Vehicle gear shifting method, device, vehicle-mounted terminal and storage medium

Abstract

The present application is applicable to the field of automobile technology, and provides a vehicle shifting method, device, vehicle-mounted terminal and computer-readable storage medium, the method comprising: receiving a shifting request; the shifting request carries the target gear of the vehicle; obtaining the rear wheel speed of the vehicle, the rolling radius of the wheel and the transmission ratio corresponding to the target gear; calculating the reference speed corresponding to the vehicle's shifting motor at the target gear according to the rear wheel speed, the rolling radius and the transmission ratio; adjusting the speed of the shifting motor according to the reference speed to shift the vehicle to the target gear. The method provided in the present application combines the rear wheel speed of the vehicle, the rolling radius of the wheel and the transmission ratio corresponding to the target gear to perform a deeper calculation of the reference speed of the shifting motor, thereby improving the accuracy of the calculated speed of the shifting motor, and thus improving the shifting accuracy of the vehicle.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and in particular, relates to a vehicle shifting method, device, vehicle-mounted terminal and computer-readable storage medium. Background Art

[0002] At present, with the rapid development of new energy vehicles, two-speed reduction gearboxes have begun to be widely used in order to achieve higher vehicle speed and electric drive system efficiency. The shifting process of a two-speed reduction gearbox usually includes shifting, motor synchronous speed and shifting. Among them, the motor synchronous speed refers to the need to synchronize the speed of the shifting motor to the target speed that matches the gear position after the shift.

[0003] However, the prior art does not take into account all factors when calculating the target speed, that is, the calculated speed has a low accuracy, which in turn leads to a low gear shifting accuracy of the vehicle. Summary of the invention

[0004] The embodiments of the present application provide a vehicle shifting method, device, vehicle-mounted terminal and computer-readable storage medium, which can improve the accuracy of the calculated shifting motor speed, thereby improving the vehicle's shifting accuracy.

[0005] In a first aspect, an embodiment of the present application provides a vehicle shifting method, comprising:

[0006] receiving a gear shift request; the gear shift request carrying a target gear position of the vehicle;

[0007] Obtaining the rear wheel speed of the vehicle, the rolling radius of the wheel, and the transmission ratio corresponding to the target gear position;

[0008] Calculating a reference speed corresponding to the gear shifting motor of the vehicle at the target gear position according to the rear wheel speed, the rolling radius and the transmission ratio;

[0009] The speed of the shift motor is adjusted according to the reference speed to shift the vehicle to the target gear.

[0010] Optionally, the gear shift request is generated in the following manner:

[0011] receiving a torque adjustment request for the shift motor;

[0012] adjusting the torque of the shift motor according to the torque adjustment request;

[0013] When it is detected that the torque of the shift motor is adjusted to a set value, the shift request is generated.

[0014] Optionally, the rear wheel speed includes the left rear wheel speed and the right rear wheel speed of the vehicle; the reference speed is calculated according to the following formula:

[0015]

[0016] Among them, v d represents the reference speed, v l represents the left rear wheel speed, v r represents the right rear wheel speed, I d represents the transmission ratio, and R represents the rolling radius.

[0017] Optionally, the calculating, according to the rear wheel speed, the rolling radius and the transmission ratio, to obtain a reference speed corresponding to the gear shifting motor of the vehicle at the target gear position includes:

[0018] Controlling a shift fork of the vehicle to move to a neutral position of the vehicle;

[0019] When it is detected that the shift fork moves to the neutral position, the reference rotation speed is calculated according to the rear wheel speed, the rolling radius and the transmission ratio.

[0020] Optionally, adjusting the speed of the shift motor according to the reference speed to shift the vehicle to the target gear position includes:

[0021] In the process of adjusting the speed of the shift motor, detecting whether the current speed of the shift motor is within the speed range corresponding to the reference speed;

[0022] If the current speed is within the speed range, the speed of the shift motor is stopped from being adjusted, and a shift controller of the vehicle is controlled to perform a shift operation to shift the vehicle to the target gear.

[0023] Optionally, before the current speed is within the speed range, the speed of the shift motor is stopped from being adjusted, and a shift controller of the vehicle is controlled to perform a shift operation to shift the vehicle to the target gear, the method further includes:

[0024] Detecting the speed regulation time of the shift motor;

[0025] Correspondingly, if the current speed is within the speed range, the speed of the shift motor is stopped from being adjusted, and the shift controller of the vehicle is controlled to perform a shift operation to shift the vehicle to the target gear, including:

[0026] If the speed regulation time is less than or equal to the set time, and the current speed reaches the speed range within the speed regulation time, the speed adjustment of the shift motor is stopped, and the vehicle's shift controller is controlled to perform a shift operation to shift the vehicle to the target gear.

