control device provided by the embodiments of the present disclosure can perform the vehicle control method provided by any of the embodiments of the present disclosure, and has the corresponding function modules and beneficial effects of the execution method.

[0077] The embodiments of the present disclosure further provide a computer program product, which comprises computer programs / instructions, and the computer programs / instructions are executed by a processor to implement the vehicle control method provided by any of the embodiments of the present disclosure.

[0078] Figure 3 A structural schematic diagram of an electronic device provided by the embodiments of the present disclosure is provided. The following specifically refers to Figure 3 which shows a structural schematic diagram of an electronic device 300 suitable for being used to implement the embodiments of the present disclosure. The electronic device 300 in the embodiments of the present disclosure can include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablets), PMPs (portable multimedia players), vehicle-mounted terminals (for example, vehicle-mounted navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. Figure 3 The electronic device shown is only an example, and should not bring any limitation to the functions and use range of the embodiments of the present disclosure.

[0079] As Figure 3As shown, the electronic device 300 can include a processing device 301 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to programs stored in a ROM 302 (ROM is read only memory) or loaded into a RAM 303 (RAM is random access memory) from a storage device 308. In the RAM 303, various programs and data required for the operation of the electronic device 300 are also stored. The processing device 301, the ROM 302, and the RAM 303 are connected to each other through a bus 304. An I / O interface 305 (I / O is input / output) is also connected to the bus 304.

[0080] In general, the following devices can be connected to the I / O interface 305: an input device 306 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 307 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 308 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 309. The communication device 309 can allow the electronic device 300 to communicate wirelessly or wired with other devices to exchange data. Although Figure 3 The electronic device 300 is shown with various devices, but it should be understood that all of the shown devices are not required to be implemented or present. More or fewer devices can alternatively be implemented or present.

[0081] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods illustrated by the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network through the communication device 309, or installed from the storage device 308, or installed from the ROM 302. When the computer program is executed by the processing device 301, the above-mentioned functions defined in the vehicle control method of embodiments of the present disclosure are performed.

[0082] It is noted that the aforementioned computer-readable medium of the present disclosure can be a computer-readable signal medium or a computer-readable storage medium or any combination thereof. The computer-readable storage medium can be, for example and without limitation, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the computer-readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program used by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, the computer-readable signal medium can include a computer-readable program code transmitted by a computer-readable medium or a carrier wave transmits, propagates, or transfers a program used by or in connection with an instruction execution system, apparatus, or device. The program code contained in the computer-readable medium can be transmitted using any suitable medium, including but not limited to wire, cable, RF (radio frequency), or the like, or any suitable combination of the foregoing.

[0083] In some embodiments, the client, server, or both can communicate using any known or future developed network protocols, such as HTTP (Hyper Text Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include local area networks ("LAN"), wide area networks ("WAN"), internetworks (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.

[0084] The aforementioned computer-readable medium can be included in the aforementioned electronic device; or can exist separately from the electronic device and can not be assembled into the electronic device.

[0085] The computer readable medium described above carries one or more programs, when the one or more programs are executed by the electronic device, cause the electronic device to: during a downshift process of the vehicle, when a target gear of the vehicle is the second forward gear or a current gear is the second forward gear, detect whether a preset output shaft speed switching condition is met; when it is detected that the output shaft speed switching condition is met, calculate a first output shaft speed based on a vehicle speed calculated by an anti-lock braking system or a vehicle body electronic stability system of the vehicle; when the first output shaft speed meets a preset downshift condition, control the vehicle to switch to a target gear or a preset gear; and wherein a gear number of the preset gear is less than a gear number of the current gear.

[0086] Computer program code for carrying out operations of the present disclosure can be written in any of one or more programming languages or combinations of languages including object or visual programming languages such as Java, Smalltalk, C++ or conventional procedural programming languages such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0087] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of present disclosure. In this regard, each block in the flow diagrams or block diagrams can represent a module, a procedure, or a portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may

[0088] The units described in the embodiments of the present disclosure can be implemented by software, or by hardware. In some cases, the names of the units do not constitute a limitation on the units themselves.

