A control method, device and equipment for gear shifting of a hybrid vehicle and a storage medium

Abstract

This invention discloses a control method, device, equipment, and medium for gear shifting in hybrid vehicles. The method includes: determining the starting gear of the transmission based on the starting environment and starting power mode of the hybrid vehicle; after the hybrid vehicle starts in the starting gear, determining a transmission shift path based on the starting gear, the current power mode, and the road gradient; and shifting gears according to the transmission shift path; wherein the transmission shift path skips some gears in the complete transmission gear list. Embodiments of this invention can improve the smoothness of gear shifting when the vehicle changes transmission gears.

Description

Technical Field

[0001] This invention relates to the field of gear shifting technology, and in particular to a control method, device, equipment and storage medium for gear shifting in hybrid vehicles. Background Technology

[0002] In recent years, with the continuous rise in oil prices and strong government support for new energy policies, more and more heavy-duty commercial vehicle users have begun to pay attention to new energy models. Heavy-duty hybrid commercial vehicles, as a type of new energy vehicle, have significant fuel-saving advantages compared to traditional vehicles and can solve range anxiety issues compared to pure electric vehicles, making them a relatively ideal solution for new energy vehicles.

[0003] Compared to traditional gasoline vehicles, hybrid commercial vehicles involve two power systems—an electric motor and an engine—making gear selection more complex. Therefore, choosing the appropriate gear based on the vehicle's current operating conditions is a key challenge for hybrid vehicles, significantly impacting their performance, fuel economy, and smoothness.

[0004] Currently, there are relatively few heavy-duty hybrid commercial vehicles in China, and the technological approach differs from that of foreign countries. The domestic heavy-duty hybrid commercial vehicle market is still in its early stages, and the control methods for gear shifting in hybrid vehicles are not yet mature. There are deficiencies in the methods and strategies for gear selection, which affects the vehicle's power, economy, and smoothness. Summary of the Invention

[0005] This invention provides a control method, device, equipment, and storage medium for gear shifting in hybrid vehicles, in order to improve the smoothness of gear shifting in a vehicle.

[0006] According to one aspect of the present invention, a control method for gear shifting in a hybrid vehicle is provided, comprising:

[0007] The starting gear of the transmission is determined based on the starting environment and starting power mode of the hybrid vehicle.

[0008] After the hybrid vehicle starts in the starting gear of the starting transmission, the transmission shift route is determined based on the starting transmission gear, the current power mode, and the road gradient.

[0009] Shift gears and drive according to the transmission shift route;

[0010] The transmission shift path skips some gears in the full range of gears.

[0011] According to another aspect of the present invention, a control device for gear shifting in a hybrid vehicle is provided, comprising:

[0012] The starting gear determination module is used to determine the starting transmission gear based on the starting environment and starting power mode of the hybrid vehicle.

[0013] The shift route determination module is used to determine the transmission shift route based on the starting transmission gear, the current power mode, and the road slope after the hybrid vehicle starts in the starting transmission gear.

[0014] The shift route module is used to perform shifting and driving according to the shift route of the transmission.

[0015] The transmission shift path skips some gears in the full range of gears.

[0016] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the hybrid vehicle gear shifting control method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the hybrid vehicle gear shifting control method according to any embodiment of the present invention.

[0021] This invention identifies driving conditions and driving intentions. Before the vehicle starts, it collects driving mode, vehicle weight, and slope signals, and combines them with relevant parameters of the vehicle's transmission system to determine the driving force required for starting the vehicle, and selects an appropriate transmission gear for a smooth start. During driving, it adopts different transmission gear change routes according to the current driving mode (pure electric mode / hybrid mode) to reduce the frequency of gear changes and improve the smoothness of vehicle gear shifting.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1A This is a flowchart of a control method for gear shifting in a hybrid vehicle according to an embodiment of the present invention;

[0025] Figure 1B This is a simplified structural diagram of a heavy-duty hybrid commercial vehicle according to an embodiment of the present invention;

[0026] Figure 2A This is a flowchart of a control method for gear shifting in a hybrid vehicle according to another embodiment of the present invention;

[0027] Figure 2B This is a flowchart of a transmission starting gear control method according to another embodiment of the present invention;