[0027] Optionally, after detecting the speed regulation time of the shift motor, the method further includes:

[0028] If the speed regulation time of the shift motor is greater than the set time, or the current speed is outside the speed range, the number of speed regulation times of the shift motor is accumulated;

[0029] If the speed adjustment times are greater than or equal to the set times, the shift fork of the vehicle is controlled to move to the neutral gear of the vehicle, and a prompt message for prompting that the vehicle has failed to shift gears is output.

[0030] In a second aspect, an embodiment of the present application provides a vehicle shifting device, comprising:

[0031] A first receiving unit, configured to receive a gear shift request; the gear shift request carries a target gear position of the vehicle;

[0032] an acquisition unit, used to acquire the rear wheel speed of the vehicle, the rolling radius of the wheel, and the transmission ratio corresponding to the target gear position;

[0033] A first calculation unit, configured to calculate a reference speed corresponding to the gear shifting motor of the vehicle at the target gear position according to the rear wheel speed, the rolling radius and the transmission ratio;

[0034] The first adjustment unit is used to adjust the speed of the shift motor according to the reference speed to shift the vehicle to the target gear.

[0035] In a third aspect, an embodiment of the present application provides a vehicle-mounted terminal, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the vehicle shifting method as described in any one of the first aspects above are implemented.

[0036] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle shifting method as described in any one of the above-mentioned first aspects are implemented.

[0037] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a vehicle-mounted terminal, enables the vehicle-mounted terminal to execute the vehicle shifting method described in any one of the first aspects above.

[0038] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0039] The embodiment of the present application provides a vehicle shifting method, which includes receiving a shifting request; the shifting request carries the target gear of the vehicle; obtaining the rear wheel speed of the vehicle, the rolling radius of the wheel, and the transmission ratio corresponding to the target gear; calculating the reference speed of the vehicle's shifting motor at the target gear according to the rear wheel speed, the rolling radius, and the transmission ratio; adjusting the speed of the shifting motor according to the reference speed to shift the vehicle to the target gear. The method provided by the present application performs a deeper calculation of the reference speed of the shifting motor in combination with the rear wheel speed of the vehicle, the rolling radius of the wheel, and the transmission ratio corresponding to the target gear, thereby improving the accuracy of the calculated speed of the shifting motor, and thus improving the shifting accuracy of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 is a flow chart of an implementation method of a vehicle shifting method provided in an embodiment of the present application;

[0042] Figure 2 is a flow chart of an implementation method of a vehicle shifting method provided by another embodiment of the present application;

[0043] Figure 3 is a flow chart of a vehicle shifting method according to another embodiment of the present application;

[0044] Figure 4 is a flow chart of a vehicle shifting method according to another embodiment of the present application;

[0045] Figure 5 is a flow chart of a vehicle shifting method according to another embodiment of the present application;

[0046] Figure 6 is a structural schematic diagram of a vehicle shifting device provided in one embodiment of the present application;

[0047] Figure 7 It is a structural diagram of a vehicle-mounted terminal provided in one embodiment of the present application. DETAILED DESCRIPTION

[0048] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0049] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0050] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0051] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0052] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0053] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0054] In all embodiments of the present application, the vehicle may be a new energy vehicle.

[0055] In practical applications, new energy vehicles refer to vehicles that use unconventional vehicle fuels as a power source (or use conventional vehicle fuels and adopt new vehicle power devices), and integrate advanced technologies in vehicle power control and drive to form vehicles with advanced technical principles, new technologies, and new structures. Among them, new energy vehicles include pure electric vehicles, extended-range electric vehicles, hybrid vehicles, fuel cell electric vehicles, hydrogen engine vehicles, etc.

[0056] It should be noted that in all the embodiments of the present application, the gearbox configured for the above-mentioned vehicle is a two-speed reduction gearbox.

[0057] Among them, the two-speed reduction gearbox includes neutral (N gear), 1st gear and 2nd gear, with two transmission ratios, which can realize gear shifting in the full vehicle speed range and large torque output at the start, so that the vehicle can run in the high efficiency range speed of the drive motor, thereby optimizing the vehicle's power.

