Vehicle gear shifting speed control method, device and storage medium

Abstract

The present invention discloses a vehicle gear shifting and speed regulation control method, device and storage medium, wherein the method part comprises: when the vehicle is shifting gears, determining the target speed of the ring gear of the engine on the vehicle, and obtaining the real-time speed of the drive motor in the vehicle, determining the target speed of the drive motor on the vehicle according to the target speed of the ring gear, and controlling the speed of the drive motor in multiple stages according to the real-time speed and the target speed of the drive motor, wherein the multiple stages include a proportional control stage and a proportional-integral control stage; in the present invention, by dividing the gear shifting and speed regulation process into multiple stages of speed regulation control process, the accumulation process of the integral control amount is reduced, and the risk of overshoot of the drive motor speed is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle gear shifting and speed regulation control method, device and storage medium. Background Art

[0002] During the driving process of a hybrid vehicle, there is a need to switch from a pure electric mode in which the engine is not working to a hybrid mode in which the engine is involved. The mode switch requires controlling the drive motor to adjust the speed to the target speed in a relatively short time. In order to ensure the smoothness of the gear shifting and speed regulation process, the drive motor speed is generally controlled by proportional integral (PI).

[0003] In the prior art, the PI speed regulation of the drive motor generally determines the proportional control amount and the integral control amount according to the difference between the target speed and the output speed, and then jointly adjusts the speed of the drive motor according to the proportional control amount and the integral control amount to make the speed of the drive motor close to the target speed. However, in the process of the output speed approaching the target speed, the output speed is always less than the target speed, and the integral between the target speed and the output speed is a unidirectional integral, which makes the integral control amount a large cumulative integral term, causing the speed of the drive motor to overshoot easily. Summary of the invention

[0004] The present invention provides a vehicle gear shift speed control method, device and storage medium to solve the problem in the prior art that the speed of a driving motor is easily over-regulated due to common regulation based on a proportional control amount and a score control amount.

[0005] A vehicle gear shifting speed control method, comprising:

[0006] When the vehicle is shifting gears, determining the target speed of the ring gear of the engine on the vehicle, and obtaining the real-time speed of the drive motor in the vehicle;

[0007] Determining a target speed of a driving motor on the vehicle according to the target speed of the ring gear;

[0008] The rotation speed of the drive motor is controlled in multiple stages according to the real-time rotation speed of the drive motor and the target rotation speed. The multiple stages include a proportional control stage and a proportional-integral control stage.

[0009] Furthermore, the controlling the speed of the drive motor in multiple stages according to the real-time speed of the drive motor and the target speed includes:

[0010] Determining a speed difference between a real-time speed of the drive motor and the target speed;

[0011] The adjustment error of the driving motor is obtained by evenly dividing the rotation speed difference;

[0012] The rotation speed of the driving motor is controlled in multiple stages according to the adjustment error.

[0013] Furthermore, the controlling of the rotation speed of the driving motor in multiple stages according to the adjustment error includes:

[0014] Proportional control of the rotation speed of the driving motor is performed according to the adjustment error;

[0015] When proportional control is performed on the rotation speed of the driving motor, determining whether the absolute value of the rotation speed difference is less than a preset difference value;

[0016] If the absolute value of the speed difference is smaller than the preset difference, proportional-integral control is performed on the speed of the drive motor according to the adjustment error.

[0017] Furthermore, the step of obtaining the adjustment error of the drive motor after evenly dividing the rotation speed difference includes:

[0018] Determining a preset shifting time when the vehicle shifts gears, and determining a preset adjustment cycle;

[0019] Determining an averaging coefficient according to the preset shifting time and the preset adjustment period;

[0020] The rotation speed difference is divided by the averaging coefficient to obtain the adjustment error of the drive motor.

[0021] Further, the determining of the target rotational speed of the ring gear of the engine on the vehicle includes:

[0022] determining a target gear position when the vehicle is shifting gears;

[0023] Determining a target vehicle speed and a transmission speed ratio corresponding to the target gear position;

[0024] The target speed of the engine is determined according to the target vehicle speed and the transmission speed ratio corresponding to the target gear position as the ring gear target speed.

[0025] Further, determining the target speed of the driving motor on the vehicle according to the target speed of the ring gear includes:

[0026] Determining a speed ratio of the reducer corresponding to the target gear position;

[0027] The target speed is obtained by multiplying the speed ratio of the speed reducer by the target speed of the ring gear.

