A shift compensation method and device of a vehicle, an electronic device, and a storage medium

Abstract

The application discloses a gear shifting compensation method and device for a vehicle, electronic equipment and a storage medium. In the process of driving the vehicle, road slope data and environmental air pressure data at each moment are detected; a slope parameter is determined based on the road slope data at each moment, and a slope compensation coefficient is determined based on the slope parameter and current gear data; a plateau compensation coefficient is determined based on the environmental air pressure data, the slope parameter and the opening degree of the accelerator pedal of the vehicle; current gear shifting compensation data is determined based on the slope compensation coefficient, the plateau compensation coefficient, a basic gear shifting rule and a specific scene gear shifting rule, and gear shifting compensation is performed based on the current gear shifting compensation data. In the technical solution, the slope compensation coefficient and the plateau compensation coefficient are determined according to the detection data, the gear shifting compensation data is determined according to a dynamic compensation algorithm, the basic gear shifting rule is compensated, and the safety hidden danger caused by some complex and extreme working conditions is effectively avoided, and the driving performance and safety in the driving process are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a gear shifting compensation method and device for a vehicle, an electronic device and a storage medium. BACKGROUND

[0002] With the continuous progress of the automobile industry, the degree of electronicization is also increasing, and the market share of manual transmissions is continuously decreasing, and the proportion of automatic transmissions is continuously increasing.

[0003] In the development process of automatic transmissions, the common automatic transmission modes mainly include liquid automatic transmission, electrically controlled mechanical automatic transmission, stepless automatic transmission, and dual clutch automatic transmission. The shift rule is one of the core control factors of the automatic transmission. In the driving process of the vehicle, the two-parameter control method of vehicle speed and accelerator pedal opening degree is applied by obtaining the driving demand information of the driver, that is, the automatic transmission selects the corresponding gear according to the vehicle speed and the accelerator pedal opening degree.

[0004] In the above-mentioned scheme, the shift rule used is difficult to cover the driving scenarios encountered by the driver. In a complex driving scenario, the shift rule will not meet the free shift demand, which will affect the driving performance and driving experience, and will also lead to a shift gear that does not meet the actual demand, which has certain safety hazards. SUMMARY

[0005] The present application provides a gear shifting compensation method and device for a vehicle, an electronic device and a storage medium to solve the safety hazard problems caused by some complex extreme working conditions and the problem of appearing a gear that does not meet the actual demand.

[0006] According to an aspect of the present application, a gear shifting compensation method for a vehicle is provided, comprising:

[0007] During the driving of the vehicle, the road slope data and the environmental pressure data at each time are detected;

[0008] The slope parameter is determined based on the road slope data at each time, and the slope compensation coefficient is determined based on the slope parameter and the current gear data;

[0009] The plateau compensation coefficient is determined based on the environmental pressure data, the slope parameter and the accelerator pedal opening degree of the vehicle;

[0010] The current gear shifting compensation data is determined based on the slope compensation coefficient, the plateau compensation coefficient, the basic gear shifting rule and the specific scene gear shifting rule, and the gear shifting compensation is performed based on the current gear shifting compensation data.

[0011] Optionally, the slope parameter is determined based on the road slope data at each time, comprising:

[0012] determine a slope change amount of each time relative to a previous time based on the road slope data of each time;

[0013] in a case where the slope change amount of the current time is greater than the change amount threshold and the duration is greater than the duration threshold, update the slope parameter of the current time based on the road slope data of the current time;

[0014] in a case where the slope change amount of the current time is less than the change amount threshold and / or the duration is less than the duration threshold, keep the previous slope parameter unchanged.

[0015] Optionally, updating the slope parameter of the current time based on the road slope data of the current time comprises:

[0016] querying the road slope data of the current time in a slope mapping table to determine the slope parameter of the current time.

[0017] Optionally, determining the slope compensation coefficient based on the slope parameter and the current gear data comprises:

[0018] querying the slope parameter and the current gear data in a slope compensation mapping table to obtain the slope compensation coefficient.

[0019] Optionally, determining the plateau compensation coefficient based on the environmental air pressure data, the slope parameter and the throttle pedal opening of the vehicle comprises:

[0020] determining an atmospheric pressure coefficient based on the environmental air pressure data and the standard air pressure data, and determining a corresponding air pressure parameter based on the atmospheric pressure coefficient;

[0021] determining a first compensation coefficient based on the air pressure parameter and the throttle pedal opening, and determining a second compensation coefficient based on the slope parameter and the throttle pedal opening;

[0022] determining the plateau compensation coefficient based on the first compensation coefficient and the second compensation coefficient.

[0023] Optionally, determining the current shift compensation data based on the slope compensation coefficient, the plateau compensation coefficient, the basic shift rule and the specific scene shift rule comprises:

[0024] determining a first output shaft speed based on the gear data and the throttle pedal opening of the vehicle at the current time in the specific scene shift rule, and determining a second output shaft speed based on the gear data and the throttle pedal opening of the vehicle at the current time in the basic shift rule;

[0025] compensating for a difference between the first output shaft speed and the second output shaft speed based on the slope compensation coefficient to obtain intermediate compensation data;

[0026] The intermediate compensation data and the sum of the second output shaft speed are compensated based on the plateau compensation coefficient to obtain the current shift compensation data.