[0058] The following embodiments will take a two-speed reduction gearbox as an example to explain the vehicle shifting method in detail.

[0059] See also Figure 1 , Figure 1 This is a flow chart of a vehicle shifting method provided by an embodiment of the present application. In the embodiment of the present application, the execution subject of the vehicle shifting method is a vehicle-mounted terminal.

[0060] In actual applications, the vehicle is equipped with devices such as a gear shift controller (Actuator Control Unit for Electrical Axle Actuator, ACU), a gear shift motor and a hybrid vehicle control unit (HCU). Therefore, the on-board terminal can realize vehicle gear shifting by controlling the gear shift controller, the gear shift motor and the vehicle control unit.

[0061] like Figure 1 As shown, the vehicle shifting method provided by an embodiment of the present application may include S101 to S104, which are described in detail as follows:

[0062] In S101 , a gear shift request is received; the gear shift request carries a target gear position of the vehicle.

[0063] In the embodiment of the present application, the vehicle terminal detects a shift request may be: a preset operation for the vehicle terminal is detected. The preset operation may be determined according to actual needs and is not limited here. For example, the preset operation may be clicking a preset control on the vehicle terminal, that is, if the vehicle terminal detects that the person using the vehicle clicks a preset control on the vehicle terminal, it is considered that a preset operation for the vehicle terminal is detected, that is, a shift request is detected.

[0064] In one embodiment of the present application, the vehicle-mounted terminal can be specifically configured as follows: Figure 2 S201 to S203 shown generate a shift request, which is described in detail as follows:

[0065] In S201 , a torque adjustment request for the shift motor is received.

[0066] In this embodiment, the vehicle shifting process may include a torque adjustment stage. Therefore, in order to improve the vehicle's shifting success rate, the vehicle-mounted terminal may receive a torque adjustment request for the shifting motor sent by the vehicle controller connected to it by wireless / wired communication.

[0067] In an implementation of this embodiment, the torque adjustment request may carry an adjustment value of the torque of the gear-shifting motor, wherein the adjustment value may be set according to actual needs and is not limited here.

[0068] In S202 , the torque of the shift motor is adjusted according to the torque adjustment request.

[0069] In this embodiment, the vehicle terminal is pre-set with a corresponding relationship between the torque adjustment request and the set value, so after receiving the torque adjustment request for the shift motor, the vehicle terminal can adjust the torque of the shift motor based on the set value. The set value can be set according to actual needs and is not limited here.

[0070] For example, in order to determine that the shift motor exits the torque control mode, the set value may be set to 0.

[0071] In one embodiment of the present application, in combination with S201, when the torque adjustment request carries an adjustment value of the torque of the shift motor, the vehicle-mounted terminal can directly adjust the torque of the shift motor according to the adjustment value.

[0072] In S203 , when it is detected that the torque of the shift motor is adjusted to a set value, the shift request is generated.

[0073] In this embodiment, when the vehicle-mounted terminal detects that the torque of the shift motor is adjusted to a set value, it indicates that the shift motor has exited the torque control mode, and therefore, the vehicle-mounted terminal may generate a shift request.

[0074] In one implementation of this embodiment, the vehicle terminal can control the vehicle controller to generate a gear shift request.

[0075] In the embodiment of the present application, after detecting the gear shift request, the vehicle-mounted terminal can control the gear shift controller to receive the gear shift request, wherein the gear shift request carries the target gear position of the vehicle.

[0076] It should be noted that the target gear refers to the gear after the vehicle shifts gears, wherein the target gear includes the 1st gear, the 2nd gear, etc., but does not include the neutral gear.

[0077] In S102, the rear wheel speed of the vehicle, the rolling radius of the wheel, and the transmission ratio corresponding to the target gear are obtained.

[0078] In the embodiment of the present application, the vehicle-mounted terminal pre-stores the correspondence between different gears and transmission ratios. Therefore, after receiving a gear shift request, the vehicle-mounted terminal can obtain the vehicle's rear wheel speed, the rolling radius of the wheel, and the transmission ratio corresponding to the target gear.

[0079] In one implementation of the embodiment of the present application, the vehicle-mounted terminal can obtain the rear wheel speed of the vehicle in real time through an Electronic Stability Program (ESP) system connected thereto by wireless communication.

[0080] In another implementation of the embodiment of the present application, the vehicle-mounted terminal can obtain the rolling radius of the vehicle's wheels in real time through a server to which it is wirelessly connected.