[0028] A vehicle gear shifting and speed regulating control device, comprising:

[0029] A first determination module, used to determine a target rotation speed of a ring gear of an engine on the vehicle and obtain a real-time rotation speed of a driving motor in the vehicle when the vehicle is shifting gears;

[0030] A second determination module, configured to determine a target speed of the drive motor according to the target speed of the ring gear;

[0031] The control module is used to control the rotation speed of the drive motor in multiple stages according to the real-time rotation speed of the drive motor and the target rotation speed, wherein the multiple stages include a proportional control stage and a proportional-integral control stage.

[0032] Furthermore, the control module is specifically used for:

[0033] Determining a speed difference between a real-time speed of the drive motor and the target speed;

[0034] The adjustment error of the driving motor is obtained by evenly dividing the speed difference;

[0035] The rotation speed of the driving motor is controlled in stages according to the adjustment error.

[0036] A vehicle gear shifting and speed regulating control device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the vehicle gear shifting and speed regulating control method are implemented.

[0037] A readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle shifting and speed regulating control method are implemented.

[0038] In one solution provided by the above-mentioned vehicle gear shifting and speed control method, device and storage medium, when the vehicle shifts gears, the target speed of the ring gear of the engine on the vehicle is determined, and the real-time speed of the drive motor in the vehicle is obtained, the target speed of the drive motor on the vehicle is determined according to the target speed of the ring gear, and the speed of the drive motor is controlled in multiple stages according to the real-time speed and target speed of the drive motor, and the multiple stages include a proportional control stage and a proportional-integral control stage; in the present invention, by dividing the gear shifting and speed control process into multiple stages of speed control process, the accumulation process of the integral control amount is reduced, and the risk of overshoot of the drive motor speed is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0040] Figure 1 is a schematic structural diagram of a hybrid electromechanical coupling system in one embodiment of the present invention;

[0041] Figure 2 It is a flow chart of a vehicle shifting speed control method in one embodiment of the present invention;

[0042] Figure 3 yes Figure 2 A schematic diagram of an implementation process of step S30;

[0043] Figure 4 is a speed curve diagram of an engine shifting process in one embodiment of the present invention;

[0044] Figure 5 is a structural schematic diagram of a vehicle gear shifting and speed regulating control device in one embodiment of the present invention;

[0045] Figure 6 It is another structural schematic diagram of a vehicle gear shifting and speed regulating control device in one embodiment of the present invention.

[0046] Among them, the reference numerals in the figures are:

[0047] 1-engine; 2-first clutch; 3-input shaft; 4-sun gear; 5-planet carrier; 6-ring gear; 7-brake; 8-second clutch; 9-first gear; 10-second gear; 11-generator; 12-intermediate shaft; 13-third gear; 14-fourth gear; 15-fifth gear; 16-drive motor; 17-sixth gear; 18-differential. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] The vehicle shift speed control method provided by the embodiment of the present invention can be applied in the following aspects: Figure 1 In the hybrid electromechanical coupling system shown, the hybrid electromechanical coupling system includes an engine 1, a first clutch (C0) 2, an input shaft 3, a planetary gear (including a sun gear 4, a planetary carrier 5 and a ring gear 6), a brake (B) 7, a second clutch (C1) 8, a first gear 9, a second gear 10, a generator 11, an intermediate shaft 12, a third gear 13, a fourth gear 14, a fifth gear 15, a drive motor 16, a sixth gear 17 and a differential 18.

[0050] The engine 1 is connected to the ring gear 6 through the first clutch 2, and the engine 1 is connected to the generator 11 through the first gear 9 and the second gear 10; the drive motor 16 is coupled to the power output of the engine 1 and the generator 11 through the fifth gear 15.

[0051] In this embodiment, the hybrid electromechanical coupling system includes a brake 7, a first clutch 2 and a second clutch 8, wherein the brake 7 is used to brake the sun gear 4, the first clutch 2 is used to control whether the engine power is output to achieve switching between pure electric mode and hybrid mode, and the second clutch 8 and the brake 7 are used in combination with the planetary gear to achieve two gears of the engine.

[0052] When the brake 7 is engaged, the power of the engine is transmitted to the planetary carrier 5 through the ring gear 6, and then to the third gear 13 through the planetary carrier 5, and then to the intermediate shaft 12, and then to the sixth gear 17 through the fourth gear 14, and finally to the differential 18 and the wheel end of the vehicle, which is the first gear of the engine. When the second clutch 8 is engaged, the sun gear 4, the planetary carrier 5 and the ring gear 6 of the planetary gear rotate as a whole, are fixedly connected, and the speed ratio is 1 and transmitted to the first gear 11 through the planetary carrier 5, and then to the intermediate shaft 10, and then to the fourth gear 15 through the second gear 12, and finally to the differential 16 and the wheel end of the vehicle, which is the second gear of the engine.