[0027] Optionally, shift compensation can be performed based on the current shift compensation data, including:

[0028] Obtain the vehicle's current output shaft speed, and determine the target output shaft speed based on the current shift compensation data and the current output shaft speed;

[0029] Gear compensation data is determined based on the vehicle's accelerator pedal opening, gear data, and target output shaft speed;

[0030] The vehicle performs shift compensation based on gear compensation data.

[0031] Optionally, after collecting road slope data and ambient air pressure data at each time point, the method further includes:

[0032] Based on the road slope data at each time point, determine whether the vehicle driving environment meets the slope compensation conditions. If not, set the slope compensation coefficient as the first coefficient.

[0033] Based on the ambient air pressure data at each time point, determine whether the vehicle's driving environment meets the high-altitude correction conditions. If not, set the high-altitude compensation coefficient as the second coefficient.

[0034] According to another aspect of the present invention, a shift compensation device for a vehicle is provided, comprising:

[0035] The data acquisition module is used to detect road slope data and ambient air pressure data at various times during vehicle operation;

[0036] The slope compensation coefficient determination module is used to determine the slope parameters based on the road slope data at each time point, and to determine the slope compensation coefficient based on the slope parameters and the current gear data.

[0037] The plateau compensation coefficient determination module is used to determine the plateau compensation coefficient based on environmental air pressure data, slope parameters, and the vehicle's accelerator pedal opening.

[0038] The shift compensation execution module is used to determine the current shift compensation data based on the slope compensation coefficient, plateau compensation coefficient, basic shift rules and specific scenario shift rules, and to perform shift compensation based on the current shift compensation data.

[0039] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0040] At least one processor; and

[0041] A memory that is communicatively connected to at least one processor; wherein,

[0042] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the shift compensation method of the vehicle according to any one of the embodiments of the present application.

[0043] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the shift compensation method of the vehicle according to any one of the embodiments of the present application when executed by the processor.

[0044] The technical scheme of the embodiments of the present application determines the slope compensation coefficient and the slope compensation coefficient according to the detection data, and then determines the shift compensation data according to the dynamic compensation algorithm, so as to compensate the basic shift rule, effectively avoiding the safety hazards brought by some complex extreme working conditions; solving the problems of safety hazards brought by some complex extreme working conditions and the problem of not meeting the actual demand of the gear; and improving the driving performance and driving safety during driving.

[0045] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0047] Figure 1 is a flow chart of a shift compensation method of a vehicle provided by the first embodiment of the present application;

[0048] Figure 2 is a shift rule characteristic diagram of a transmission suitable for the embodiments of the present application;

[0049] Figure 3 is a flow chart of a shift compensation method of a vehicle provided by the second embodiment of the present application;

[0050] Figure 4 is a structural schematic diagram of a shift compensation device of a vehicle provided by the third embodiment of the present application;

[0051] Figure 5 is a structural schematic diagram of an electronic device for implementing the shift compensation method of the vehicle according to the embodiments of the present application. DETAILED DESCRIPTION

[0052] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application by persons skilled in the art. Obviously, the described embodiments are only a part of embodiments of the present application, rather than all embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative work should belong to the protection scope of the present application.

[0053] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in other than the order illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a list of steps or units need not be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to such processes, methods, products or devices.

[0054] Embodiment one

[0055] Figure 1 is a flowchart of a shift compensation method of a vehicle provided by embodiment one of the present application. The embodiment can be applicable to the case of automatic shift using an automatic transmission of a vehicle. The method can be executed by a shift compensation device of the vehicle, which can be realized in the form of hardware and / or software, and can be configured in an electronic device such as a vehicle control system built in the vehicle. As shown in Figure 1 , the method comprises:

[0056] S110, detecting road slope data and ambient pressure data at each time during vehicle driving.

[0057] The road slope data specifically refers to the slope value of the road. The slope can be understood as the ratio of the vertical height of the slope to the horizontal length. The slope can also be referred to as the slope ratio and can be expressed in percentage or degree. For example, a slope of 30% means that in a horizontal distance of 100 meters, the vertical direction rises 30 meters. The slope can also be calculated using the inverse trigonometric function, i.e., slope = arctan(vertical distance / horizontal distance). The horizontal distance and vertical distance can be obtained by a distance sensor, and the slope can be calculated and determined by a vehicle controller. The road slope can also be detected and obtained by a road slope detection device, which is not limited here.

[0058] Specifically, during the vehicle driving process, the road slope data and the environmental air pressure data of the road driven by the vehicle are detected by the slope detection device and the air pressure detection device, respectively. The specific detection time can be set as needed, such as detecting once every two seconds. The difference between each detection time is two seconds. The detection data at each time is saved to the vehicle control system or the Internet of Vehicles platform.

[0059] Further, the road slope data at each time can be filtered in advance using a slope value filtering mechanism, and the environmental air pressure data can be filtered in advance using a hysteresis mechanism. This helps to accurately identify the change value of the input parameter and improves the accuracy of the shift compensation.

[0060] In this embodiment, during the vehicle driving process, the road slope data and the environmental air pressure data at each time are detected and obtained by the detection device, providing data basis for subsequent dynamic compensation.

[0061] S120, determining a slope parameter based on the road slope data at each time, and determining a slope compensation coefficient based on the slope parameter and the current gear data.