[0081] In another implementation of the embodiment of the present application, after receiving a gear shift request, the vehicle-mounted terminal can obtain the transmission ratio corresponding to the target gear based on the target gear carried in the gear shift request and the correspondence between different gears and transmission ratios pre-stored in the vehicle-mounted terminal.

[0082] In S103, a reference rotation speed corresponding to the gear shifting motor of the vehicle at the target gear position is calculated according to the rear wheel speed, the rolling radius and the transmission ratio.

[0083] In an embodiment of the present application, the vehicle-mounted terminal can control the shift controller to calculate the reference speed of the vehicle's shift motor at the target gear according to the vehicle's rear wheel speed, the vehicle's rolling radius and the transmission ratio corresponding to the target gear.

[0084] It should be noted that the rear wheel speed of the vehicle includes the left rear wheel speed and the right rear wheel speed of the vehicle.

[0085] In one embodiment of the present application, the vehicle-mounted terminal can specifically calculate the reference speed corresponding to the shift motor at the target gear position through the following steps, which are described in detail as follows:

[0086] A shift fork of the vehicle is controlled to move to a neutral position of the vehicle.

[0087] When it is detected that the shift fork moves to the neutral position, the reference rotation speed is calculated according to the rear wheel speed, the rolling radius and the transmission ratio.

[0088] In this embodiment, the vehicle shifting process may also include a gear shifting stage, wherein gear shifting refers to shifting the vehicle's gear from the 1st gear or the 2nd gear to the neutral gear while the vehicle is driving.

[0089] Based on this, in order to improve the vehicle's gear shifting success rate, the vehicle-mounted terminal can control the vehicle's shift fork to move to neutral.

[0090] In an implementation of this embodiment, the vehicle-mounted terminal may control the shift fork to move to the neutral gear through a shift controller.

[0091] In this embodiment, when the vehicle-mounted terminal detects that the shift fork has moved to neutral, it indicates that the vehicle has completed the gear shifting. Therefore, the vehicle-mounted terminal can calculate the reference speed corresponding to the shift motor at the target gear based on the rear wheel speed of the vehicle, the rolling radius of the wheel and the transmission ratio corresponding to the target gear.

[0092] In another embodiment of the present application, the reference speed may be calculated according to the following formula:

[0093]

[0094] Among them, v d Indicates the base speed of the vehicle's shift motor at the target gear position, v l Indicates the left rear wheel speed of the vehicle, v r Indicates the right rear wheel speed of the vehicle, I d It represents the transmission ratio corresponding to the target gear position, and R represents the rolling radius of the vehicle's wheels.

[0095] In another embodiment of the present application, after the vehicle terminal controls the shift controller to calculate the reference speed of the shift motor, it can control the shift controller to send a speed control request to the shift motor, wherein the speed control request carries the reference speed.

[0096] In the embodiment of the present application, the vehicle-mounted terminal calculates the reference speed of the shift motor through the rear wheel speed of the vehicle, which can ensure that the accurate reference speed can be calculated when the vehicle is in intense working conditions, such as bumpy roads, open roads and turns.

[0097] In S104, the speed of the shift motor is adjusted according to the reference speed to shift the vehicle to the target gear.

[0098] In an embodiment of the present application, the vehicle-mounted terminal can adjust the speed of the shift motor according to the calculated reference speed, that is, adjust the current speed of the shift motor to the reference speed to shift the vehicle to the target gear.

[0099] In one embodiment of the present application, in combination with S401, after the vehicle-mounted terminal detects that the shift motor receives a speed control request sent by the shift controller, the vehicle-mounted terminal can control the shift motor to extract the reference speed corresponding to the shift motor at the target gear position from the speed control request, and control the shift motor to enter the speed control mode, and finally control the shift motor to adjust the speed based on the reference speed so that the current speed of the shift motor is adjusted to the reference speed.

[0100] It should be noted that, compared with speed regulation through the vehicle torque ring, speed regulation through the shift motor itself can optimize the speed regulation time, so that the current speed of the shift motor can quickly reach the speed range corresponding to the reference speed, thereby reducing the vehicle power interruption time and improving the vehicle's shifting efficiency and user experience.

