A shift method, device and equipment for vehicle steering process

Abstract

The application provides a gear shifting method, device and equipment for a vehicle steering process, and applies to the technical field of vehicle control. The method comprises the following steps: determining that the vehicle is currently in a steering state, then determining the actual driving resistance of the vehicle under the current driving parameter according to a mapping relationship between the pre-set driving parameter and the driving resistance of the vehicle; determining the target gear corresponding to the target driving force from a pre-stored mapping relationship between the gear of the gearbox and the driving force of the vehicle based on the current opening degree of the accelerator pedal of the vehicle; and switching the gearbox of the vehicle to the target gear according to the pre-set gear shifting rule in the steering state. Through the above gear shifting method, the vehicle can have sufficient power during the steering process.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, specifically to a method, device, and equipment for shifting gears during vehicle steering. Background Technology

[0002] During a turn, the accelerator pedal opening and engine speed may change continuously, resulting in frequent gear shifts in the automatic transmission and constant changes in the vehicle's driving force. Since the driving resistance is greater when the vehicle is turning than when it is driving straight, the constant changes in the vehicle's driving force may lead to insufficient power during the turn. Moreover, frequent gear shifts can also cause power interruption, which increases the possibility of traffic accidents. Summary of the Invention

[0003] This application provides a method, apparatus, and device for shifting gears during vehicle steering, which ensures that the vehicle has sufficient power when steering and avoids the problem of power interruption.

[0004] In a first aspect, embodiments of this application provide a gear-shifting method during vehicle steering, the method comprising:

[0005] If it is determined that the vehicle is currently in a turning state, then the actual driving resistance of the vehicle under the current driving parameters is determined according to the pre-set mapping relationship between driving parameters and vehicle driving resistance. The driving parameters include vehicle speed-related information, road conditions where the vehicle is located, and part or all of the vehicle weight.

[0006] Based on the current accelerator pedal opening of the vehicle, the target gear corresponding to the target driving force is determined from the pre-stored mapping relationship between the transmission gear and the vehicle driving force. The target driving force represents the driving force that is greater than the actual driving resistance.

[0007] According to the pre-set shift rules under steering conditions, the vehicle's transmission is switched to the target gear.

[0008] In the above embodiments, when it is determined that the vehicle is in a turning state, the actual driving resistance of the vehicle is obtained based on the current driving parameters. The driving resistance determines the driving force required for the turning process, enabling the vehicle to turn smoothly. Since the lower the gear of the transmission, the greater the driving force, the target gear is determined by the target driving force, thereby ensuring sufficient driving force during the turning process. Gear shifting is performed according to the pre-set shifting rules for the turning state, ensuring smooth gear shifting.

[0009] In one possible implementation, determining that the vehicle is currently in a turning state includes:

[0010] If the current gear of the vehicle's transmission is lower than the preset gear and the steering wheel angle is greater than the preset angle, then the vehicle is determined to be in the first steering state.

[0011] If the current gear of the vehicle's transmission is not less than a preset gear and the steering wheel angle is greater than a preset angle, then the vehicle is determined to be in the second steering state.

[0012] This application embodiment divides the steering state into two types based on the gear of the transmission, so that corresponding shift rules can be set for different steering states. This makes the shifting method for the vehicle steering process provided in this application embodiment applicable to more vehicle steering scenarios.

[0013] In one possible implementation, shifting the vehicle's transmission to the target gear according to a pre-set shifting rule for the steering state includes:

[0014] If the vehicle is currently in a first steering state, the current gear of the transmission will be shifted to the target gear according to the pre-set upshifting rules for the first steering state.

[0015] If the vehicle is currently in a second steering state, the current gear of the transmission will be downshifted to the target gear according to the pre-set downshifting rules for the second steering state.

[0016] In the above embodiments, the shifting rules are divided into upshifting rules and downshifting rules according to different steering states. That is, in the first steering state, the current gear is shifted up according to the upshifting rule, and in the second steering state, the current gear is shifted down according to the downshifting rule. By refining the shifting rules, the shifting method during vehicle steering can meet more steering scenarios.