[0062] The slope parameter can be understood as a variable that describes the slope, which can be a slope signal or a slope interpolation. There is a certain mapping relationship between the slope signal and the slope interpolation. The specific mapping relationship can be realized by a mapping relationship table and can be calibrated according to actual needs. The compensation coefficient can be understood as a coefficient set to reduce or eliminate the difference between the expected value and the actual value. The slope compensation coefficient can be understood as a correction coefficient of the corresponding slope of the road driven by the vehicle. The output shaft speed of the vehicle is compensated by the slope compensation coefficient, so that the output shaft speed of the vehicle can meet the safety driving requirements of the vehicle.

[0063] Specifically, during vehicle driving, the slope compensation coefficient is determined according to the slope parameter and the current gear data. The slope interpolation corresponding to the slope signal is determined through the mapping relationship table of the slope signal and the slope interpolation, the slope signal is taken as the input value of the mapping relationship table of the slope signal and the slope interpolation, the slope interpolation corresponding to the input slope signal is obtained through the processing of the mapping relationship table; the slope interpolation and the current gear are taken as the input value of the relationship table of the slope interpolation, the gear and the slope compensation coefficient, and the slope compensation coefficient corresponding to the current gear is obtained. Generally, when the slope correction enabling signal SlopeFlag≠1 is detected, the slope compensation coefficient a is set to the default value 0; when the slope correction enabling signal SlopeFlag=1 is detected, the slope compensation coefficient calculation strategy is triggered, the slope compensation coefficient is calculated, and the slope compensation coefficient is updated. The slope correction enabling signal can be determined by the vehicle control system according to the slope of the driving road of the vehicle, for example, the slope value of the driving road can be greater than the pre-set slope value, and then the slope correction enabling signal SlopeFlag can be set to 1; otherwise, it is not equal to 1.

[0064] In the embodiment, the slope compensation coefficient in the driving environment where the current vehicle is located is determined through the slope compensation coefficient calculation strategy, which provides a data basis for subsequently determining the appropriate output shaft speed required by the vehicle in the current driving environment, and helps to determine the output shaft speed of the vehicle adapted to the current driving environment.

[0065] S130, determining a plateau compensation coefficient based on the environmental air pressure data, the slope parameter and the accelerator pedal opening degree of the vehicle.

[0066] The environmental air pressure data can be understood as the atmospheric pressure value of the driving environment of the vehicle, which can be detected by the air pressure detection device configured on the vehicle, or by connecting an external air pressure monitoring device, which is not limited here.

[0067] Specifically, the environment air pressure data, the slope parameter and the accelerator opening degree of the vehicle during driving are acquired by the detection device in the vehicle, and then the acquired data are taken as input parameters to calculate the plateau compensation coefficient by triggering the plateau compensation coefficient calculation strategy. The plateau compensation coefficient calculation strategy is to determine the corresponding plateau compensation coefficient by comprehensively checking the corresponding relationship mapping table according to the environment air pressure data, the slope parameter and the accelerator opening degree of the vehicle during driving. Generally, when the plateau correction enabling signal AltFlag ≠ 1 is detected, the plateau compensation coefficient β is set to the default value 1; when the plateau correction enabling signal AltFlag = 1 is detected, the plateau compensation coefficient calculation strategy is triggered to calculate the plateau compensation coefficient and update the plateau compensation coefficient. The plateau correction enabling signal can be determined by the vehicle control system according to the environment air pressure data of the driving road of the vehicle, and the value of AltFlag is updated according to the ratio of the current atmospheric pressure to the standard value.

[0068] In the embodiment, by taking the detected environment air pressure data, the slope parameter and the accelerator pedal opening degree of the vehicle as the input parameters of the plateau compensation coefficient calculation strategy, the output parameter, i.e. the plateau compensation coefficient, is determined after calculation, which is helpful for accurately determining the output shaft speed of the vehicle adapted to the current driving environment subsequently.

[0069] S140, determine the current shift compensation data based on the slope compensation coefficient, the plateau compensation coefficient, the basic shift rule and the specific scene shift rule, and perform shift compensation based on the current shift compensation data.

[0070] The basic shift rule can be understood as a calibratable basic characteristic map or characteristic table, which is used to represent the shift law under all common working conditions, such as common economic basic characteristic map, comfortable basic characteristic map, sporty basic characteristic map, etc. The shift law refers to the law of gear position changing with control parameters, i.e. the relationship between gear position and control parameters at the time of shifting. The control parameters include but are not limited to vehicle speed, traction, accelerator opening degree, engine speed, torque, control force, etc. The basic shift law can be calibrated by test or practical data, and the basic shift law of different types of vehicles will be different, which can be optimized in time according to the actual driving conditions. The specific scene shift rule can be understood as a calibratable extreme compensation characteristic map or characteristic table, which is used to represent the shift law under uphill and downhill extreme working conditions. The basic shift rule and the specific scene shift rule can be pre-set in the controller of the vehicle.