[0101] As can be seen from the above, a vehicle shifting method provided by an embodiment of the present application receives a shifting request; the shifting request carries the target gear of the vehicle; obtains the rear wheel speed of the vehicle, the rolling radius of the wheel, and the transmission ratio corresponding to the target gear; calculates the reference speed corresponding to the vehicle's shifting motor at the target gear according to the rear wheel speed, the rolling radius, and the transmission ratio; and adjusts the speed of the shifting motor according to the reference speed to shift the vehicle to the target gear. The method provided by the present application performs a deeper calculation of the reference speed of the shifting motor in combination with the rear wheel speed of the vehicle, the rolling radius of the wheel, and the transmission ratio corresponding to the target gear, thereby improving the accuracy of the calculated shifting motor speed, and thus improving the shifting accuracy of the vehicle.

[0102] See also Figure 3 , Figure 3 Another embodiment of the present invention provides a vehicle shifting method. Figure 1 In the corresponding embodiment, the vehicle shifting method provided in this embodiment, step S104 may specifically include S301 to S302, which are described in detail as follows:

[0103] In S301 , during the process of adjusting the rotation speed of the shift motor, it is detected whether the current rotation speed of the shift motor is within the rotation speed range corresponding to the reference rotation speed.

[0104] In this embodiment, the speed range corresponding to the reference speed can be determined according to the reference speed. Specifically, the vehicle terminal can determine the speed range corresponding to the reference speed according to the reference speed and the preset amplitude value. Among them, the preset amplitude value can be determined according to actual needs and is not limited here.

[0105] For example, assuming that the reference speed is 3000 r / min (ie, revolutions per minute), and the preset amplitude value is ±100 r / min, the speed range corresponding to the reference speed is [2900 r / min, 3100 r / min].

[0106] In S302, if the current speed is within the speed range, the speed of the shift motor is stopped from being adjusted, and a shift controller of the vehicle is controlled to perform a shift operation to shift the vehicle to the target gear.

[0107] In this embodiment, when the vehicle-mounted terminal detects that the current speed of the shift motor is within the speed range corresponding to the reference speed, it indicates that the speed regulation of the shift motor is successful. Therefore, the vehicle-mounted terminal can stop adjusting the speed of the shift motor and control the vehicle's shift controller to perform a shift operation to shift the vehicle to the target gear.

[0108] Specifically, when the vehicle-mounted terminal detects that the current speed of the shift motor is within the speed range corresponding to the reference speed, the vehicle-mounted terminal can control the shift controller to send a speed control stop request to the shift motor, and continue to control the shift controller to perform the shift operation; at this time, the vehicle-mounted terminal can control the shift motor to receive the above-mentioned speed control stop request to stop the speed of the shift motor, and control the shift motor to enter the torque control mode; thereafter, after detecting that the shift operation of the shift controller is completed, the vehicle-mounted terminal can control the shift controller to send a message that the shift operation is completed to the vehicle controller. When the vehicle-mounted terminal detects that the vehicle controller receives the message that the shift operation is completed, the vehicle-mounted terminal can control the vehicle controller to stop sending the shift request and increase the torque of the shift motor to determine that the vehicle is traveling in the target gear, thereby completing the gear shifting of the vehicle.

[0109] As can be seen from the above, the vehicle shifting method provided in this embodiment detects whether the current speed of the shifting motor is within the speed range corresponding to the reference speed during the speed adjustment of the shifting motor; if the current speed is within the speed range, the speed adjustment of the shifting motor is stopped, and the vehicle's shifting controller is controlled to perform the shifting operation to shift the vehicle to the target gear. By adopting this method, the speed adjustment is completed by the shifting motor itself. Compared with the speed adjustment through the vehicle torque ring, the speed adjustment time can be optimized, so that the current speed of the shifting motor quickly reaches the speed range corresponding to the reference speed, thereby reducing the vehicle power interruption time and improving the vehicle's shifting efficiency and user experience.

[0110] See also Figure 4 , Figure 4 A vehicle shifting method provided by another embodiment of the present application is shown in FIG. Figure 3 Corresponding to the embodiment, the vehicle shifting method provided in this embodiment may further include S401 before step S302. Based on this, step S302 may specifically include S402, which is described in detail as follows:

[0111] In S401, the speed regulation time of the shift motor is detected.

[0112] In this embodiment, in order to improve work efficiency, the vehicle-mounted terminal needs to detect the speed adjustment time of the shift motor in real time during the process of adjusting the speed of the shift motor.

[0113] After obtaining the speed regulation time of the shift motor, the vehicle terminal can compare the speed regulation time with the set time, and compare the current speed of the shift motor with the speed range corresponding to the reference speed. The set time can be set according to actual needs and is not limited here.