[0017] In one possible implementation, the upshift rule in the first steering state is set as follows:

[0018] Based on the vehicle's driving parameters obtained under the first steering state, multiple influencing factors corresponding to the driving parameters are determined from the mapping relationship between the driving parameters and influencing factors.

[0019] The upshift influence factor is obtained by adding up all the influencing factors. If the upshift influence factor is greater than the first preset threshold, the first target engine speed corresponding to the current accelerator pedal opening in the upshift rule from the first gear to the second gear is determined by Basc+FacShup*(Max-Basc); otherwise, the first target engine speed corresponding to the current accelerator pedal opening in the upshift rule from the first gear to the second gear is determined by Min+FacShup*(Basc-Min).

[0020] The current accelerator pedal opening and the first target engine speed are used as the upshifting rules for shifting from the first gear to the second gear under the current first steering state;

[0021] Wherein, Basc is the first preset base engine speed corresponding to shifting from the first gear to the second gear, Max is the first preset maximum engine speed corresponding to shifting from the first gear to the second gear, Min is the first preset minimum engine speed corresponding to shifting from the first gear to the second gear, and FacShup is the upshifting influence factor; the first preset maximum engine speed > the first preset base engine speed > the first preset minimum engine speed.

[0022] The above embodiments determine the upshifting influence factor based on driving parameters, and determine the upshifting rule from the first gear to the second gear based on the upshifting influence factor. By replacing the original upshifting rule with the upshifting rule in the first steering state, smooth upshifting during the steering process is ensured, and the gear can be quickly shifted from the first gear to the second gear.

[0023] In one possible implementation, the downshift rule in the second steering state is set as follows:

[0024] Based on the vehicle's driving parameters obtained under the first steering state, multiple influencing factors corresponding to the driving parameters are determined from the mapping relationship between the driving parameters and influencing factors.

[0025] The downshifting influence factor is obtained by adding up the various influencing factors. If the downshifting influence factor is greater than the second preset threshold, the second target engine speed corresponding to the current accelerator pedal opening is determined by Basc1+FacShwn*(Max1-Basc1) in the downshifting rule from the second gear to the first gear.

[0026] Otherwise, the second target engine speed corresponding to the current accelerator pedal opening is determined by Min1+FacShwn*(Basc1-Min1) in the downshift rule from the second gear to the first gear;

[0027] The current accelerator pedal opening and the second target engine speed are used as the downshifting rule to downshift from the second gear to the first gear in the current second steering state;

[0028] Wherein, Basc1 is the second preset base engine speed corresponding to downshifting from the second gear to the first gear, Max1 is the second preset maximum engine speed corresponding to downshifting from the second gear to the first gear, Min1 is the second preset minimum engine speed corresponding to downshifting from the second gear to the first gear, and FacShwn is the downshifting influence factor, where the second preset maximum engine speed > the second preset base engine speed > the second preset minimum engine speed.

[0029] The above embodiment determines the downshifting influence factor based on driving parameters, and determines the downshifting rule from the second gear to the first gear based on the downshifting influence factor. By replacing the original downshifting rule with the downshifting rule in the second steering state, it ensures smooth downshifting during the steering process and allows the gear to be quickly downshifted from the second gear to the first gear.

[0030] In one possible implementation, after shifting the current gear of the transmission to the target gear, the method further includes:

[0031] Set the current vehicle's driving mode to manual shift mode and monitor the vehicle's steering wheel angle in real time;

[0032] If the steering wheel angle is less than the preset angle, the driving mode of the vehicle will be switched to automatic shifting mode.

[0033] After shifting the current gear of the transmission to the target gear, set the vehicle's driving mode to manual shifting mode. This avoids frequent gear shifting caused by changes in engine speed or accelerator pedal opening during steering, which could lead to insufficient power or power interruption.