[0028] Figure 2C This is a flowchart of gear shifting control during driving according to another embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the structure of a control device for gear shifting in a hybrid vehicle according to another embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of an electronic device that implements an embodiment of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] Figure 1A This is a flowchart illustrating a hybrid vehicle gear shifting control method according to an embodiment of the present invention. This embodiment is applicable to a heavy-duty hybrid commercial vehicle with an automatic transmission, where the user selects automatic transmission as the driving gear. The transmission controller automatically determines and switches the transmission gears during start-up and driving based on road conditions and power modes. This method can be executed by a hybrid vehicle gear shifting control device, which can be implemented in hardware and / or software. This device can be configured in an electronic device with corresponding computing capabilities, such as a transmission controller. Figure 1A As shown, the method includes:

[0034] S110. Determine the starting gear of the transmission based on the starting environment and starting power mode of the hybrid vehicle.

[0035] S120. After the hybrid vehicle starts in the starting gear of the starting transmission, the transmission shift route is determined based on the starting transmission gear, the current power mode, and the road slope.

[0036] S130. Shift gears and drive according to the gear shifting route of the transmission.

[0037] The shift path of the transmission skips some gears from the complete gear list, resulting in an incomplete gear list. For example, if the complete gear list has 12 gears (1-2-3-4-5-6-7-8-9-10-11-12), the shift path could be 7 gears (4-6-8-9-10-11-12). With this shift path, the transmission can shift directly from 4th to 6th gear without first shifting to 5th gear. In other words, the shift path skips 5 gears (including 1-2-3-5-7) relative to the complete gear list. The power modes include pure electric mode, hybrid mode, and pure engine mode.

[0038] Specifically, such as Figure 1BThe schematic diagram of the heavy-duty hybrid commercial vehicle shown illustrates that the hybrid vehicle of this invention includes an engine 1, a clutch 2, an electric motor 3, and a transmission 4. When the vehicle needs to start, the starting torque required for a smooth start is calculated based on the starting environment (such as road slope). It is understood that the transmission gear ratios providing the same torque are not the same in different power modes. Therefore, this invention calculates the transmission starting gear ratio that provides the required starting torque in the starting power mode, and uses the corresponding transmission gear as the starting transmission gear for the vehicle to start in that power mode. The vehicle will start in that transmission gear in that power mode. After the vehicle starts, when the speed exceeds a certain value and the driving gear is forward, the vehicle is determined to be in a driving state. At this time, the shift route is determined based on the current power mode, the starting transmission gear, and the road slope. The specific determination rules are pre-written into the transmission controller. For example, if the starting gear is 4, in pure electric mode, and the road gradient is less than a certain value, the transmission shift route would be 4-6-8-9-10-11-12. Gears 5-7 can be skipped to reduce shifting frequency, allowing for faster upshifts and improved smoothness. After determining the transmission shift route, the transmission controller will control the transmission to shift gears according to the incomplete gears within that route.

[0039] This invention identifies driving conditions and driving intentions. Before the vehicle starts, it collects driving mode, vehicle weight, and slope signals, and combines them with relevant parameters of the vehicle's transmission system to determine the driving force required for starting the vehicle, and selects an appropriate transmission gear for a smooth start. During driving, it adopts different transmission gear change routes according to the current driving mode (pure electric mode / hybrid mode) to reduce the frequency of gear changes and improve the smoothness of vehicle gear shifting.

[0040] Figure 2A This is a flowchart illustrating a control method for gear shifting in a hybrid vehicle, provided as another embodiment of the present invention. This embodiment is an optimization and improvement upon the above embodiment. Figure 2A As shown, the method includes:

[0041] S210. When the starting conditions are met, determine the starting torque required based on the total weight of the hybrid vehicle, the road gradient, the wheel rolling radius, and the safety factor.

[0042] S220. Determine the starting speed ratio of the transmission based on the starting torque, the main reduction ratio, the reserve torque factor, and the power mode associated torque.

[0043] S230. Determine the starting gear of the transmission based on the starting speed ratio of the transmission.

[0044] The starting conditions include a vehicle speed of zero and the driving gear being forward.