[0071] The basic characteristic map or characteristic table is composed of two parts, one part is upshift, and the other part is downshift; the compensation characteristic map or characteristic table has two input shafts, which are the accelerator pedal opening and the gear position respectively, and the output is the output shaft speed of the transmission; the economic basic characteristic map or characteristic table: the shift schedule for improving fuel economy, under the premise of ensuring the basic power demand of the vehicle, makes the transmission work in a more fuel-saving state; the comfortable basic characteristic map or characteristic table: the default shift schedule of the vehicle, which is applicable to most working conditions, and takes into account fuel economy and power performance; the sporty basic characteristic map or characteristic table: the shift schedule for improving power performance, which makes the transmission work in a more powerful state.

[0072] Specifically, the vehicle control system can calculate the current shift compensation data according to the slope compensation coefficient, the plateau compensation coefficient, the basic shift rule and the specific scene shift rule, and then perform shift compensation processing according to the current shift compensation data to complete the timely shift of the vehicle.

[0073] Optionally, the current shift compensation data is determined based on the slope compensation coefficient, the plateau compensation coefficient, the basic shift rule and the specific scene shift rule, including: determining a first output shaft speed based on the gear position data of the vehicle at the current time and the accelerator pedal opening in the specific scene shift rule, and determining a second output shaft speed based on the gear position data of the vehicle at the current time and the accelerator pedal opening in the basic shift rule; compensating the difference between the first output shaft speed and the second output shaft speed based on the slope compensation coefficient to obtain intermediate compensation data; compensating the sum of the intermediate compensation data and the second output shaft speed based on the plateau compensation coefficient to obtain the current shift compensation data.

[0074] The first output shaft speed can be understood as the transmission output shaft speed determined according to the specific scene shift rule and matched with the gear position data, accelerator opening and other parameters of the current vehicle. The second output shaft speed can be understood as the transmission output shaft speed determined according to the basic shift rule and matched with the gear position data, accelerator opening and other parameters of the current vehicle. The matching rule can be set in the vehicle controller in advance, and the gear position data, accelerator opening and other parameters of the current vehicle are input parameters, the matching rule is executed by the controller, and the transmission output shaft speed matched with the gear position data, accelerator opening and other parameters of the current vehicle is output by the controller.

[0075] Specifically, the first output shaft speed and the second output shaft speed are compensated based on the slope compensation coefficient to obtain intermediate compensation data, and the calculation formula of the intermediate compensation data is as follows:

[0076] (MAP offset -MAP basic )×α

[0077] Wherein, MAPoffset represents the first output shaft speed, i.e. the output shaft speed of the extreme compensation characteristic map or characteristic table output which can be calibrated, MAP basic represents the second output shaft speed, i.e. the output shaft speed of the basic compensation characteristic map or characteristic table output, and a is a slope compensation coefficient.

[0078] Further, the intermediate compensation data and the second output shaft speed are compensated according to a plateau compensation coefficient to obtain current shift compensation data, and a calculation formula of the current shift compensation data is as follows:

[0079] ((MAP offset -MAP basic ) x a + MAP basic ) x b

[0080] wherein b is a plateau compensation coefficient. The calculation result of the above formula is the current shift compensation data.

[0081] Specifically, the current shift compensation data is determined by using a dynamic compensation algorithm based on the slope compensation coefficient, the plateau compensation coefficient, the basic shift rule and the specific scene shift rule, and a formula of the dynamic compensation algorithm is the calculation formula of the current shift compensation data.

[0082] In this embodiment, the intermediate compensation data and the current shift compensation data are determined by using the slope compensation coefficient, the plateau compensation coefficient, the basic shift rule and the specific scene shift rule and the dynamic compensation algorithm, which is helpful to accurately determine the gear required for the current driving and complete the shift compensation.

[0083] Optionally, the shift compensation is performed based on the current shift compensation data, including: obtaining a current output shaft speed of the vehicle, determining a target output shaft speed based on the current shift compensation data and the current output shaft speed; determining gear compensation data based on a throttle pedal opening degree, gear data and the target output shaft speed of the vehicle; and performing shift compensation on the vehicle based on the gear compensation data.

[0084] Specifically, the current output shaft speed of the vehicle can be obtained by a vehicle controller, and the target output shaft speed is determined by adding the current shift compensation data and the current output shaft speed. The target output shaft speed, the throttle pedal opening degree and the gear data of the vehicle are used as input parameters of a transmission shift rule characteristic map to output the gear compensation data. The transmission shift rule characteristic map can be pre-set in the vehicle controller, and the transmission shift rule characteristic map is as shown in FIG. 2. The transmission shift rule characteristic map contains data such as the throttle pedal opening degree, the shift gear, the transmission output shaft speed, etc. Automatic shift processing is performed according to the obtained gear compensation data to complete the shift compensation. Figure 2

[0085] ​Further, after detecting the road slope data and the ambient pressure data at each time, the method further comprises: determining whether the vehicle driving environment satisfies the slope compensation condition based on the road slope data at each time, and if not, setting the slope compensation coefficient as a first coefficient; determining whether the vehicle driving environment satisfies the plateau correction condition based on the ambient pressure data at each time, and if not, setting the plateau compensation coefficient as a second coefficient.