[0053] The driving motor 16 transmits power to the third gear 13 through the third gear 14, then to the intermediate shaft 12, and then to the sixth gear 17 through the fourth gear 14, and finally to the differential 18 and the wheel end.

[0054] The hybrid coupling system of this embodiment has two gears of engine direct drive mode, one gear of single motor pure electric mode, two gears of dual motor pure electric mode, series range extension mode, two hybrid drive modes, and multiple working modes such as brake energy recovery and parking power generation. When the vehicle switches working modes or gears, in order to reduce the influence of the fluctuation of shaft system torque and speed on the wheel end torque during the switching transition process, it is necessary to accurately control the speed of the drive motor during the gear shift transition process, so as to improve the smoothness of the wheel end torque, thereby improving the driving comfort of the vehicle.

[0055] In this embodiment, when the vehicle shifts gears, the target speed of the ring gear of the engine on the vehicle is determined, and the real-time speed of the drive motor in the vehicle is obtained, the target speed of the drive motor on the vehicle is determined according to the target speed of the ring gear, and the speed of the drive motor is controlled in multiple stages according to the real-time speed and the target speed of the drive motor. The multiple stages include a proportional control stage and a proportional-integral control stage. By dividing the gear shifting speed control process into multiple stages of speed control processes, the problem of overshoot of the drive motor speed caused by excessive accumulation of integral control amount in the traditional proportional-integral control process is solved, the accumulation process of the integral control amount is reduced, and the risk of overshoot of the drive motor speed is reduced, thereby achieving smoothness of the gear or mode switching process.

[0056] Among them, the control requirements of each structure in the above-mentioned multiple working modes are as follows:

[0057]

[0058] In one embodiment, if Figure 2 As shown, a vehicle shift speed control method is provided, and the method is applied to a vehicle shift speed control device as an example for description, comprising the following steps:

[0059] S10: When the vehicle is shifting gears, a target rotation speed of a ring gear of an engine on the vehicle is determined, and a real-time rotation speed of a driving motor in the vehicle is obtained.

[0060] When the vehicle needs to shift gears to obtain a mode switch, it is necessary to determine the target speed of the engine's ring gear and obtain the real-time speed of the drive motor in the vehicle so that the drive motor can be controlled with the obtained real-time speed. The ring gear target speed is the speed required by the ring gear in the engine planetary gear when the vehicle switches to the target gear. Since the ring gear is coaxial with the engine, the ring gear target speed is also the speed required by the engine when the vehicle switches to the target gear, that is, the ring gear target speed is the engine target speed.

[0061] S20: Determine a target speed of a driving motor on the vehicle according to the target speed of the ring gear.

[0062] After the target speed of the ring gear is determined, the target speed of the drive motor can be calculated based on the target speed of the ring gear, that is, the speed required for the drive motor on the vehicle when the vehicle is switched to the target gear.

[0063] The calculation formula is: target speed of the drive motor = target speed of the ring gear * preset speed ratio, wherein the preset speed ratio is the speed ratio of the reducer determined according to the target gear position.

[0064] S30: Controlling the speed of the drive motor in multiple stages according to the real-time speed and the target speed of the drive motor. The multiple stages include a proportional control stage and a proportional-integral control stage.

[0065] After determining the target speed of the drive motor, the speed of the drive motor is controlled in multiple stages according to the real-time speed and the target speed of the drive motor, wherein the multiple stages include a proportional control stage and a proportional integral control stage. Specifically, the speed of the drive motor before the gear shift is determined in the real-time speed of the drive motor, and is output as the initial speed, and the real-time speed after the drive motor outputs the speed is obtained as the feedback speed, so that the drive motor can be controlled according to the target speed and the feedback speed of the drive motor in the future, wherein, when the drive motor is controlled according to the target speed and the feedback speed of the drive motor, it is necessary to first enter the proportional (P) control stage, and then enter the proportional integral (PI) control stage, that is, after the initial speed is output, the speed of the drive motor is first controlled according to the proportional control amount P in the initial control period, and then the speed of the drive motor is controlled according to the proportional control amount P and the integral control amount I, so as to reduce the accumulation process of the integral control amount I in the gear shift speed regulation process, thereby reducing the risk of overshoot.

[0066] In other embodiments, when the speed of the drive motor is controlled in multiple stages according to the real-time speed and the target speed of the drive motor, a proportional integral differential (PID) control stage may also be included. That is, when the drive motor is controlled according to the target speed and feedback speed of the drive motor, it is necessary to first enter the P control stage, then enter the PI control stage, and finally enter the PID control stage, so as to further improve the accuracy of the speed control of the drive motor.