[0045] Specifically, such as Figure 2B The flowchart shown illustrates the transmission start-up gear control method. When the vehicle speed is 0 and the driving gear is forward, it is determined that the driver intends to start. The transmission controller then calculates the required start-up torque based on vehicle weight signals, slope signals, etc. The resistance that the vehicle needs to overcome to start should be the sum of slope resistance and rolling resistance multiplied by a specific safety factor. The corresponding formula for calculating the required start-up torque is as follows:

[0046] T VEH = (Gsinα + Gcosαf) × k × r

[0047] Where T VEH G is the torque required for the vehicle to start, α is the vehicle weight, k is the slope angle, and r is the wheel rolling radius.

[0048] Based on the torque required for vehicle start-up, the required transmission start-up gear ratio is calculated for the current start. Optionally, the transmission start-up gear ratio i n Determined by the following formula:

[0049] i n =T VEH ÷T1÷i0÷k1

[0050] Among them, T VEH For the torque required for starting, i0 is the final drive ratio, and k1 is the reserve torque factor. In pure electric mode, the power mode associated torque T1 is the peak torque of the motor. In hybrid / pure engine mode, the power mode associated torque T1 is the total available torque of the motor and engine. Based on the transmission's starting gear ratio, the matching starting gear is determined. The actual gear ratio of the starting gear should be greater than the starting gear ratio. After determining the starting gear, if the transmission's current gear is inconsistent with the starting gear, the transmission will switch to the starting gear.

[0051] S240. After the hybrid vehicle starts in the starting gear of the starting transmission, the transmission shift route is determined based on the starting transmission gear, the current power mode, and the road gradient.

[0052] S250. Determine the basic shift speed of each gear in the shift route of the transmission according to the current power mode, and obtain the shift speed compensation value under different driving and shift skipping states.

[0053] S260. Based on the shift speed compensation value under the current driving and shift-off states and the shift base speed of the adjacent gears in the current gear in the gear shift route, determine the shift target speed required to switch to the adjacent gear.

[0054] S270. Shift gears between adjacent gears according to the current power source speed and the target shift speed, wherein the power source speed is the motor speed or the engine speed.

[0055] The driving status includes throttle opening, vehicle weight and slope angle. The shift base speed for any gear includes the shift base speed for upshifting to that gear and the shift base speed for downshifting to that gear.

[0056] Specifically, after determining the transmission shift path, the system establishes the base speeds for upshifting and downshifting each gear within the shift path based on the current power mode. Simultaneously, it acquires pre-set compensation values ​​for upshifting and downshifting speeds under different throttle openings, vehicle weight, road gradients, and shift-skipping conditions. During vehicle operation, the transmission controller continuously determines the shift speed compensation values ​​based on the vehicle's current driving and shift-skipping states. It then sums the base speeds of the adjacent gears within the shift path with these compensation values. The sum of these base speeds and compensation values ​​yields the target speeds for upshifting and downshifting to the adjacent gears. The current power source speed is compared with the target speeds for upshifting and downshifting to the adjacent gears. If the comparison meets the shift conditions, the transmission controller shifts the current gear to or downshifts to the adjacent gear.

[0057] Optionally, the step of shifting gears based on the current power source speed and the target speed includes:

[0058] If the current active power source speed is greater than the target speed for shifting and the gear is the higher gear of the current gear, then shift up based on the adjacent gear.

[0059] If the current active power source speed is less than the target speed for shifting and the adjacent gear is a lower gear than the current gear, then downshift based on the adjacent gear.

[0060] Specifically, such as Figure 2C The shift control flowchart shown illustrates that after determining the current power source speed, the upshift target speed of the adjacent higher gear, and the downshift target speed of the adjacent lower gear, a gear shift / upshift decision is made. The upshift target speed of the adjacent higher gear is used as the upper limit of the current transmission gear's speed range, and the downshift target speed of the adjacent lower gear is used as the lower limit of the current transmission gear's speed range, thus obtaining the speed range for the current transmission gear. If the power source speed exceeds the upper limit of the speed range (i.e., greater than the upshift target speed of the adjacent higher gear), the gear is shifted to the adjacent higher gear; if the power source speed is below the lower limit of the speed range (i.e., less than the downshift target speed of the adjacent lower gear), the gear is downshifted to the adjacent higher gear.

[0061] This invention uses the rotational speed of the main power source as the basis for determining the shifting time of the transmission. The basic shifting speed is set with the goal of improving the vehicle's power and economy. At the same time, a series of operating parameters such as the current throttle opening, slope, vehicle weight, and gear skipping are considered to compensate for the shifting speed, thereby further improving the smoothness of the vehicle when switching transmission gears.