[0089] The functionality described above in this document can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (ASICs), Application-specific Standard Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

[0090] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0091] According to one or more embodiments of the present disclosure, the present disclosure provides an electronic device, comprising:

[0092] a processor;

[0093] a memory for storing the executable instructions of the processor;

[0094] the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement any of the vehicle control methods provided by the present disclosure.

[0095] According to one or more embodiments of the present disclosure, the present disclosure provides a computer-readable storage medium, which stores a computer program for executing any of the vehicle control methods provided by the present disclosure.

[0096] The above description is merely exemplary of the application and the application of the principles thereof. It is not intended to exhaustively describe all possible implementations and uses of the disclosed technology. Many modifications and variations will be apparent to those of ordinary skill in the art. For example, the features described above and other features in accordance with the disclosure (but not limited to) can be performed in any combination. It is intended that the disclosed technology be defined by the following claims and their equivalents.

[0097] Further, although operations are depicted in a particular order, this should not be understood as requiring the operations to be performed in the particular order shown or in sequential order, and that certain features of the disclosure can be performed in parallel or concurrently with one another. Also, although individual embodiments have been discussed above, the present disclosure should not be limited to these individual embodiments. Individual features of one embodiment can be combined with individual features of the other embodiments or can be removed alone or in sub-combinations from the embodiments and can be replaced with other features serving the same, similar or other functions, in so doing, it is contemplated that the present disclosure can be practiced without specific reference to the above discussed embodiments.

[0098] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

1. A vehicle control method characterized by, The method is applied to a vehicle and comprises the following steps: During a downshift process of the vehicle, when a target gear of the vehicle is a forward second gear or a current gear is the forward second gear, it is detected whether a preset output shaft speed switching condition is met; When it is detected that the output shaft speed switching condition is met, a first output shaft speed is calculated based on a vehicle speed calculated by an anti-lock braking system or a vehicle body electronic stability system of the vehicle instead of a second output shaft speed calculated based on a vehicle speed obtained by a vehicle speed sensor of the vehicle; wherein, when an output shaft speed switching switch calibration quantity of the vehicle is a target value, a vehicle speed signal value of the vehicle is 0, the vehicle is in a braking state, a current output shaft speed of the vehicle is in a fluctuation state, a maximum value of the output shaft speed of the vehicle in a preset first time period is less than a preset first speed threshold value when the vehicle speed signal value is 0 and the vehicle is in the braking state, the vehicle speed sensor of the vehicle is not faulty, and a current accelerator opening degree of the vehicle is 0, it is determined that the output shaft speed switching condition is met; When the first output shaft speed meets an output shaft speed during a downshift operation, the vehicle is controlled to be switched to the target gear or a preset gear; wherein, a gear number of the preset gear is less than a gear number of the current gear; After it is detected that the output shaft speed switching condition is met, when brake release information is detected, the vehicle speed obtained by the anti-lock braking system is not 0, the current accelerator opening degree of the vehicle is greater than 0, and the current gear is not the forward second gear, a second output shaft speed is calculated based on the vehicle speed obtained by the vehicle speed sensor of the vehicle; Whether a downshift condition is met is judged based on the second output shaft speed, and a gear shifting operation is performed based on a judgment result.

2. The vehicle control method according to claim 1, characterized by, The detection of whether the preset output shaft speed switching condition is met comprises the following steps: It is detected whether the output shaft speed switching switch calibration quantity of the vehicle is the target value; It is detected whether the vehicle speed signal value of the vehicle is 0; It is detected whether the vehicle is in the braking state; It is detected whether the current output shaft speed of the vehicle is in the fluctuation state; When the vehicle speed signal value is 0 and the vehicle is in the braking state, it is detected whether the maximum value of the output shaft speed of the vehicle in the preset first time period is less than the preset first speed threshold value; It is detected whether the vehicle speed sensor of the vehicle is faulty; It is detected whether the current accelerator opening degree of the vehicle is 0; Correspondingly, the detection that the output shaft speed switching condition is met comprises the following steps: When the output shaft speed switching switch calibration quantity of the vehicle is the target value, the vehicle speed signal value of the vehicle is 0, the vehicle is in the braking state, the current output shaft speed of the vehicle is in the fluctuation state, the maximum value of the output shaft speed of the vehicle in the preset first time period is less than the preset first speed threshold value when the vehicle speed signal value is 0 and the vehicle is in the braking state, the vehicle speed sensor of the vehicle is not faulty, and the current accelerator opening degree of the vehicle is 0, it is determined that the output shaft speed switching condition is met.