[0067] In this embodiment, when the vehicle shifts gears, the target speed of the ring gear of the engine on the vehicle is determined, and the real-time speed of the drive motor in the vehicle is obtained, the target speed of the drive motor on the vehicle is determined according to the target speed of the ring gear, and the speed of the drive motor is controlled in multiple stages according to the real-time speed and the target speed of the drive motor, and the multiple stages include a proportional control stage and a proportional-integral control stage; in the present invention, by dividing the gear shifting speed control process into multiple stages of speed control process, the accumulation process of the integral control amount is reduced, and the risk of overshoot of the drive motor speed is reduced.

[0068] In one embodiment, if Figure 3 As shown, in step S30, the speed of the drive motor is controlled in multiple stages according to the real-time speed and the target speed of the drive motor, which specifically includes the following steps:

[0069] S31: Determine the speed difference between the real speed of the driving motor and the target speed.

[0070] After determining the target speed of the drive motor, the real-time speed after each drive motor output speed is obtained as the feedback speed, and the speed difference between the current feedback speed and the target speed is determined, that is, the speed difference between the drive motor's output speed this time and the target speed.

[0071] S32: Divide the rotation speed difference to obtain the adjustment error of the drive motor.

[0072] After obtaining the speed difference between the current feedback speed and the target speed, the currently obtained speed difference is divided into n parts, and one of them is used as the current adjustment error △n of the drive motor. The equalization coefficient n can be a constant calibrated in advance according to user needs, or can be determined according to a preset shifting time and a preset adjustment cycle.

[0073] S33: Controlling the rotation speed of the driving motor in multiple stages according to the adjustment error.

[0074] After obtaining the current adjustment error of the drive motor, multiply the adjustment error by the proportional gain KP to obtain the proportional control amount P. At the initial stage of speed regulation, the speed of the drive motor is adjusted according to the proportional control amount P, so that the actual output speed of the drive motor is close to the target speed; after a period of proportional control, proportional integral control is performed. In the proportional integral control stage, it is necessary to obtain the current speed difference between the feedback speed of the current drive motor and the target speed, and then divide the current speed difference to obtain the current adjustment error, so as to determine the proportional control amount P and the integral control amount I at this time according to the current adjustment error, and then adjust the speed of the drive motor together according to the proportional control amount P and the integral control amount I.

[0075] It should be understood that in the traditional motor speed control method, the speed difference between the real-time speed of the drive motor and the target speed is directly used as the adjustment error to calculate the proportional control amount P and the integral control amount I, and the speed of the drive motor is jointly adjusted according to the proportional control amount P and the integral control amount I at the initial stage of speed control. The integral control amount I accumulates too much, resulting in serious overshoot in the speed control process; and in the speed control process, applying a large torque to the drive motor instantly can easily cause the battery to overcharge (for example, the battery charging capacity is very weak under low temperature conditions), and the risk of battery damage is high.

[0076] In this embodiment, proportional control is first entered and exited at the initial stage of speed regulation, and proportional integral control is performed in the later stage, which reduces the accumulation process of integral control amount and the risk of overshoot in the speed regulation process. The speed difference in each regulation cycle is evenly divided as the regulation error, which can reduce the proportional control amount P, so that the change of the drive motor speed is small in the process of approaching the target speed, which increases the stability of speed regulation, reduces the torque change of the drive motor, and reduces the impact of charging and discharging on the battery. Figure 4As shown, it is a curve diagram of the driving motor speed during the vehicle shifting and speed regulation process, wherein the bottom curve in the figure is the target speed curve of the driving motor, and the top curve is the driving motor speed curve before the shifting. Between the target speed curve and the driving motor speed curve before the shifting are the driving motor speed curve before the adjustment and the driving motor speed curve after the adjustment during the shifting process, respectively. Figure 4 It can be clearly seen that after multi-stage adjustment and control, the drive motor speed curve is smoother than the curve before adjustment, the speed change is smaller, and in the later stage of speed regulation, the engine speed is steadily close to the target speed, the risk of overshoot is small, and the risk of reducing battery damage is large.

[0077] In this embodiment, the speed difference between the real-time speed and the target speed of the drive motor is determined, and the speed difference is evenly divided to obtain the adjustment error of the drive motor. Finally, the speed of the drive motor is controlled in multiple stages according to the adjustment error. The steps of controlling the speed of the drive motor in multiple stages according to the real-time speed and the target speed of the drive motor are refined, and the larger speed difference of one frame jump during the gear shifting process is evenly divided into multiple smaller adjustment errors to reduce the proportional control amount, so that the speed change of the motor is smaller, thereby reducing the torque change of the drive motor, reducing the influence of the drive motor to achieve the purpose of smooth speed regulation, and at the same time reducing the impact of charging and discharging on the battery.

