Control method and device for automatic gear shifting of heavy off-road vehicle, medium and electronic equipment

Abstract

The application relates to the technical field of vehicle control, and discloses a control method and device for automatic gear shifting of a heavy off-road vehicle, a medium and electronic equipment. The method comprises the following steps: acquiring static parameters of the vehicle and road condition parameters of a driving road; based on the static parameters and the road condition parameters, a gear shifting quality database of the vehicle is constructed, and the gear shifting quality database is used to determine a gear shifting quality area corresponding to a working state of the vehicle; dynamic parameters of the vehicle are acquired, and based on the dynamic parameters and the gear shifting quality database, a current gear shifting quality area corresponding to a current working state of the vehicle is determined; based on the current gear shifting quality area, a target gear shifting speed of the vehicle is determined; and based on the dynamic parameters and the target gear shifting speed, the vehicle is controlled to perform gear shifting. The technical scheme disclosed by the application enables the heavy off-road vehicle to reasonably perform automatic gear shifting during driving, can effectively avoid problems such as excessive impact and aggravation of machine wear caused by accidental gear shifting, and improves ride comfort and drivability.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and discloses a control method, device, medium and electronic equipment for automatic gear shifting of a heavy off-road vehicle. Background Technology

[0002] Automatic transmission technology has undergone decades of development and evolution, becoming a widely adopted technology in today's vehicles. Hydraulic automatic transmissions eliminate the variability in driver shifting skills, relying primarily on correct operation and control. The system automatically fulfills usage requirements, achieving optimal fuel economy, power, and low emissions. Through automatic shift control, not only can shift timing be adaptively changed to meet the performance needs of different operating conditions, but driver fatigue can also be reduced, driving safety improved, and pollution and fuel consumption lowered.

[0003] Currently, there is a lot of research on the shifting patterns of passenger cars, but less research on the shifting patterns of automatic transmissions in heavy-duty and super-heavy-duty off-road vehicles. Due to their low power-to-weight ratio, complex operating conditions, and large variations in load, the shifting patterns of passenger cars cannot be directly applied to heavy-duty off-road vehicles.

[0004] Shifting patterns are the core of automatic transmission control in automobiles, directly affecting a vehicle's power, fuel economy, handling, smoothness, lifespan, and environmental adaptability. Currently, automatic transmissions primarily rely on vehicle speed and throttle opening as shifting control parameters, shifting according to optimal fuel economy or power patterns determined during flat-road driving. This approach fails to consider environmental factors and may cause problems under specific road conditions, such as shifting cycle issues on inclines or frequent unexpected shifts during cornering. Therefore, this application proposes an automatic shifting control method for heavy-duty off-road vehicles. This method enables rational automatic shifting during driving, effectively avoiding excessive impact and accelerated wear of components caused by unexpected shifts, while improving ride comfort and drivability. Summary of the Invention

[0005] This application relates to the field of vehicle control technology, and discloses a control method, device, medium, and electronic equipment for automatic gear shifting in heavy-duty off-road vehicles. It enables heavy-duty off-road vehicles to perform automatic gear shifting efficiently during operation, effectively avoiding excessive impact and accelerated wear of mechanical parts caused by accidental gear shifting, and improving ride comfort and drivability.

[0006] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0007] According to a first aspect of the present application, a control method for automatic gear shifting of a heavy-duty off-road vehicle is provided. The method includes: acquiring static parameters of the vehicle and road condition parameters of the driving road, wherein the static parameters include at least the full characteristic curve of the engine, the original characteristic curve of the hydraulic torque converter, and the vehicle mass; constructing a gear shift quality database of the vehicle based on the static parameters and the road condition parameters, wherein the gear shift quality database is used to determine a gear shift quality region corresponding to the operating state of the vehicle, and the gear shift quality region is used to evaluate the quality of the vehicle's gear shifting operation; acquiring dynamic parameters of the vehicle, and determining a current gear shift quality region corresponding to the current operating state of the vehicle based on the dynamic parameters and the gear shift quality database, wherein the dynamic parameters include at least the driving force, throttle opening, and actual vehicle speed of the vehicle; determining a target gear shift speed of the vehicle based on the current gear shift quality region; and controlling the vehicle to perform gear shifting based on the dynamic parameters and the target gear shift speed.