[0114] Based on this, in one embodiment of the present application, when the vehicle terminal detects that the speed regulation time of the shift motor is less than or equal to the set time and the current speed of the shift motor is within the speed range corresponding to the reference speed, step S402 can be executed.

[0115] In another embodiment of the present application, when the vehicle terminal detects that the speed regulation time of the shift motor is greater than the set time, or the current speed of the shift motor is outside the speed range corresponding to the reference speed, the vehicle terminal can execute the following steps: Figure 5 S501~S502 shown.

[0116] In S402, if the speed regulation time is less than or equal to the set time, and the current speed reaches the speed range within the speed regulation time, the speed of the shift motor is stopped from being adjusted, and the vehicle's shift controller is controlled to perform a shift operation to shift the vehicle to the target gear.

[0117] In this embodiment, when the vehicle-mounted terminal detects that the speed regulation time of the shift motor is less than or equal to the set time, and the current speed of the shift motor is within the speed range corresponding to the reference speed, it indicates that the speed regulation of the shift motor is successful. Therefore, the vehicle-mounted terminal can stop adjusting the speed of the shift motor and control the vehicle's shift controller to perform a shift operation to shift the vehicle to the target gear.

[0118] From the above, it can be seen that the vehicle shifting method provided in this embodiment detects the speed regulation time of the shift motor; and when it is detected that the speed regulation time of the shift motor is less than or equal to the set time, and the current speed of the shift motor reaches the speed range within the speed regulation time, stops adjusting the speed of the shift motor, and controls the vehicle's shift controller to perform a shifting operation to shift the vehicle to the target gear, thereby improving the vehicle's shifting efficiency.

[0119] See also Figure 5 , Figure 5 A vehicle shifting method provided by another embodiment of the present application is shown in FIG. Figure 4 Corresponding to the embodiment, the vehicle shifting method provided in this embodiment may further include S501 to S502 after step S401, which are described in detail as follows:

[0120] In S501, if the speed regulation time of the shift motor is greater than the set time, or the current speed is outside the speed range, the number of speed regulation times of the shift motor is accumulated.

[0121] In this embodiment, when the vehicle terminal detects that the speed regulation time of the shift motor is greater than the set time, or the current speed of the shift motor is outside the speed range corresponding to the reference speed, in order to improve the working efficiency of the vehicle terminal, the vehicle terminal needs to accumulate the speed regulation times of the shift motor.

[0122] In one embodiment of the present application, when the vehicle-mounted terminal detects that the speed regulation times of the shift motor is greater than or equal to the set times, step S502 may be executed.

[0123] In another embodiment of the present application, when the vehicle-mounted terminal detects that the speed regulation times of the shift motor are less than the set times, the vehicle-mounted terminal may continue to adjust the speed of the shift motor until the speed regulation times of the shift motor are greater than or equal to the set times.

[0124] In S502, if the speed adjustment number is greater than or equal to the set number, the shift fork of the vehicle is controlled to move to the neutral gear of the vehicle, and a prompt message for prompting that the vehicle has failed to shift gears is output.

[0125] In this embodiment, when the vehicle-mounted terminal detects that the speed regulation times of the shift motor is greater than or equal to the set times, it means that the speed regulation times of the shift motor are sufficient. However, since the current speed of the shift motor is still not within the speed range corresponding to the reference speed, that is to say, the speed regulation of the shift motor has failed. Therefore, the vehicle-mounted terminal can control the vehicle's shift fork to move to neutral and output a prompt message to indicate that the vehicle's gear shift has failed.

[0126] From the above, it can be seen that the vehicle shifting method provided in this embodiment accumulates the speed regulation times of the shifting motor if the speed regulation time of the shifting motor is greater than the set time, or the current speed is outside the speed range; if the speed regulation times are greater than or equal to the set times, the shift fork of the vehicle is controlled to move to neutral, and a prompt message for prompting the failure of the vehicle shifting is output, thereby avoiding the vehicle-mounted terminal from continuing to perform invalid gear shifting on the vehicle, thereby improving the working efficiency of the vehicle-mounted terminal.

[0127] It should be understood that the size of the serial numbers of the steps in the above embodiments does not 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 embodiments of the present application.

[0128] Corresponding to the vehicle shifting method described in the above embodiment, Figure 6The structure block diagram of a vehicle shifting device provided by an embodiment of the present application is shown. For the convenience of description, only the part related to the embodiment of the present application is shown. Figure 6 The vehicle shifting device 600 includes: a first receiving unit 61, an acquiring unit 62, a first calculating unit 63 and a first adjusting unit 64. Wherein:

[0129] The first receiving unit 61 is used to receive a gear shift request; the gear shift request carries a target gear position of the vehicle.