[0078] In one embodiment, in step S33, the speed of the driving motor is controlled in multiple stages according to the adjustment error, which specifically includes the following steps:

[0079] S331: Proportional control is performed on the rotation speed of the driving motor according to the adjustment error.

[0080] After obtaining the current adjustment error of the drive motor, first multiply the adjustment error by the proportional gain KP to obtain the proportional control amount P. In the initial stage of speed regulation, the speed of the drive motor is adjusted according to the proportional control amount P so that the actual output speed of the drive motor is close to the target speed.

[0081] S332: When proportionally controlling the rotation speed of the driving motor, determining whether the absolute value of the rotation speed difference is less than a preset difference.

[0082] In the process of proportionally controlling the speed of the drive motor, the speed difference between the feedback speed of the drive motor and the target speed in each adjustment cycle is determined, and then whether the absolute value of the speed difference is less than the preset difference is determined to determine the timing of entering the proportional integral adjustment stage. The preset difference is a pre-calibrated smaller difference. After determining whether the absolute value of the speed difference is less than the preset difference, if the absolute value of the speed difference is less than the preset difference, it means that the current speed of the drive motor is not close to the target speed, and it is not necessary to enter the proportional integral adjustment stage, and it is not necessary to use the integral control amount for speed adjustment.

[0083] S333: If the absolute value of the speed difference is less than the preset difference, proportional-integral control is performed on the speed of the drive motor according to the adjustment error.

[0084] After determining whether the absolute value of the speed difference is less than the preset difference, if the absolute value of the speed difference is less than the preset difference, it means that the current speed of the drive motor is close to the target speed. At this time, it is necessary to enter the proportional integral regulation stage. It is necessary to obtain the integral term of the regulation error to obtain the integral control amount, and use the integral control amount and the proportional control amount to adjust the speed to eliminate the steady-state error of the speed regulation process so that the drive motor speed is close to the target speed.

[0085] In this embodiment, the speed of the drive motor is proportionally controlled according to the adjustment error. When the speed of the drive motor is proportionally controlled, it is determined whether the absolute value of the speed difference is less than the preset difference. If the absolute value of the speed difference is less than the preset difference, the speed of the drive motor is proportionally integrated controlled according to the adjustment error. The specific process of performing multiple stages of control on the speed of the drive motor according to the adjustment error is clarified. The speed of the drive motor is first proportionally controlled, and then proportional integral control is performed when the speed of the drive motor approaches the target speed. The integral control amount takes effect only when it approaches the target speed. On the basis of eliminating the static error, the accumulation process of the integral control amount is reduced, thereby reducing the risk of speed overshoot. The speed regulation process is smooth, and the accuracy of speed regulation of the drive motor is improved.

[0086] In one embodiment, in step S32, the speed difference is evenly divided to obtain the adjustment error of the drive motor, which specifically includes the following steps:

[0087] S321: Determine a preset gear shifting duration when the vehicle is shifting gears, and determine a preset adjustment cycle.

[0088] Among them, the preset shifting time is the shifting time required for the vehicle to shift gears, which is pre-calibrated by the user, and the controllability of the vehicle shifting time is realized. The preset adjustment period is the adjustment period for adjusting the speed set by the speed adjustment device (such as a PI controller). After obtaining the speed difference between the real-time speed of the drive motor and the target speed, it is necessary to determine the preset shifting time when the vehicle shifts gears, and determine the preset adjustment period to determine the averaging coefficient n for averaging the speed difference.

[0089] S322: Determine an equal distribution coefficient according to a preset shifting time and a preset adjustment period.

[0090] After determining a preset shifting time when the vehicle shifts gears and determining a preset adjustment period, the preset shifting time is divided by the preset adjustment period to obtain an averaging coefficient n.

[0091] S323: Divide the speed difference by the averaging coefficient to obtain the adjustment error of the drive motor.

[0092] After the averaging coefficient is determined according to the preset shifting time and the preset adjustment period, the speed difference in the current adjustment period is divided by the averaging coefficient n to obtain the adjustment error of the drive motor.

[0093] For example, the preset shifting time calibrated by the user is 1 second, the preset adjustment period is 0.1 second, and the averaging coefficient is 10. Then, the adjustment error in each preset adjustment period is one tenth of the speed error in the current period.

[0094] In this embodiment, the preset shifting time is 1 s and the preset adjustment period is 0.1 s, which is only an exemplary description. In other embodiments, the preset shifting time and the preset adjustment period may also be other values, which will not be repeated here.