[0008] In one embodiment of this application, based on the foregoing scheme, the step of constructing the vehicle's shift quality database based on the static parameters and the road condition parameters includes: determining the joint output full characteristic curve of the engine and the torque converter based on the engine's full characteristic curve and the torque converter's original characteristic curve; determining the driving force of the vehicle at each gear and each throttle opening based on the joint output full characteristic curve; determining the vehicle resistance based on the road condition parameters and the vehicle mass; and constructing the vehicle's shift quality database based on the driving force and the vehicle resistance.

[0009] In one embodiment of this application, based on the aforementioned scheme, determining the driving force of each gear of the vehicle at each throttle opening based on the joint output full characteristic curve includes: inputting the joint output full characteristic curve into a trained vehicle driving force limiting model to obtain the driving force of each gear of the vehicle at each throttle opening.

[0010] In one embodiment of this application, based on the foregoing scheme, the step of constructing the vehicle's shift quality database based on the driving force and the vehicle resistance includes: determining the theoretical shift speed of each gear of the vehicle based on the balance relationship between the driving force and the vehicle resistance; obtaining the driving force shift curve corresponding to each throttle opening; determining the shift quality region of each gear based on the theoretical shift speed and the driving force shift curve; and constructing the vehicle's shift quality database based on the static and dynamic parameters corresponding to the shift quality regions of each gear.

[0011] In one embodiment of this application, based on the foregoing scheme, determining the target shift speed of the vehicle based on the current shift quality region includes: determining whether the current shift quality region is a target shift region; if the current shift quality region is not a target shift region, then determining the target shift speed of the vehicle based on the driving force shift curve and the vehicle resistance.

[0012] In one embodiment of this application, based on the aforementioned scheme, controlling the vehicle to shift gears based on the dynamic parameters and the target shift speed includes: generating a gear shifting command based on the actual vehicle speed, the throttle opening, and the target shift speed; and controlling the vehicle to shift gears based on the gear shifting command.

[0013] In one embodiment of this application, based on the foregoing scheme, the method further includes: after generating the gear shifting command, predicting whether the engine speed is in the high torque operating range; if the engine speed is in the high torque operating range, triggering the execution of the gear shifting command; if the engine speed is not in the high torque operating range, refusing to execute the gear shifting command.

[0014] According to a second aspect of the embodiments of this application, a control device for automatic gear shifting of a heavy-duty off-road vehicle is provided. The device includes: a first acquisition unit, configured to acquire static parameters of the vehicle and road condition parameters of the driving road, wherein the static parameters include at least the full characteristic curve of the engine, the original characteristic curve of the hydraulic torque converter, and the vehicle mass; a construction unit, configured to construct a gear shift quality database of the vehicle based on the static parameters and the road condition parameters, wherein the gear shift quality database is used to determine a gear shift quality region corresponding to the operating state of the vehicle, and the gear shift quality region is used to evaluate the quality of the vehicle's gear shifting operation; a second acquisition unit, configured to acquire dynamic parameters of the vehicle and, based on the dynamic parameters and the gear shift quality database, determine a current gear shift quality region corresponding to the current operating state of the vehicle, wherein the dynamic parameters include at least the driving force, throttle opening, and actual vehicle speed of the vehicle; a determination unit, configured to determine a target gear shifting speed of the vehicle based on the current gear shifting quality region; and a control unit, configured to control the vehicle to perform gear shifting based on the dynamic parameters and the target gear shifting speed.

[0015] According to a third aspect of the embodiments of this application, a computer-readable storage medium is provided, characterized in that the computer-readable storage medium stores at least one piece of program code, the at least one piece of program code being loaded and executed by a processor to implement the control method for automatic gear shifting of a heavy-duty off-road vehicle as described in any of the above embodiments.

[0016] According to a fourth aspect of the present application, an electronic device is provided, the electronic device including one or more processors and one or more memories, the one or more memories storing at least one piece of program code, the at least one piece of program code being loaded and executed by the one or more processors to implement the control method for automatic gear shifting of a heavy-duty off-road vehicle as described in any of the above embodiments.