[0130] The acquisition unit 62 is used to acquire the rear wheel speed of the vehicle, the rolling radius of the wheel, and the transmission ratio corresponding to the target gear position.

[0131] The first calculation unit 63 is used to calculate a reference rotation speed corresponding to the gear shifting motor of the vehicle at the target gear position according to the rear wheel speed, the rolling radius and the transmission ratio.

[0132] The first adjustment unit 64 is used to adjust the speed of the shift motor according to the reference speed, so as to shift the vehicle to the target gear.

[0133] In one embodiment of the present application, the first receiving unit 61 specifically includes: a second receiving unit, a second adjusting unit and a generating unit.

[0134] The second receiving unit is used to receive a torque adjustment request for the shift motor.

[0135] The second adjustment unit is used to adjust the torque of the shift motor according to the torque adjustment request.

[0136] The generating unit is used for generating the gear shift request when it is detected that the torque of the gear shift motor is adjusted to a set value.

[0137] In one embodiment of the present application, the rear wheel speed includes the left rear wheel speed and the right rear wheel speed of the vehicle; the reference speed is calculated according to the following formula:

[0138]

[0139] Among them, v d represents the reference speed, v l represents the left rear wheel speed, v r represents the right rear wheel speed, I d represents the transmission ratio, and R represents the rolling radius.

[0140] In one embodiment of the present application, the first calculation unit 63 specifically includes: a first control unit and a second calculation unit.

[0141] The first control unit is used for controlling the shift fork of the vehicle to move to a neutral gear of the vehicle.

[0142] The second calculation unit is used for calculating the reference rotation speed according to the rear wheel speed, the rolling radius and the transmission ratio when it is detected that the shift fork moves to the neutral gear.

[0143] In one embodiment of the present application, the first adjustment unit 64 specifically includes: a first detection unit and a second control unit.

[0144] The first detection unit is used for detecting whether the current rotation speed of the shift motor is within the rotation speed range corresponding to the reference rotation speed during the process of adjusting the rotation speed of the shift motor.

[0145] The second control unit is used to stop adjusting the speed of the shift motor if the current speed is within the speed range, and control the shift controller of the vehicle to perform a shift operation to shift the vehicle to the target gear.

[0146] In one embodiment of the present application, the second control unit specifically includes: a second detection unit and a third control unit.

[0147] The second detection unit is used to detect the speed regulation time of the shift motor.

[0148] The third control unit is used to stop adjusting the speed of the shift motor and control the vehicle's shift controller to perform a shift operation to shift the vehicle to the target gear if the speed regulation time is less than or equal to the set time and the current speed reaches the speed range within the speed regulation time.

[0149] In one embodiment of the present application, the vehicle shifting device 600 further includes: an accumulation unit and an output unit.

[0150] The accumulating unit is used for accumulating the number of speed regulation times of the shift motor if the speed regulation time of the shift motor is greater than the set time, or the current speed is outside the speed range.

[0151] The output unit is used to control the shift fork of the vehicle to move to the neutral gear of the vehicle if the speed adjustment number is greater than or equal to the set number, and output a prompt message for prompting that the vehicle fails to shift.

[0152] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0153] The technicians in the relevant field 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 for illustration. In practical applications, the above-mentioned function allocation can be 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. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0154] Figure 7 This is a schematic diagram of the structure of a vehicle-mounted terminal provided in one embodiment of the present application. Figure 7 As shown, the vehicle terminal 7 of this embodiment includes: at least one processor 70 ( Figure 7 Only one is shown in the figure) a processor, a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, wherein the processor 70 implements the steps in any of the above-mentioned vehicle shifting method embodiments when executing the computer program 72.

[0155] The vehicle-mounted terminal may include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art will appreciate that Figure 7 It is only an example of the vehicle-mounted terminal 7 and does not constitute a limitation on the vehicle-mounted terminal 7. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0156] The processor 70 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0157] In some embodiments, the memory 71 may be an internal storage unit of the vehicle terminal 7, such as the memory of the vehicle terminal 7. In other embodiments, the memory 71 may also be an external storage device of the vehicle terminal 7, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the vehicle terminal 1. Further, the memory 71 may also include both the internal storage unit of the vehicle terminal 7 and an external storage device. The memory 71 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 71 may also be used to temporarily store data that has been output or is to be output.