[0095] The adjustment error of the drive motor is determined according to the preset shifting time and the preset adjustment cycle. On the basis of clarifying the shifting time for the vehicle to shift gears, the shifting and speed regulation process can be precisely controlled. The longer the preset shifting time is and the larger the averaging coefficient is, the smaller the adjustment error is, the smaller the change in engine speed is, and the vehicle is more stable during shifting and speed regulation; the shorter the preset shifting time is and the larger the averaging coefficient is, the larger the adjustment error is, the larger the change in engine speed is, and on the basis of ensuring smooth shifting, gears can be shifted quickly, and the shifting time is controllable.

[0096] In this embodiment, by determining a preset shifting time when the vehicle shifts gears, and determining a preset adjustment cycle, and determining an averaging coefficient based on the preset shifting time and the preset adjustment cycle, the speed difference is divided by the averaging coefficient to obtain the adjustment error of the drive motor, and the process of obtaining the adjustment error of the drive motor after averaging the speed difference is refined. By calibrating the preset shifting time and the preset adjustment cycle of the vehicle gear shifting and speed control device, the speed difference within each preset adjustment cycle is averaged, and the control time of the speed regulation process can be accurately controlled. On the basis of ensuring a smooth speed regulation process and a low risk of overshoot, the controllability of the speed regulation time is achieved.

[0097] In one embodiment, step S10, i.e. determining the target rotation speed of the ring gear of the engine on the vehicle, specifically includes the following steps:

[0098] S11: Determine the target gear position when the vehicle is shifting gears.

[0099] S12: Determine a target vehicle speed and a transmission speed ratio corresponding to the target gear position.

[0100] S13: Determine a target speed of the engine according to a target vehicle speed and a transmission speed ratio corresponding to the target gear position as a target speed of the ring gear.

[0101] When the vehicle shifts gears, it is necessary to determine the target gear position of the vehicle, and then determine the target vehicle speed and transmission speed ratio corresponding to the target gear position. According to the target vehicle speed and transmission speed ratio corresponding to the target gear position, the target speed of the engine is determined as the target ring gear speed.

[0102] Among them, the target vehicle speed and transmission speed ratio corresponding to the target gear can be obtained by querying the pre-calibrated data. The user pre-calibrates according to the vehicle speed and transmission speed ratio required for different gears to form the vehicle speed and speed ratio data of different gears, and formulates the vehicle speed and speed ratio data of different gears into a preset table or preset map, and then saves it in the vehicle. After determining the target gear that the vehicle needs to switch to, query the target vehicle speed and transmission speed ratio corresponding to the target gear in the preset table or preset map, and then determine the target speed of the engine as the ring gear target speed, thereby improving the acquisition time of the ring gear target speed and the response speed of the gear shifting and speed regulation.

[0103] In this embodiment, the target gear position when the vehicle is shifting gears is determined, and then the target vehicle speed and transmission speed ratio corresponding to the target gear position are determined. Then, the target speed of the engine is determined based on the target vehicle speed and transmission speed ratio corresponding to the target gear position, and used as the target ring gear speed. The specific process of determining the target ring gear speed of the engine on the vehicle is clarified, providing a basis for subsequent control of the drive motor.

[0104] In one embodiment, step S20, i.e. determining the target speed of the driving motor on the vehicle according to the target speed of the ring gear, specifically includes the following steps:

[0105] S21: Determine the speed ratio of the reducer corresponding to the target gear.

[0106] S22: The product of the speed ratio of the reducer and the target speed of the ring gear is taken as the target speed.

[0107] After determining the target speed of the ring gear, it is necessary to determine the reducer speed ratio corresponding to the target gear, and use the product of the reducer speed ratio and the target speed of the ring gear as the target speed. Among them, the reducer speed ratio corresponding to the target gear is the reducer speed ratio calibrated according to the requirements of different gears. The user can calibrate the reducer speed ratio in advance according to the requirements of different gears, form the reducer speed ratio data of different gears, and save it in the vehicle. When the vehicle is shifting, determine the target gear that the vehicle needs to switch, and then determine the reducer speed ratio corresponding to the target gear in the reducer speed ratio data of different gears, and finally use the product of the corresponding reducer speed ratio and the target speed of the ring gear as the target speed. By multiplying the calibrated reducer speed ratio with the target speed of the ring gear, the target speed of the drive motor can be quickly obtained, which reduces the calculation amount of the speed regulation process, can quickly obtain the target speed of the drive motor, and improves the response time of the gear shift speed regulation.

[0108] In other embodiments, the speed ratio of the reducer corresponding to the target gear may be determined by other methods, which will not be described in detail here.