[0017] In the technical solution proposed in this application, static parameters of the vehicle and road condition parameters of the driving road are obtained, and a shift quality database of the vehicle is constructed based on the static parameters and road condition parameters. Dynamic parameters of the vehicle are obtained, and based on the dynamic parameters and the shift quality database, the current shift quality region corresponding to the current operating state of the vehicle is determined. The target shift speed of the vehicle is determined based on the current shift quality region. Based on the dynamic parameters and the target shift speed, the vehicle is controlled to shift gears. The technical solution proposed in this application introduces vehicle mass into the dual-parameter shift law based on throttle opening and vehicle speed. By evaluating the shift quality of the vehicle's operating state, the target shift speed of the vehicle is determined. Combining the actual vehicle speed and the target shift speed, the vehicle is controlled to shift gears, achieving the goal of ensuring the vehicle's power performance, comfort, and chassis transmission system reliability under the influence of heavy loads and changes in driving resistance.

[0018] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0020] Figure 1 A flowchart of the control method for automatic gear shifting of a heavy-duty off-road vehicle according to an embodiment of this application is shown;

[0021] Figure 2 This application shows a full characteristic curve of an engine in a specific embodiment;

[0022] Figure 3 The original characteristic curve of the hydraulic torque converter in a specific embodiment of this application is shown.

[0023] Figure 4 The combined output full characteristic curve of the engine and hydraulic torque converter in a specific embodiment of this application is shown;

[0024] Figure 5 This paper shows a quality distribution diagram of the shift region in a specific embodiment of the present application;

[0025] Figure 6 The figure shows a theoretical shifting law parameter diagram in a specific embodiment of this application;

[0026] Figure 7 A block diagram of a control device for automatic gear shifting in a heavy-duty off-road vehicle according to an embodiment of this application is shown;

[0027] Figure 8 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0028] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0029] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0030] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0031] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0032] It should be noted that "multiple" in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such uses of these terms can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described.

[0034] The implementation details of the technical solutions in the embodiments of this application are described in detail below:

[0035] Figure 1 A flowchart of the control method for automatic gear shifting of a heavy-duty off-road vehicle according to an embodiment of this application is shown.

[0036] like Figure 1 As shown, the control method for automatic gear shifting of the heavy off-road vehicle includes at least steps 110 to 190.

[0037] The following will be about Figure 1 Steps 110 to 190 are described in detail below:

[0038] In step 110, the static parameters of the vehicle and the road condition parameters of the driving road are obtained. The static parameters include at least the full characteristic curve of the engine, the original characteristic curve of the hydraulic torque converter, and the vehicle mass.

[0039] In this application, the full characteristic curve of the vehicle's engine, the original characteristic curve of the hydraulic torque converter, the vehicle mass, the gear ratio of the transmission, and the structural parameters of the transmission system are obtained.

[0040] In this application, the gearbox gear ratio is used to determine whether the engine speed is within the target torque operating range after the vehicle performs a gear shift, and the transmission system structural parameters are used to obtain the actual vehicle speed.

[0041] In this application, the road condition parameters of the driving road include at least road type, road gradient, and road weather.

[0042] Continue to refer to Figure 1In step 130, a shift quality database for the vehicle is constructed based on the static parameters and the road condition parameters. The shift quality database is used to determine the shift quality region corresponding to the working state of the vehicle. The shift quality region is used to evaluate the quality of the vehicle's shifting operation.

[0043] In this application, the number of shift quality regions can be five, and the shift quality regions are respectively excellent, better, good, poor and poor. The number of shift quality regions can be set according to actual needs.

[0044] Continue to refer to Figure 1 In step 150, the dynamic parameters of the vehicle are obtained, and based on the dynamic parameters and the shift quality database, the current shift quality range corresponding to the current working state of the vehicle is determined. The dynamic parameters include at least the driving force, throttle opening and actual vehicle speed of the vehicle.

[0045] In this application, the actual vehicle speed is determined based on the sensor parameters obtained from the vehicle mileage sensor and the structural parameters of the transmission system. The vehicle mileage sensor can be installed in the vehicle's gearbox or in the vehicle's transfer case.