3. The vehicle control method according to claim 2, characterized by, The detection of whether the vehicle is in the braking state comprises the following steps: It is detected whether a brake pedal information of the vehicle is 1 or a brake pedal opening degree percentage is greater than a preset percentage threshold value; or, It is detected whether a handbrake signal is 1; or, It is detected whether a handbrake signal is 1; or, Detect whether the automatic parking signal is 1.

4. The vehicle control method according to claim 2, characterized by The detection of whether the current output shaft speed of the vehicle is in a fluctuation state comprises: The target value is calculated based on the vehicle speed calculated by the anti-lock braking system or the vehicle body electronic stability system of the vehicle, divided by the wheel radius, and multiplied by the main reduction ratio; The difference between the target value and the current output shaft speed is calculated, and if the difference is not 0 within a preset second time length, it is determined that the current output shaft speed is in a fluctuation state.

5. The vehicle control method according to claim 1, characterized by The method further comprises: The actual output shaft speed of the vehicle is obtained, and an ascending filter coefficient or a descending filter coefficient is determined based on the actual output shaft speed and the first output shaft speed or the second output shaft speed, the first output shaft speed or the second output shaft speed is filtered based on the ascending filter coefficient or the descending filter coefficient, and the vehicle is switched from the actual output shaft speed to the first output shaft speed or the second output shaft speed based on the filtering result.

6. The vehicle control method according to claim 5, characterized by The method further comprises: When the speed difference between the first output shaft speed or the second output shaft speed and the output shaft speed after filtering is within a preset second speed threshold, the current filtering operation is exited; or A current filtering time length is obtained, and when the current filtering time length is greater than or equal to a preset time threshold, the current filtering operation is exited.

7. A vehicle control device characterized by comprising: The device is applied to a vehicle and comprises: A detection module is configured to detect whether a preset output shaft speed switching condition is met when the target gear of the vehicle is the second forward gear or the current gear is the second forward gear during downshifting of the vehicle; A calculation module is configured to, when it is detected that the output shaft speed switching condition is met, calculate a first output shaft speed based on the vehicle speed calculated by the anti-lock braking system or the vehicle body electronic stability system of the vehicle instead of a second output shaft speed calculated based on the vehicle speed obtained by a vehicle speed sensor of the vehicle; wherein the output shaft speed switching switch of the vehicle is calibrated to a target value, the vehicle speed signal value of the vehicle is 0, the vehicle is in a braking state, the current output shaft speed of the vehicle is in a fluctuation state, the maximum value of the output shaft speed of the vehicle within a preset first time length is less than a preset first speed threshold when the vehicle speed signal value is 0 and the vehicle is in the braking state, the vehicle speed sensor of the vehicle is not faulty, and the current throttle opening degree of the vehicle is 0, it is determined that the output shaft speed switching condition is met; A control module is configured to control the vehicle to switch to the target gear or a preset gear when the first output shaft speed meets the output shaft speed during the downshifting operation; wherein the gear number of the preset gear is less than the gear number of the current gear; A processing module is configured to, after it is detected that the output shaft speed switching condition is met, detect brake release information and that the vehicle speed obtained by the anti-lock braking system is not 0, obtain that the current throttle opening degree of the vehicle is greater than 0, and that the current gear is not the second forward gear, calculate a second output shaft speed based on the vehicle speed obtained by the vehicle speed sensor of the vehicle, determine whether a downshifting condition is met based on the second output shaft speed, and perform a gear shifting operation based on the determination result.

8. An electronic device, comprising: The electronic device comprises: a processor; a memory for storing executable instructions of the processor; the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the vehicle control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, A storage medium stores a computer program, and the computer program is configured to execute the vehicle control method according to any one of claims 1-6.

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