[0109] In this embodiment, after determining the target speed of the ring gear, the reducer speed ratio corresponding to the target gear is determined, and the product of the reducer speed ratio and the target speed of the ring gear is used as the target speed. The specific steps for determining the target speed of the drive motor on the vehicle based on the target speed of the ring gear are refined, providing a basis for determining the target speed of the drive motor.

[0110] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0111] In one embodiment, a vehicle shifting speed control device is provided, and the vehicle shifting speed control device corresponds to the vehicle shifting speed control method in the above embodiment. Figure 5 As shown, the vehicle shift speed control device includes a first determination module 501, a second determination module 502 and a control module 503. Each functional module is described in detail as follows:

[0112] The first determination module 501 is used to determine the target speed of the ring gear of the engine on the vehicle and obtain the real-time speed of the driving motor in the vehicle when the vehicle is shifting gears;

[0113] A second determination module 502 is used to determine the target speed of the driving motor according to the target speed of the ring gear;

[0114] The control module 503 is used to control the speed of the drive motor in multiple stages according to the real-time speed of the drive motor and the target speed. The multiple stages include a proportional control stage and a proportional-integral control stage.

[0115] Furthermore, the control module 503 is specifically used for:

[0116] Determining a speed difference between a real-time speed of the drive motor and the target speed;

[0117] The adjustment error of the driving motor is obtained by evenly dividing the speed difference;

[0118] The rotation speed of the driving motor is controlled in stages according to the adjustment error.

[0119] Furthermore, the control module 503 is further specifically configured to:

[0120] Determining a speed difference between a real-time speed of the drive motor and the target speed;

[0121] The adjustment error of the driving motor is obtained by evenly dividing the speed difference;

[0122] The rotation speed of the driving motor is controlled in multiple stages according to the adjustment error.

[0123] Furthermore, the control module 503 is further specifically configured to:

[0124] Proportional control of the rotation speed of the driving motor is performed according to the adjustment error;

[0125] When proportional control is performed on the rotation speed of the driving motor, determining whether the absolute value of the rotation speed difference is less than a preset difference value;

[0126] If the absolute value of the speed difference is smaller than the preset difference, proportional-integral control is performed on the speed of the drive motor according to the adjustment error.

[0127] Furthermore, the control module 503 is further specifically configured to:

[0128] Determining a preset shifting time when the vehicle shifts gears, and determining a preset adjustment cycle;

[0129] Determining an averaging coefficient according to the preset shifting time and the preset adjustment period;

[0130] The rotation speed difference is divided by the averaging coefficient to obtain the adjustment error of the drive motor.

[0131] Further, the first determining module 501 is specifically configured to:

[0132] determining a target gear position when the vehicle is shifting gears;

[0133] Determining a target vehicle speed and a transmission speed ratio corresponding to the target gear position;

[0134] The target speed of the engine is determined according to the target vehicle speed and the transmission speed ratio corresponding to the target gear position as the ring gear target speed.

[0135] Further, the second determining module 502 is specifically configured to:

[0136] Determining a speed ratio of the reducer corresponding to the target gear position;

[0137] The target speed is obtained by multiplying the speed ratio of the speed reducer by the target speed of the ring gear.

[0138] The specific definition of the vehicle shift speed control device can be found in the definition of the vehicle shift speed control method mentioned above, which will not be repeated here. Each module in the above-mentioned vehicle shift speed control device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0139] In one embodiment, a vehicle shift speed control device is provided, which can be a PI controller, and includes a processor and a memory connected through a system bus. The processor of the vehicle shift speed control device is used to provide computing and control capabilities. The memory of the vehicle shift speed control device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. When the computer program is executed by the processor, a vehicle shift speed control method is implemented.

[0140] In one embodiment, Figure 6 As shown, a vehicle shift speed control device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0141] When the vehicle is shifting gears, determining the target speed of the ring gear of the engine on the vehicle, and obtaining the real-time speed of the drive motor in the vehicle;

[0142] Determining a target speed of a driving motor on the vehicle according to the target speed of the ring gear;

[0143] The rotation speed of the drive motor is controlled in multiple stages according to the real-time rotation speed of the drive motor and the target rotation speed. The multiple stages include a proportional control stage and a proportional-integral control stage.

[0144] In one embodiment, a readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0145] When the vehicle is shifting gears, determining the target speed of the ring gear of the engine on the vehicle, and obtaining the real-time speed of the drive motor in the vehicle;

[0146] Determining a target speed of a driving motor on the vehicle according to the target speed of the ring gear;

[0147] The rotation speed of the drive motor is controlled in multiple stages according to the real-time rotation speed of the drive motor and the target rotation speed. The multiple stages include a proportional control stage and a proportional-integral control stage.