[0046] In this application, based on the dynamic parameters and the shift quality database, the current shift quality region corresponding to the current working state of the vehicle is determined, and the corresponding gear and the corresponding shift quality region of the current shift quality region are determined.

[0047] In this application, before determining the current shift quality range corresponding to the current operating state of the vehicle, real-time monitored transmission parameters are obtained, and it is determined whether the transmission parameters are within a set range. If the transmission parameters exceed the set range, the vehicle is inspected and the fault is repaired. After the fault is resolved, the current shift quality range corresponding to the current operating state of the vehicle is re-determined. The transmission parameters include at least transmission oil temperature, pressure, and engine torque.

[0048] Continue to refer to Figure 1 In step 170, the target shift speed of the vehicle is determined based on the current shift quality range.

[0049] Continue to refer to Figure 1 In step 190, the vehicle is controlled to shift gears based on the dynamic parameters and the target shift speed.

[0050] In one embodiment of this application, constructing the vehicle's shift quality database based on the static parameters and the road condition parameters includes: determining the combined output full characteristic curve of the engine and the torque converter based on the engine's full characteristic curve and the torque converter's original characteristic curve; determining the driving force of the vehicle at each gear and each throttle opening based on the combined output full characteristic curve; determining the vehicle resistance based on the road condition parameters and the vehicle mass; and constructing the vehicle's shift quality database based on the driving force and the vehicle resistance.

[0051] In this application, based on the full characteristic curve of the engine and the original characteristic curve of the hydraulic torque converter, the combined output full characteristic curve of the engine and the hydraulic torque converter under different throttle openings of the vehicle is calculated.

[0052] In this application, the vehicle resistance is determined based on the road type, road slope, road weather, and vehicle mass. The vehicle resistance includes at least vehicle rolling resistance, air resistance, slope resistance, and acceleration resistance.

[0053] In one embodiment of this application, determining the driving force of each gear of the vehicle at each throttle opening based on the joint output full characteristic curve includes: inputting the joint output full characteristic curve into a trained vehicle driving force limiting model to obtain the driving force of each gear of the vehicle at each throttle opening.

[0054] In this application, the joint output full characteristic curve is input into a pre-trained vehicle driving force limiting model to obtain the driving force of the vehicle at each gear and at each throttle opening.

[0055] In one embodiment of this application, constructing a shift quality database for the vehicle based on the driving force and the vehicle resistance includes: determining the theoretical shift speed of each gear of the vehicle based on the balance relationship between the driving force and the vehicle resistance; obtaining the driving force shift curve corresponding to each throttle opening; determining the shift quality region of each gear based on the theoretical shift speed and the driving force shift curve; and constructing the shift quality database for the vehicle based on the static and dynamic parameters corresponding to the shift quality regions of each gear.

[0056] In this application, a two-dimensional rectangular coordinate system is established to obtain the driving force shift curve corresponding to each throttle opening. Based on the driving force and the vehicle resistance, the driving force curve and the vehicle resistance curve are obtained. The driving force shift curve, the driving force curve, and the vehicle resistance are plotted in the coordinate system. According to the balance relationship between the driving force and the vehicle resistance, and based on the curve intersection relationship in the coordinate system, the shift quality region is divided. Based on the static and dynamic parameters corresponding to the shift quality region of each gear, the shift quality database of the vehicle is constructed.

[0057] In one embodiment of this application, determining the target shift speed of the vehicle based on the current shift quality region includes: determining whether the current shift quality region is a target shift region; if the current shift quality region is not a target shift region, then determining the target shift speed of the vehicle based on the driving force shift curve and the vehicle resistance.

[0058] In this application, it is determined whether the current shift quality region is the target shift region. If the current shift quality region is the target shift region, the theoretical target shift speed is used as the target shift speed of the vehicle. If the current shift quality region is not the target shift region, the target shift speed of the vehicle is determined based on the driving force shift curve and the vehicle resistance.