[0086] The slope compensation condition can be understood as a limit on the change amount of the slope of the road on which the vehicle travels at different times, for example, a threshold value of the change amount of the slope is set. If the change amount of the slope of the road on which the vehicle currently travels exceeds the set threshold value and lasts for a certain time, it can be determined that the vehicle driving environment satisfies the slope compensation condition, otherwise, it does not satisfy. Correspondingly, the plateau correction condition can be understood as a limit on the ambient pressure data of the road on which the vehicle travels at different times, for example, a threshold value of the ambient pressure data is set. If the ambient pressure data of the road on which the vehicle currently travels exceeds the set threshold value and lasts for a certain time, it can be determined that the vehicle driving environment satisfies the plateau correction condition, otherwise, it does not satisfy. The corresponding correction enabling signal can be set to trigger the broken road correction strategy. The first coefficient can be understood as setting the slope compensation coefficient to 0, indicating that there is no slope-related compensation, i.e., the transmission uses the basic characteristic map or characteristic table MAP basic for shifting. The second coefficient can be understood as setting the plateau compensation coefficient to 1, indicating that there is no plateau-related compensation data, i.e., the transmission uses the basic characteristic map or characteristic table MAP basic for shifting.

[0087] Specifically, after detecting the driving data at each time during the driving of the vehicle, the road slope data and the ambient pressure data of the vehicle at each time are determined, and then the slope threshold value, the time threshold value and the ambient pressure data threshold value are set to determine whether the vehicle driving environment satisfies the slope compensation condition and the plateau correction condition. If not, the slope compensation coefficient is set to the first coefficient, i.e., the slope compensation coefficient is set to 0, and the plateau compensation coefficient is set to the second coefficient, i.e., the plateau compensation coefficient is set to 1.

[0088] The technical scheme of the embodiment determines the slope compensation coefficient and the plateau compensation coefficient according to the detection data, and then determines the shift compensation data according to the dynamic compensation algorithm to compensate the basic shift rule, effectively avoiding the safety hazards caused by some complex extreme working conditions; solving the problems of safety hazards caused by some complex extreme working conditions and the occurrence of gears that do not meet the actual needs; improving the driving performance and driving safety during driving.

[0089] Embodiment Two

[0090] Figure 3 is a flowchart of a gear shift compensation method of a vehicle provided by Embodiment Two of the present application, which is a further optimization of the gear shift compensation method of the above-mentioned embodiment. Optionally, the slope change amount of each time relative to the previous time is determined based on the road slope data at each time; in the case where the slope change amount at the current time is greater than the change amount threshold and the duration is greater than the duration threshold, the slope parameter at the current time is updated based on the road slope data at the current time; the road slope data at the current time is queried in the slope mapping table to determine the slope parameter at the current time; the slope parameter and the current gear data are queried in the slope compensation mapping table to obtain the slope compensation coefficient; the atmospheric pressure coefficient is determined based on the environmental air pressure data and the standard air pressure data, and the corresponding air pressure parameter is determined based on the atmospheric pressure coefficient; the first compensation coefficient is determined based on the air pressure parameter and the throttle pedal opening degree, and the second compensation coefficient is determined based on the slope parameter and the throttle pedal opening degree; and the plateau compensation coefficient is determined based on the first compensation coefficient and the second compensation coefficient. As shown in FIG. 8, the method comprises the following steps. Figure 3

[0091] S210, in the process of driving the vehicle, the detected road slope data at each time and the environmental air pressure data are obtained.

[0092] S220, the slope change amount of each time relative to the previous time is determined based on the road slope data at each time.

[0093] Specifically, in the process of driving the vehicle, the slope data of the road is detected once every time interval by a detection device, and the change amount of the slope at each time is determined by subtracting the road slope data at the previous time from the road slope data at each time and taking the absolute value.

[0094] S230, in the case where the slope change amount at the current time is greater than the change amount threshold and the duration is greater than the duration threshold, the slope parameter at the current time is updated based on the road slope data at the current time.

[0095] Specifically, the change amount threshold and the time threshold of the slope can be pre-set by the vehicle control system. The thresholds can be set according to different vehicle models and their performance. When it is detected that the slope change amount at the current time is greater than the change amount threshold and the duration is greater than the time threshold, it can be determined that the slope of the current vehicle needs to be compensated, and further, the slope parameter at the current time is updated based on the road slope data at the current time.

[0096] ​For example, when the slope change amount at the current time is greater than 3 degrees and the duration exceeds 3 seconds, it can be determined that the current vehicle needs to perform gear compensation, the slope correction enable signal SlopelFlag is set to 1, and the slope compensation coefficient calculation strategy is triggered. The slope parameter at the current time is updated based on the road slope data at the current time.

[0097] Optionally, when the slope change amount at the current time is less than the change amount threshold and / or the duration is less than the duration threshold, the last slope parameter is kept unchanged.

[0098] Specifically, when the slope change amount at the current time is less than the change amount threshold and the duration is less than the time threshold, it can be determined that the slope of the current vehicle does not need to be compensated, and the last slope parameter is kept unchanged. Also, when the slope change amount at the current time is less than the change amount threshold or the duration is less than the time threshold, it can be determined that the slope of the current vehicle does not need to be compensated, and the last slope parameter is kept unchanged.

[0099] S240, querying the road slope data at the current time in the slope mapping table to determine the slope parameter at the current time.

[0100] Specifically, the vehicle control system can traverse the pre-set slope mapping table to determine the slope parameter at the current time. For example, according to the mapping relationship table between the slope signal AXGradient and the slope interpolation SlopeIndex in Table 1, the slope corresponding to the slope interpolation SlopeIndex is obtained, wherein the input of Table 1 is the slope signal AXGradient, and the output is the slope interpolation SlopeIndex. The corresponding relationship can be calibrated according to actual needs.