[0148] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0149] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0150] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A vehicle shift speed control method, characterized in that: include: When the vehicle is shifting gears, determining the target speed of the ring gear of the engine on the vehicle, and obtaining the real-time speed of the drive motor in the vehicle; Determining a target speed of a driving motor on the vehicle according to the target speed of the ring gear; Controlling the speed of the drive motor in multiple stages according to the real-time speed of the drive motor and the target speed, wherein the multiple stages include a proportional control stage and a proportional-integral control stage; Furthermore, the controlling the speed of the drive motor in multiple stages according to the real-time speed of the drive motor and the target speed includes: Determining a speed difference between a real-time speed of the drive motor and the target speed; The adjustment error of the driving motor is obtained by evenly dividing the speed difference; Controlling the rotation speed of the driving motor in multiple stages according to the adjustment error; And, controlling the rotation speed of the driving motor in multiple stages according to the adjustment error includes: Proportional control of the rotation speed of the driving motor is performed according to the adjustment error; When proportional control is performed on the rotation speed of the driving motor, determining whether the absolute value of the rotation speed difference is less than a preset difference value; If the absolute value of the speed difference is less than the preset difference, proportional-integral control is performed on the speed of the drive motor according to the adjustment error; And, obtaining the adjustment error of the drive motor after evenly dividing the speed difference includes: Determining a preset shifting time when the vehicle shifts gears, and determining a preset adjustment cycle; Determining an averaging coefficient according to the preset shifting time and the preset adjustment period; The rotation speed difference is divided by the averaging coefficient to obtain the adjustment error of the drive motor.

2. The vehicle shift speed control method according to claim 1, characterized in that: Determining the target rotational speed of the ring gear of the engine on the vehicle includes: determining a target gear position when the vehicle is shifting gears; Determining a target vehicle speed and a transmission speed ratio corresponding to the target gear position; The target speed of the engine is determined according to the target vehicle speed and the transmission speed ratio corresponding to the target gear position as the ring gear target speed.

3. The vehicle shift speed control method according to claim 1, characterized in that: The target rotation of the ring gear Determining a target speed of a driving motor on the vehicle includes: Determining a speed ratio of the reducer corresponding to the target gear position; The target speed is obtained by multiplying the speed ratio of the speed reducer by the target speed of the ring gear.

4. A vehicle gear shifting and speed regulating control device, characterized in that: include: A first determination module, used to determine a target rotation speed of a ring gear of an engine on the vehicle and obtain a real-time rotation speed of a driving motor in the vehicle when the vehicle is shifting gears; A second determination module, configured to determine a target speed of the drive motor according to the target speed of the ring gear; A control module, configured to control the speed of the drive motor in multiple stages according to the real-time speed of the drive motor and the target speed, wherein the multiple stages include a proportional control stage and a proportional-integral control stage; And, the speed of the drive motor is controlled in multiple stages according to the real-time speed of the drive motor and the target speed, including: Determining a speed difference between a real-time speed of the drive motor and the target speed; The adjustment error of the driving motor is obtained by evenly dividing the speed difference; Controlling the rotation speed of the driving motor in multiple stages according to the adjustment error; And, controlling the rotation speed of the driving motor in multiple stages according to the adjustment error includes: Proportional control of the rotation speed of the driving motor is performed according to the adjustment error; When proportional control is performed on the rotation speed of the driving motor, determining whether the absolute value of the rotation speed difference is less than a preset difference value; If the absolute value of the speed difference is less than the preset difference, proportional-integral control is performed on the speed of the drive motor according to the adjustment error; And, obtaining the adjustment error of the drive motor after evenly dividing the speed difference includes: Determining a preset shifting time when the vehicle shifts gears, and determining a preset adjustment cycle; Determining an averaging coefficient according to the preset shifting time and the preset adjustment period; The rotation speed difference is divided by the averaging coefficient to obtain the adjustment error of the drive motor.

5. The vehicle shift speed control device according to claim 4, characterized in that: The controlling the speed of the drive motor in multiple stages according to the real-time speed of the drive motor and the target speed includes: Determining a speed difference between a real-time speed of the drive motor and the target speed; The adjustment error of the driving motor is obtained by evenly dividing the speed difference; The rotation speed of the driving motor is controlled in stages according to the adjustment error.

6. A vehicle gear shifting and speed control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the vehicle gear shifting and speed regulation control method as claimed in any one of claims 1 to 3 are implemented.

7. A readable storage medium storing a computer program, characterized in that: The calculation When the machine program is executed by the processor, the steps of the vehicle gear shifting and speed regulation control method as described in any one of claims 1 to 3 are implemented.

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