[0059] In one embodiment of this application, controlling the vehicle to shift gears based on the dynamic parameters and the target shift speed includes: generating a gear shifting command based on the actual vehicle speed, the throttle opening, and the target shift speed; and controlling the vehicle to shift gears based on the gear shifting command.

[0060] In this application, a gear shifting command is generated based on the actual vehicle speed, the throttle opening, and the target shift speed. The gear shifting command can be an upshift command or a downshift command. Based on the upshift command or downshift command, the vehicle is controlled to perform an upshift or downshift operation.

[0061] In one embodiment of this application, the method further includes: after generating a gear shifting command, predicting whether the engine speed is in the high torque operating range; if the engine speed is in the high torque operating range, triggering the execution of the gear shifting command; if the engine speed is not in the high torque operating range, refusing to execute the gear shifting command.

[0062] After generating the gear shift command, based on the gear ratio of the transmission, it is predicted whether the engine speed will be in the high torque operating range after the gear shift command is executed. If the engine speed is in the high torque operating range, the gear shift command is triggered to ensure normal acceleration of the vehicle. If the engine speed is not in the high torque operating range, the gear shift command is rejected.

[0063] To enable those skilled in the art to more easily understand this application, the following will be combined with Figures 2-6 This application will be illustrated by a specific embodiment.

[0064] Figure 2 A full characteristic curve of an engine in a specific embodiment of this application is shown.

[0065] Figure 3 The diagram shows the original characteristic curves of a hydraulic torque converter in a specific embodiment of this application.

[0066] Figure 4 The combined output full characteristic curve of the engine and hydraulic torque converter in a specific embodiment of this application is shown.

[0067] Figure 5 A quality distribution diagram of the shift region in a specific embodiment of this application is shown.

[0068] Figure 6 The diagram shows the theoretical shifting behavior parameters in a specific embodiment of this application.

[0069] The specific implementation steps are as follows:

[0070] Step 1: Obtain the vehicle's static parameters. These static parameters include at least the engine's full characteristic curve, the torque converter's original characteristic curve, and the vehicle's mass. The engine's full characteristic curve is shown below. Figure 2 As shown, the initial characteristic curve of the hydraulic torque converter is as follows: Figure 3 As shown;

[0071] Step 2: Based on the full characteristic curve of the engine and the original characteristic curve of the hydraulic torque converter, determine the joint output full characteristic curve of the engine and the hydraulic torque converter. The joint output full characteristic curve of the engine and the hydraulic torque converter is as follows: Figure 4 As shown;

[0072] Step 3: Based on the joint output full characteristic curve, determine the driving force of the vehicle at each gear and at each throttle opening.

[0073] Step 4: Based on the road condition parameters and the vehicle mass, determine the vehicle resistance, which includes at least the vehicle rolling resistance, air resistance, gradient resistance, and acceleration resistance.

[0074] Step 5: Based on the balance relationship between the driving force and the vehicle resistance, determine the theoretical shift speed of each gear of the vehicle, obtain the driving force shift curve corresponding to each throttle opening, determine the shift quality region of each gear based on the theoretical shift speed and the driving force shift curve, and construct the shift quality database of the vehicle based on the static and dynamic parameters corresponding to the shift quality region of each gear.