[0101] Table 1: Mapping relationship table between slope signal and slope interpolation

[0102] AXGradient -18 -16 -14 -12 -10 -8 -6 -5 0 5 6 8 10 SlopeIndex 12 11 10 9 8 7 6 5 4 3 2 1 0

[0103] When the slope signal AXGradient change amount exceeds a certain threshold S hyst , and the duration reaches a threshold T hyst , the slope interpolation SlopeIndex is updated, corresponding to the value of the changed slope signal AXGradient. The threshold S hyst and the threshold T hyst can be set according to actual driving scenarios and vehicle models.

[0104] S250, querying the slope parameter and the current gear data in the slope compensation mapping table to obtain the slope compensation coefficient.

[0105] Specifically, the vehicle control system can traverse a pre-set slope compensation mapping table to determine the slope compensation coefficient. For example, the slope compensation coefficient a can be obtained by looking up a mapping relationship table between the slope compensation coefficient and the gear according to the slope interpolation SlopeIndex and the current gear, the input of Table 2 is two input axes such as the slope interpolation and the current gear, and the output is the slope compensation coefficient a, and the corresponding relationship can be calibrated according to actual requirements.

[0106] Table 2: Mapping relationship table between slope compensation coefficient and gear

[0107]

[0108] S260, determining an atmospheric pressure coefficient based on the environmental pressure data and the standard pressure data, and determining a corresponding pressure parameter based on the atmospheric pressure coefficient.

[0109] Specifically, the vehicle control system can traverse a pre-set mapping relationship table between the atmospheric pressure coefficient and the pressure interpolation to determine the slope parameter at the current time. For example, the pressure interpolation AltIndex corresponding to the atmospheric pressure coefficient can be obtained by looking up Table 3: Mapping relationship table between atmospheric pressure coefficient and pressure interpolation according to the atmospheric pressure coefficient LatitudeFac, wherein the atmospheric pressure coefficient LatitudeFac is the ratio of the current atmospheric pressure to the standard atmospheric pressure; the input of Table 3 is the atmospheric pressure coefficient, and the output is the pressure interpolation, and the corresponding relationship can be calibrated according to actual requirements.

[0110] Table 3: Mapping relationship table between atmospheric pressure coefficient and pressure interpolation

[0111] LatitudeFac 0.5 0.6 0.65 0.7 0.75 0.8 0.9 1 AltIndex 0 1 2 3 4 5 6 7

[0112] S270, determining a first compensation coefficient based on the pressure parameter and the accelerator pedal opening, and determining a second compensation coefficient based on the slope parameter and the accelerator pedal opening.

[0113] Specifically, the vehicle control system can traverse a pre-set mapping relationship table between the pressure interpolation, the accelerator pedal opening and the compensation coefficient to determine the slope compensation coefficient. For example, the first compensation coefficient β1 can be obtained by looking up Table 4: Mapping relationship table between pressure interpolation, accelerator pedal opening and compensation coefficient according to the pressure interpolation AltIndex and the accelerator pedal opening, the input of Table 4 is two input axes such as the pressure interpolation and the accelerator pedal opening, and the output is the first compensation coefficient β1, and the corresponding relationship can be calibrated according to actual requirements.

[0114] Table 4: Mapping relationship table between pressure interpolation, accelerator pedal opening and compensation coefficient

[0115]

[0116] The second compensation coefficient β2 is obtained according to the slope interpolation and the accelerator pedal opening degree look-up table 5, the input of table 5 is the slope interpolation SlopeIndex and the accelerator pedal opening degree, and the output is the second compensation coefficient β2, and the corresponding relationship can be calibrated according to actual requirements.

[0117] Table 5: Slope interpolation, accelerator pedal opening degree and compensation coefficient mapping table

[0118]

[0119] S280, determining a plateau compensation coefficient based on the first compensation coefficient and the second compensation coefficient.

[0120] Specifically, the plateau compensation coefficient β = the first compensation coefficient β1 x the second compensation coefficient β2. The default value of β is 1, and the default values of β1 and β2 are also 1. Only when the plateau correction enabling signal AltFlag = 1, the values of β1 and β2 will be updated.

[0121] S290, determining current shift compensation data based on the slope compensation coefficient, the plateau compensation coefficient, the basic shift rule and the specific scene shift rule, and performing shift compensation based on the current shift compensation data.

[0122] The technical scheme of the embodiment determines the slope compensation coefficient and the slope compensation coefficient according to the detection data, and then determines the shift compensation data according to the dynamic compensation algorithm, so as to compensate the basic shift rule, effectively avoiding the safety hazards brought by some complex extreme working conditions; solving the safety hazard problems and the problem of not meeting the actual demand of gear position brought by some complex extreme working conditions; and improving the accuracy of automatic gear shifting and the driving performance and driving safety in the driving process.

[0123] Embodiment three

[0124] Figure 4 is a structural schematic diagram of a shift compensation device of a vehicle provided by the embodiment three. As shown in the figure, Figure 4 the device comprises:

[0125] The data detection module 310 is configured to detect road slope data and environmental pressure data at each time during the driving of the vehicle.