[0062] Figure 3 This is a schematic diagram of a control device for gear shifting in a hybrid vehicle, provided as another embodiment of the present invention. Figure 3 As shown, the device includes:

[0063] The starting gear determination module 310 is used to determine the starting gear of the transmission based on the starting environment and starting power mode of the hybrid vehicle.

[0064] The shift route determination module 320 is used to determine the transmission shift route based on the starting transmission gear, the current power mode, and the road slope after the hybrid vehicle starts in the starting transmission gear.

[0065] The shift route module 330 is used to perform shifting and driving according to the shift route of the transmission.

[0066] The transmission shift path skips some gears in the full range of gears.

[0067] The hybrid vehicle transmission shifting control device provided in this embodiment of the invention can execute the hybrid vehicle transmission shifting control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0068] Optionally, the starting gear determination module 310 includes:

[0069] The starting torque determination unit is used to determine the starting torque required based on the total weight of the hybrid vehicle, road gradient, wheel rolling radius, and safety factor when the starting conditions are met.

[0070] The starting speed ratio determination unit is used to determine the starting speed ratio of the transmission based on the starting torque, the main reduction ratio, the reserve torque factor and the power mode associated torque.

[0071] The starting gear determination unit is used to determine the starting gear of the transmission based on the starting speed ratio of the transmission.

[0072] Optionally, the starting speed ratio i of the transmission n Determined by the following formula:

[0073] i n =T VEH ÷T1÷i0÷k1

[0074] Among them, T VEH The torque required for starting is i0, the main reduction ratio is k1, and the reserve torque factor is k1. In pure electric mode, the power mode associated torque T1 is the peak torque of the motor. In hybrid / pure engine mode, the power mode associated torque T1 is the total available torque of the motor and engine.

[0075] Optionally, the starting conditions include a vehicle speed of zero and the driving gear being forward.

[0076] Optionally, the shift route module 330 includes:

[0077] The base speed determination unit is used to determine the base shift speed of each gear in the shift route of the transmission according to the current power mode, and to obtain the shift speed compensation value under different driving and shift skipping states.

[0078] The target speed determination unit is used to determine the target speed required to switch to the adjacent gear based on the shift speed compensation value under the current driving and shift skipping state and the shift base speed of the adjacent gear in the current gear in the gear shift route.

[0079] The adjacent gear shifting unit is used to shift adjacent gears of the transmission according to the current speed of the active power source and the target speed of the shift, wherein the speed of the active power source is the speed of the motor or the speed of the engine.

[0080] Optionally, the adjacent gear shifting unit is specifically the same as:

[0081] If the current power source speed is greater than the target speed for shifting and the adjacent gear is the highest gear of the current gear, then shift up based on the adjacent gear.

[0082] If the current power source speed is less than the target speed for shifting and the adjacent gear is a lower gear than the current gear, then downshift based on the adjacent gear.

[0083] Optionally, the driving state includes throttle opening, vehicle weight, and slope angle.

[0084] The hybrid vehicle transmission shifting control device further explained can also execute the hybrid vehicle transmission shifting control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0085] Figure 4A schematic diagram of an electronic device 40 that can be used to implement embodiments of the present invention is shown. The electronic device 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 can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., 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.

[0086] like Figure 4 As shown, the electronic device 40 includes at least one processor 41 and a memory, such as a read-only memory (ROM) 42 or a random access memory (RAM) 43, communicatively connected to the at least one processor 41. The memory stores computer programs executable by the at least one processor. The processor 41 can perform various appropriate actions and processes based on the computer program stored in the ROM 42 or loaded into the RAM 43 from storage unit 48. The RAM 43 may also store various programs and data required for the operation of the electronic device 40. The processor 41, ROM 42, and RAM 43 are interconnected via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0087] Multiple components in electronic device 40 are connected to I / O interface 45, including: input unit 46, such as keyboard, mouse, etc.; output unit 47, such as various types of monitors, speakers, etc.; storage unit 48, such as disk, optical disk, etc.; and communication unit 49, such as network card, modem, wireless transceiver, etc. Communication unit 49 allows electronic device 40 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0088] Processor 41 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 41 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 41 performs the various methods and processes described above, such as the control methods for gear shifting in hybrid vehicles.