[0075] Step 6: Obtain the vehicle's dynamic parameters, and based on the dynamic parameters and the shift quality database, determine the current shift quality range corresponding to the vehicle's current operating state, such as... Figure 5 As shown, taking the shift from 2nd to 3rd gear as an example, L1 to L5 are the driving force curves for 2nd gear, L6 to L10 are the driving force curves for 3rd gear, and S1 to S4 are the driving force shift curves corresponding to different throttle openings. Point A is the shift point with the maximum driving force when shifting from 2nd to 3rd gear at full throttle. Curve S1 is the shift curve with the maximum driving force corresponding to different throttle openings. At this point, the engine speed reaches its maximum, resulting in high noise and shifting impact, which is detrimental to the life of the friction plates. The area below curve S1 is the engine overspeed area, and the shift quality area is poor, making it unsuitable as a shift area. Point B is the intersection of the driving force at full throttle in 2nd gear and the current resistance. Curve S2 is the shift curve with a larger driving force obtained by appropriately reducing the engine speed based on S1. The area enclosed by curves S1 and S2 is the poor shift area, where the engine power is less than the resistance, resulting in insufficient vehicle power. Point C is the early shift point set based on the current vehicle load and resistance. Line S3 is an upshift curve that further reduces engine speed based on S2. The quality of the area enclosed by curves S3 and S2 is slightly better than that of the area enclosed by curves S1 and S2. At this time, the shift can ensure the driving force of the chassis, and the shift quality area is good. However, after shifting from 2nd to 3rd gear, the driving force changes from point C to point D. At this time, the chassis driving force is less than the driving resistance, the vehicle speed decreases, and it is impossible to continue to maintain acceleration, which will cause downshifting. After downshifting to 2nd gear, the vehicle driving force increases and returns to the 2nd gear driving force curve. As the vehicle speed increases, it reaches point C again to perform the 2nd to 3rd gear operation. In this case, it is easy to cause cyclic shifting. When the system recognizes the risk of cyclic shifting, it adjusts the shift strategy to ensure that the next upshift is in the shift quality area with excellent quality. Since there is no 3rd gear driving force curve in this area, based on the current vehicle load and driving resistance, it maintains 2nd gear driving and does not perform upshifting operation. The shift quality area is excellent.

[0076] Step 7: During vehicle operation, monitor parameters such as transmission oil temperature, pressure, and engine torque in real time, and determine whether the current shift quality region is the target shift region. If the current shift quality region is the target shift region, use the theoretical target shift speed as the vehicle's target shift speed. If the current shift quality region is not the target shift region, determine the vehicle's target shift speed based on the driving force shift curve and the vehicle resistance. The vehicle's theoretical shift pattern is as follows: Figure 6 As shown;

[0077] Step 8: When the actual vehicle speed reaches the target shift speed, control the vehicle to perform automatic shifting.

[0078] The one or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0079] The technical solution proposed in this application is suitable for heavy-duty off-road vehicles operating under complex conditions. By introducing vehicle mass and acceleration into the dual-parameter shifting law based on throttle opening and vehicle speed, and by evaluating the working quality of the transmission in segments, the optimal shift point is determined. This avoids the impact of heavy vehicles under high loads and changes in driving resistance, ensuring the vehicle's power performance, comfort, and chassis transmission system reliability. Simultaneously, it reflects driving intentions, improves engine power utilization at high throttle, controls shift speed differences, avoids frequent shifting at low throttle, and effectively controls shift shock.

[0080] The following describes an embodiment of the apparatus of this application, which can be used to execute the control method for automatic gear shifting of a heavy-duty off-road vehicle according to the first aspect of the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiment of the control method for automatic gear shifting of a heavy-duty off-road vehicle according to the first aspect of this application.

[0081] Figure 7 A block diagram of a control device for automatic gear shifting in a heavy-duty off-road vehicle according to an embodiment of this application is shown.

[0082] like Figure 7 As shown in the embodiment of this application, the control device 700 for automatic gear shifting of heavy off-road vehicle includes: a first acquisition unit 701, a construction unit 702, a second acquisition unit 703, a determination unit 704, and a control unit 705.

[0083] The system comprises the following components: a first acquisition unit 701, used to acquire static parameters of the vehicle and road condition parameters of the driving road, wherein the static parameters include at least the full characteristic curve of the engine, the original characteristic curve of the torque converter, and the vehicle mass; a construction unit 702, used to construct a shift quality database of the vehicle based on the static parameters and the road condition parameters, wherein the shift quality database is used to determine the shift quality region corresponding to the vehicle's operating state, and the shift quality region is used to evaluate the quality of the vehicle's shifting operation; a second acquisition unit 703, used to acquire dynamic parameters of the vehicle and, based on the dynamic parameters and the shift quality database, determine the current shift quality region corresponding to the vehicle's current operating state, wherein the dynamic parameters include at least the vehicle's driving force, throttle opening, and actual vehicle speed; a determination unit 704, used to determine the target shift speed of the vehicle based on the current shift quality region; and a control unit 705, used to control the vehicle to perform shifting based on the dynamic parameters and the target shift speed.