[0126] The slope compensation coefficient determination module 320 is configured to determine a slope parameter based on the road slope data at each time, and determine a slope compensation coefficient based on the slope parameter and current gear data.

[0127] The plateau compensation coefficient determination module 330 is configured to determine a plateau compensation coefficient based on the environmental pressure data, the slope parameter and the accelerator pedal opening degree of the vehicle.

[0128] The shift compensation execution module 340 is configured to determine current shift compensation data based on the slope compensation coefficient, the plateau compensation coefficient, the basic shift rule and the specific scene shift rule, and perform shift compensation based on the current shift compensation data.

[0129] Optionally, the slope compensation coefficient determination module 320 is specifically configured to:

[0130] The slope parameter is determined based on the road slope data at each moment, including:

[0131] The slope change amount of each moment relative to the previous moment is determined based on the road slope data at each moment.

[0132] In a case where the slope change amount at the current moment is greater than the change amount threshold and the duration is greater than the duration threshold, the slope parameter at the current moment is updated based on the road slope data at the current moment;

[0133] In a case where the slope change amount at the current moment is less than the change amount threshold and / or the duration is less than the duration threshold, the last slope parameter is kept unchanged.

[0134] The slope parameter at the current moment is updated based on the road slope data at the current moment, including:

[0135] The road slope data at the current moment is queried in the slope mapping table to determine the slope parameter at the current moment.

[0136] The slope compensation coefficient is determined based on the slope parameter and the current gear data, including:

[0137] The slope parameter and the current gear data are queried in the slope compensation mapping table to obtain the slope compensation coefficient.

[0138] Optionally, the plateau compensation coefficient determination module 330 is specifically configured to:

[0139] The plateau compensation coefficient is determined based on the environmental air pressure data, the slope parameter and the accelerator pedal opening degree of the vehicle, including:

[0140] The atmospheric pressure coefficient is determined based on the environmental air pressure data and the standard air pressure data, and the corresponding air pressure parameter is determined based on the atmospheric pressure coefficient;

[0141] The first compensation coefficient is determined based on the air pressure parameter and the accelerator pedal opening degree, and the second compensation coefficient is determined based on the slope parameter and the accelerator pedal opening degree;

[0142] The plateau compensation coefficient is determined based on the first compensation coefficient and the second compensation coefficient.

[0143] Optionally, the shift compensation execution module 340 is specifically configured to:

[0144] The current gear shifting compensation data is determined based on the slope compensation coefficient, the plateau compensation coefficient, the basic gear shifting rule and the specific scene gear shifting rule, and includes:

[0145] The first output shaft speed is determined based on the specific scene gear shifting rule.

[0146] The second output shaft speed is determined based on the basic gear shifting rule.

[0147] The difference between the first output shaft speed and the second output shaft speed is compensated based on the slope compensation coefficient to obtain intermediate compensation data.

[0148] The sum of the intermediate compensation data and the second output shaft speed is compensated based on the plateau compensation coefficient to obtain the current gear shifting compensation data.

[0149] The gear shifting compensation is performed based on the current gear shifting compensation data, and includes:

[0150] The current output shaft speed of the vehicle is obtained, and the target output shaft speed is determined based on the current gear shifting compensation data and the current output shaft speed of the vehicle.

[0151] The throttle pedal opening degree and the gear data of the vehicle are obtained, and the gear compensation data is determined based on the throttle pedal opening degree, the gear data and the target output shaft speed of the vehicle.

[0152] The gear shifting compensation is performed on the vehicle based on the gear compensation data.

[0153] After detecting the road slope data and the environmental pressure data at each time, the method further includes:

[0154] It is determined whether the vehicle driving environment meets the slope compensation condition based on the road slope data at each time, and if not, the slope compensation coefficient is set to the first coefficient.

[0155] It is determined whether the vehicle driving environment meets the plateau correction condition based on the environmental pressure data at each time, and if not, the plateau compensation coefficient is set to the second coefficient.

[0156] The gear shifting compensation device of the vehicle provided in the embodiments of the present application can perform the gear shifting compensation method of the vehicle provided in any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0157] Embodiment four

[0158] Figure 5This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0159] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0160] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0161] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the shift compensation method for a vehicle.

[0162] In some embodiments, the shift compensation method of the vehicle can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, part or all of the computer program can be loaded onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the shift compensation method of the vehicle described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the shift compensation method of the vehicle by any other suitable means, e.g., by means of firmware.

[0163] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0164] Computer programs used to implement the shift compensation method of the vehicle of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program running on the processor implements the functions / operations specified in the flowcharts and / or the block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a remote machine or a server.

[0165] Embodiment Five

[0166] Embodiment five of the present application also provides a computer readable storage medium, which stores computer instructions for causing a processor to execute a shift compensation method of a vehicle, the method comprising:

[0167] During the driving of the vehicle, road slope data and ambient pressure data at each time are detected;

[0168] Determine a slope parameter based on the road slope data at each time, and determine a slope compensation coefficient based on the slope parameter and the current gear data;

[0169] Determine a plateau compensation coefficient based on the ambient pressure data, the slope parameter, and the accelerator pedal opening of the vehicle;

[0170] Determine the current shift compensation data based on the slope compensation coefficient, the plateau compensation coefficient, the basic shift rule, and the specific scene shift rule, and perform shift compensation based on the current shift compensation data.