[0089] In some embodiments, the hybrid vehicle gear shifting control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded into and / or installed on electronic device 40 via ROM 42 and / or communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the hybrid vehicle gear shifting control method described above may be performed. Alternatively, in other embodiments, processor 41 may be configured to perform the hybrid vehicle gear shifting control method by any other suitable means (e.g., by means of firmware).

[0090] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0091] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0092] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0093] To provide interaction with a user, the systems and techniques described herein 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; 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 sound input, voice input, or tactile input).

[0094] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0095] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0096] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0097] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A control method for gear shifting in a hybrid vehicle, characterized in that, The method includes: The starting transmission gear is determined based on the starting environment and starting power mode of the hybrid vehicle; After the hybrid vehicle starts in the starting gear of the starting transmission, the transmission shift route is determined based on the starting transmission gear, the current power mode, and the road gradient. Shift gears and drive according to incomplete gear positions in the transmission shift path; The transmission shift path skips some gears in the complete gear sequence of the transmission; The step of shifting gears based on incomplete gear positions in the transmission shift path includes: The shift base speed of each gear in the transmission shift route is determined according to the current power mode, and the shift speed compensation value is obtained under different driving and shift skipping conditions. Based on the shift speed compensation value under the current driving and shift-out conditions and the shift base speed of the adjacent gears in the current gear in the gear shift route, determine the target shift speed required to switch to the adjacent gear. The gear shifting is performed between adjacent gears based on the current power source speed and the target shift speed, where the power source speed is either the motor speed or the engine speed.

2. The method according to claim 1, characterized in that, The step of determining the transmission shift route based on the starting transmission gear, the current power mode, and the road gradient after the hybrid vehicle starts in the starting transmission gear includes: When the starting conditions are met, the starting torque is determined based on the total weight of the hybrid vehicle, the road gradient, the wheel rolling radius, and the safety factor. The starting speed ratio of the transmission is determined based on the starting torque, the final drive ratio, the reserve torque factor, and the power mode associated torque. The starting gear of the transmission is determined based on the starting speed ratio of the transmission.

3. The method according to claim 2, characterized in that, The starting speed ratio of the transmission Determined by the following formula: in, The torque required for starting. Main reduction ratio, As a reserve torque factor, in pure electric mode, the torque associated with the power mode... This refers to the peak torque of the electric motor, and the torque associated with the power mode in hybrid / pure engine mode. This represents the total available torque for the electric motor and engine.

4. The method according to claim 2, characterized in that, The starting conditions include a vehicle speed of zero and the driving gear being forward.

5. The method according to claim 1, characterized in that, The step of shifting between adjacent transmission gears based on the current power source speed and the target shift speed includes: If the current power source speed is greater than the target shift speed and the adjacent gear is the higher gear of the current gear, then upshift based on the adjacent gear; If the current power source speed is less than the target shift speed and the adjacent gear is a lower gear than the current gear, then downshift based on the adjacent gear.

6. The method according to claim 1, characterized in that, Driving status includes throttle opening, vehicle weight, and slope angle.

7. A control device for gear shifting in a hybrid vehicle, characterized in that, The device includes: The starting gear determination module is used to determine the starting transmission gear based on the starting environment and starting power mode of the hybrid vehicle. The shift route determination module is used to determine the transmission shift route based on the starting transmission gear, the current power mode, and the road slope after the hybrid vehicle starts in the starting transmission gear. The shift route module is used to perform shifting and driving based on incomplete gear positions in the shift route of the transmission. The transmission shift path skips some gears in the complete gear sequence of the transmission; The shift path module includes: The base speed determination unit is used to determine the base shift speed of each gear in the shift route of the transmission according to the current power mode, and to obtain the shift speed compensation value under different driving and shift skipping states. The target speed determination unit is used to determine the target speed required to switch to the adjacent gear based on the shift speed compensation value under the current driving and shift skipping states and the shift base speed of the adjacent gear in the current gear in the gear shift route. The adjacent gear shifting unit is used to shift adjacent gears of the transmission according to the current speed of the active power source and the target speed of the shift, wherein the speed of the active power source is the speed of the motor or the speed of the engine.

8. 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 that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the hybrid vehicle gear shifting control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the control method for gear shifting in a hybrid vehicle as described in any one of claims 1-6.

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