[0084] In some embodiments of this application, based on the foregoing scheme, the construction unit 702 is configured to: determine the joint output full characteristic curve of the engine and the torque converter based on the full characteristic curve of the engine and the original characteristic curve of the torque converter; determine the driving force of each gear of the vehicle at each throttle opening based on the joint output full characteristic curve; determine the vehicle resistance based on the road condition parameters and the vehicle mass; and construct the vehicle shift quality database based on the driving force and the vehicle resistance.

[0085] In some embodiments of this application, based on the foregoing scheme, the construction unit 702 is further configured to: input the joint output full characteristic curve into the trained vehicle driving force limiting model to obtain the driving force of the vehicle at each gear and at each throttle opening.

[0086] In some embodiments of this application, based on the foregoing scheme, the construction unit 702 is further configured to: determine the theoretical shift speed of each gear of the vehicle based on the balance relationship between the driving force and the vehicle resistance; obtain the driving force shift curve corresponding to each throttle opening; determine the shift quality region of each gear based on the theoretical shift speed and the driving force shift curve; and construct the shift quality database of the vehicle based on the static parameters and dynamic parameters corresponding to the shift quality region of each gear.

[0087] In some embodiments of this application, based on the foregoing scheme, the determining unit 704 is configured to: determine whether the current shift quality region is the target shift region; if the current shift quality region is not the target shift region, then determine the target shift speed of the vehicle based on the driving force shift curve and the vehicle resistance.

[0088] In some embodiments of this application, based on the foregoing scheme, the control unit 705 is configured to: generate a gear shifting command based on the actual vehicle speed, the throttle opening and the target gear shifting speed; and control the vehicle to shift gears based on the gear shifting command.

[0089] In some embodiments of this application, based on the foregoing scheme, the device further includes a prediction unit, which is used to predict whether the engine speed is in the high torque operating range after generating the gear shifting command; if the engine speed is in the high torque operating range, the gear shifting command is triggered to be executed; if the engine speed is not in the high torque operating range, the gear shifting command is rejected.

[0090] This application also provides a computer program product comprising computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the automatic gear shifting control method for heavy-duty off-road vehicles as described in the above embodiments.

[0091] This application also provides a computer-readable medium, which may be included in an electronic device or exist independently without being assembled into an electronic device. The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to implement the automatic gear shifting control method for heavy-duty off-road vehicles described in the above embodiments.

[0092] This application also provides an electronic device, which includes one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to implement the control method for automatic gear shifting of heavy off-road vehicles as described in any of the above embodiments.

[0093] Figure 8 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown.

[0094] It should be noted that, Figure 8 The computer system 800 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0095] like Figure 8As shown, the computer system 800 includes a Central Processing Unit (CPU) 801, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 802 or programs loaded from storage portion 808 into Random Access Memory (RAM) 803, such as performing the methods described in the above embodiments. The RAM 803 also stores various programs and data required for system operation. The CPU 801, ROM 802, and RAM 803 are interconnected via a bus 804. An Input / Output (I / O) interface 805 is also connected to the bus 804.

[0096] The following components are connected to I / O interface 805: an input section 806 including a keyboard, mouse, etc.; an output section 807 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to I / O interface 805 as needed. A removable medium 811, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 810 as needed so that computer programs read from it can be installed into storage section 808 as needed.

[0097] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 809, and / or installed from removable medium 811. When the computer program is executed by central processing unit (CPU) 801, it performs various functions defined in the system of this application.

[0098] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such transmitted data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0099] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0100] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0101] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0102] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the method according to the embodiments of this application.