[0158] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0159] An embodiment of the present application provides a computer program product. When the computer program product runs on a vehicle-mounted terminal, the vehicle-mounted terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0160] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to the vehicle-mounted terminal, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0161] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0162] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person 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 application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle shifting method, characterized in that: include: receiving a gear shift request; The gear shift request carries a target gear position for the vehicle; Obtaining the rear wheel speed of the vehicle, the rolling radius of the wheel, and the transmission ratio corresponding to the target gear position; According to the rear wheel speed, the rolling radius and the transmission ratio, a reference speed corresponding to the gear shift motor of the vehicle at the target gear position is calculated; the rear wheel speed includes the left rear wheel speed and the right rear wheel speed of the vehicle; the reference speed is calculated according to the following formula: Among them, v d represents the reference speed, v l represents the left rear wheel speed, v r represents the right rear wheel speed, I d represents the transmission ratio, and R represents the rolling radius; The speed of the shift motor is adjusted according to the reference speed to shift the vehicle to the target gear.

2. The vehicle shifting method according to claim 1, characterized in that: The gear shift request is generated in the following manner: receiving a torque adjustment request for the shift motor; adjusting the torque of the shift motor according to the torque adjustment request; When it is detected that the torque of the shift motor is adjusted to a set value, the shift request is generated.

3. The vehicle shifting method according to claim 1, characterized in that: The step of calculating the reference speed of the gear shifting motor of the vehicle corresponding to the target gear position according to the rear wheel speed, the rolling radius and the transmission ratio includes: Controlling a shift fork of the vehicle to move to a neutral position of the vehicle; When it is detected that the shift fork moves to the neutral position, the reference rotation speed is calculated according to the rear wheel speed, the rolling radius and the transmission ratio.

4. The vehicle shifting method according to any one of claims 1 to 3, characterized in that: The adjusting the speed of the shift motor according to the reference speed to shift the vehicle to the target gear position includes: In the process of adjusting the speed of the shift motor, detecting whether the current speed of the shift motor is within the speed range corresponding to the reference speed; If the current speed is within the speed range, the speed of the shift motor is stopped from being adjusted, and a shift controller of the vehicle is controlled to perform a shift operation to shift the vehicle to the target gear.

5. The vehicle shifting method according to claim 4, characterized in that: If the current speed is within the speed range, the speed of the shift motor is stopped from being adjusted, and the shift controller of the vehicle is controlled to perform a shift operation to shift the vehicle to the target gear position, the method further includes: Detecting the speed regulation time of the shift motor; Correspondingly, if the current speed is within the speed range, the speed of the shift motor is stopped from being adjusted, and the shift controller of the vehicle is controlled to perform a shift operation to shift the vehicle to the target gear, including: If the speed regulation time is less than or equal to the set time, and the current speed reaches the speed range within the speed regulation time, the speed adjustment of the shift motor is stopped, and the vehicle's shift controller is controlled to perform a shift operation to shift the vehicle to the target gear.

6. The vehicle shifting method according to claim 5, characterized in that: After detecting the speed regulation time of the shift motor, the method further includes: If the speed regulation time of the shift motor is greater than the set time, or the current speed is outside the speed range, the number of speed regulation times of the shift motor is accumulated; If the speed adjustment times are greater than or equal to the set times, the shift fork of the vehicle is controlled to move to the neutral gear of the vehicle, and a prompt message for prompting that the vehicle has failed to shift gears is output.

7. A vehicle shifting device, characterized in that: include: A first receiving unit, configured to receive a gear shift request; The gear shift request carries a target gear position for the vehicle; an acquisition unit, used to acquire the rear wheel speed of the vehicle, the rolling radius of the wheel, and the transmission ratio corresponding to the target gear position; The first calculation unit is used to calculate the reference speed corresponding to the gear shift motor of the vehicle at the target gear position according to the rear wheel speed, the rolling radius and the transmission ratio; the rear wheel speed includes the left rear wheel speed and the right rear wheel speed of the vehicle; the reference speed is calculated according to the following formula: Among them, v d represents the reference speed, v l represents the left rear wheel speed, v r represents the right rear wheel speed, I d represents the transmission ratio, and R represents the rolling radius; The first adjustment unit is used to adjust the speed of the shift motor according to the reference speed to shift the vehicle to the target gear.

8. A vehicle-mounted terminal, 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 vehicle shifting method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle shifting method according to any one of claims 1 to 6 is implemented.

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