[0171] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of electrical connections, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0172] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0173] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0174] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0175] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, and the present disclosure is not limited in this regard.

[0176] The specific embodiments described above are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that various modifications, combinations, sub-combinations, and alternatives can be made to the specific embodiments without departing from the spirit and principles of the present disclosure. Any further modifications, equivalents, and / or alternatives come within the scope of the present disclosure as recited by the claims.

Claims

1. A method for compensating gear shifting in a vehicle, characterized in that, include: During vehicle operation, road gradient data and ambient air pressure data are collected at various times. The slope parameters are determined based on the road slope data at each time point, and the slope compensation coefficient is determined based on the slope parameters and the current gear data. The plateau compensation coefficient is determined based on the ambient air pressure data, the slope parameters, and the vehicle's accelerator pedal opening. The current shift compensation data is determined based on the slope compensation coefficient, plateau compensation coefficient, basic shift rules and specific scenario shift rules, and shift compensation is performed based on the current shift compensation data; The step of determining the current shift compensation data based on the slope compensation coefficient, plateau compensation coefficient, basic shift rules, and specific scenario shift rules includes: The first output shaft speed is determined in the specific scenario shifting rules based on the vehicle's current gear data and accelerator pedal opening, and the second output shaft speed is determined in the basic shifting rules based on the vehicle's current gear data and accelerator pedal opening. The difference between the speed of the first output shaft and the speed of the second output shaft is compensated based on the slope compensation coefficient to obtain intermediate compensation data; The current shift compensation data is obtained by performing compensation processing on the sum of the intermediate compensation data and the second output shaft speed based on the plateau compensation coefficient.

2. The method according to claim 1, characterized in that, The determination of slope parameters based on the road slope data at each time point includes: The change in slope at each time point relative to the previous time point is determined based on the road slope data at each time point. If the change in slope at the current moment is greater than the change threshold and the duration is greater than the duration threshold, update the slope parameter at the current moment based on the road slope data at the current moment. If the slope change at the current moment is less than the change threshold, and / or the duration is less than the duration threshold, the previous slope parameter remains unchanged.

3. The method according to claim 2, characterized in that, The update of the slope parameter based on the road slope data at the current moment includes: The current road slope data is queried in the slope mapping table to determine the slope parameters at the current time.

4. The method according to claim 1, characterized in that, The step of determining the slope compensation coefficient based on the slope parameters and the current gear data includes: The slope parameters and current gear data are queried in the slope compensation mapping table to obtain the slope compensation coefficient.

5. The method according to claim 1, characterized in that, The process of determining the plateau compensation coefficient based on the ambient air pressure data, the slope parameters, and the vehicle's accelerator pedal opening includes: The atmospheric pressure coefficient is determined based on the ambient air pressure data and standard air pressure data, and the corresponding air pressure parameters are determined based on the atmospheric pressure coefficient. A first compensation coefficient is determined based on the air pressure parameter and the accelerator pedal opening, and a second compensation coefficient is determined based on the slope parameter and the accelerator pedal opening. The plateau compensation coefficient is determined based on the first compensation coefficient and the second compensation coefficient.

6. The method according to claim 1, characterized in that, The shift compensation based on the current shift compensation data includes: Obtain the current output shaft speed of the vehicle, and determine the target output shaft speed based on the current shift compensation data and the current output shaft speed; Gear compensation data is determined based on the accelerator pedal opening, gear data, and target output shaft speed of the vehicle. The vehicle performs shift compensation based on the gear compensation data.

7. The method according to any one of claims 1-6, characterized in that, After collecting road slope data and ambient air pressure data at various time points, the method further includes: Based on the road slope data at each time point, determine whether the vehicle driving environment meets the slope compensation conditions. If not, set the slope compensation coefficient as the first coefficient. Based on the ambient air pressure data at each time point, determine whether the vehicle's driving environment meets the plateau correction conditions. If not, set the plateau compensation coefficient as the second coefficient.

8. A shift compensation device for a vehicle, characterized in that, include: The data detection module is used to detect road slope data and ambient air pressure data at various times during vehicle operation. The slope compensation coefficient determination module is used to determine the slope parameters based on the road slope data at each time point, and to determine the slope compensation coefficient based on the slope parameters and the current gear data. The plateau compensation coefficient determination module is used to determine the plateau compensation coefficient based on the ambient air pressure data, the slope parameters, and the vehicle's accelerator pedal opening. The shift compensation execution module is used to determine the current shift compensation data based on the slope compensation coefficient, plateau compensation coefficient, basic shift rules and specific scenario shift rules, and to perform shift compensation based on the current shift compensation data. Specifically, the shift compensation execution module is used to determine the first output shaft speed based on the vehicle's current gear data and accelerator pedal opening in the specific scenario shift rules, and to determine the second output shaft speed based on the vehicle's current gear data and accelerator pedal opening in the basic shift rules. The difference between the first output shaft speed and the second output shaft speed is compensated based on the slope compensation coefficient to obtain intermediate compensation data; the sum of the intermediate compensation data and the second output shaft speed is compensated based on the plateau compensation coefficient to obtain the current shift compensation data.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the shift compensation method for the vehicle according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the shift compensation method for the vehicle according to any one of claims 1-7.

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