[0103] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0104] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of this application, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0105] It should be understood that this application is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A control method for automatic gear shifting in a heavy-duty off-road vehicle, characterized in that, The method includes: Obtain the vehicle's static parameters and the road condition parameters of the driving road. The static parameters include at least the engine's full characteristic curve, the hydraulic torque converter's original characteristic curve, and the vehicle's mass. Based on the full characteristic curve of the engine and the original characteristic curve of the hydraulic torque converter, the joint output full characteristic curve of the engine and the hydraulic torque converter is determined. Based on the joint output full characteristic curve, the driving force of the vehicle at each gear and at each throttle opening is determined; Based on the road condition parameters and the vehicle mass, determine the vehicle resistance; Based on the balance between the driving force and the vehicle resistance, the theoretical shift speed of each gear of the vehicle is determined. Obtain the driving force shift curve corresponding to each throttle opening; Based on the theoretical shift speed and the driving force shift curve, the shift quality range of each gear is determined, and the shift quality range is used to evaluate the quality of the vehicle's shift operation. Based on the static parameters corresponding to the shift quality regions of each gear and the acquired dynamic parameters, a shift quality database of the vehicle is constructed. The dynamic parameters include at least the driving force, throttle opening and actual vehicle speed of the vehicle. The shift quality database is used to determine the shift quality regions corresponding to the working state of the vehicle. Based on the dynamic parameters and the shift quality database, the current shift quality range corresponding to the current operating state of the vehicle is determined; Based on the current shift quality range, the target shift speed of the vehicle is determined; Based on the dynamic parameters and the target shift speed, the vehicle is controlled to shift gears.

2. The method according to claim 1, characterized in that, The determination of the driving force of the vehicle at each gear and each throttle opening based on the joint output full characteristic curve includes: The combined output full characteristic curve is input into the trained vehicle driving force constraint model to obtain the driving force of the vehicle in each gear at each throttle opening.

3. The method according to claim 1, characterized in that, Determining the target shift speed of the vehicle based on the current shift quality range includes: Determine whether the current shift quality area is the target shift area; If the current shift quality region is not the target shift region, then the target shift speed of the vehicle is determined based on the driving force shift curve and the vehicle resistance.

4. The method according to claim 1, characterized in that, The step of controlling the vehicle to shift gears based on the dynamic parameters and the target shift speed includes: Based on the actual vehicle speed, the throttle opening, and the target shift speed, a gear shifting command is generated; Based on the gear shifting command, the vehicle is controlled to shift gears.

5. The method according to claim 4, characterized in that, The method further includes: After generating the gear shift command, it is predicted whether the engine speed is in the high torque operating range; If the engine speed is in the high torque operating range, the gear shift command is triggered. If the engine speed is not in the high torque operating range, the gear shift command will not be executed.

6. A control device for automatic gear shifting in a heavy-duty off-road vehicle, characterized in that, The device includes: The first acquisition unit is used to acquire the static parameters of the vehicle and the road condition parameters of the driving road. The static parameters include at least the full characteristic curve of the engine, the original characteristic curve of the hydraulic torque converter, and the vehicle mass. A construction unit is used to determine the combined output full characteristic curve of the engine and the torque converter based on the engine's full characteristic curve and the torque converter's original characteristic curve; to determine the driving force of each gear of the vehicle at each throttle opening based on the combined output full characteristic curve; to determine the vehicle resistance based on the road condition parameters and the vehicle mass; to determine the theoretical shift speed of each gear of the vehicle based on the balance relationship between the driving force and the vehicle resistance; to obtain the driving force shift curve corresponding to each throttle opening; to determine the shift quality region of each gear based on the theoretical shift speed and the driving force shift curve, the shift quality region being used to evaluate the quality of the vehicle's shifting operation; and to construct a shift quality database of the vehicle based on the static parameters corresponding to the shift quality regions of each gear and the obtained dynamic parameters, the dynamic parameters including at least the vehicle's driving force, throttle opening, and actual vehicle speed, the shift quality database being used to determine the shift quality region corresponding to the vehicle's operating state. The second acquisition unit is used to determine the current shift quality region corresponding to the current working state of the vehicle based on the dynamic parameters and the shift quality database. The determining unit is used to determine the target shift speed of the vehicle based on the current shift quality range; The control unit is used to control the vehicle to shift gears based on the dynamic parameters and the target shift speed.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to implement the control method for automatic gear shifting of a heavy-duty off-road vehicle as described in any one of claims 1 to 5.

8. An electronic device, characterized in that, The electronic device includes one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to implement the control method for automatic gear shifting of a heavy-duty off-road vehicle as described in any one of claims 1 to 5.

Images