[0034] Secondly, embodiments of this application provide a gear shifting device for a vehicle steering process, the device comprising:

[0035] The driving resistance determination module is used to determine the current driving resistance of the vehicle when the vehicle is in a turning state. Based on the pre-set mapping relationship between driving parameters and vehicle driving resistance, the module determines the actual driving resistance of the vehicle under the current driving parameters. The driving parameters include some or all of the following: accelerator pedal opening, vehicle speed, vehicle weight, road slope, acceleration, steering angle, and altitude.

[0036] The target gear determination module is used to determine the target gear corresponding to the target driving force based on the current accelerator pedal opening of the vehicle and from the pre-stored mapping relationship between the transmission gear and the vehicle driving force. The target driving force represents a driving force that is greater than the actual driving resistance.

[0037] The shift module is used to switch the vehicle's transmission to the target gear according to the pre-set shift rules under the steering state.

[0038] Thirdly, embodiments of this application provide a gear shifting device for a vehicle steering process, the device comprising:

[0039] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described in the first aspect above.

[0040] Fourthly, embodiments of this application provide a vehicle that includes the gear shifting device for the vehicle steering process described in the third aspect above.

[0041] Fifthly, embodiments of this application provide a computer storage medium storing a computer program for causing a computer to perform the method described in the first aspect above. Attached Figure Description

[0042] Figure 1 This is a schematic diagram illustrating an application scenario of a gear shifting method for a vehicle steering process, as exemplified by an exemplary embodiment of the present invention.

[0043] Figure 2 This is a schematic flowchart illustrating a gear shifting method for a vehicle steering process according to an exemplary embodiment of the present invention.

[0044] Figure 3 A schematic diagram illustrating a specific process of a gear shifting method during vehicle steering, as exemplified by an exemplary embodiment of the present invention;

[0045] Figure 4 A schematic diagram illustrating a gear shifting device for a vehicle steering process, as exemplified by an exemplary embodiment of the present invention;

[0046] Figure 5 This is a schematic diagram illustrating a gear shifting device for a vehicle steering process, as exemplified by an exemplary embodiment of the present invention. Detailed Implementation

[0047] The technical solutions in the embodiments of this application will now be described clearly and in detail with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0048] like Figure 1The diagram illustrates an application scenario of a gear shifting method for vehicle steering provided in this application embodiment. This application scenario includes an electronic control unit 101 deployed on the vehicle, a storage medium 102 connected to the electronic control unit, and at least one sensor installed on the vehicle to collect driving parameters (sensor 103_1, sensor 103_2, and sensor 103_N shown in the diagram). The electronic control unit 101 receives driving parameters from at least one sensor and determines the gear shifting rules during vehicle steering based on the acquired driving parameters. The sensors for collecting driving parameters acquire driving parameters; for example, an acceleration sensor collects acceleration in the longitudinal, lateral, and vertical directions to calculate vehicle weight, gradient, etc.; a speed sensor collects the rotational speeds of the intermediate shaft and output shaft to calculate vehicle speed. The storage medium 102 stores the data and programs required by the electronic control unit 101 to execute the gear shifting method during steering.

[0049] To ensure sufficient power and smooth steering during vehicle cornering, embodiments of this application provide a gear shifting method during vehicle cornering, such as... Figure 2 As shown, it includes:

[0050] S201: If the vehicle is currently in a turning state, then the actual driving resistance of the vehicle under the current driving parameters is determined according to the pre-set mapping relationship between driving parameters and vehicle driving resistance.

[0051] In this embodiment of the application, the steering scenarios are divided into the following three types based on the gear used when the vehicle is turning:

[0052] (1) After engaging the starting gear, the vehicle turns and starts moving.

[0053] If the vehicle starts turning after engaging the starting gear, it indicates that the vehicle is in gear 0, which is less than the preset gear. If the steering wheel angle is greater than the first preset angle, it is determined that the vehicle is currently in the first turning state.

[0054] The steering wheel angle can be measured in real time using an angle sensor and uploaded to the vehicle's electronic control unit; the first preset angle can be set to a / 2, where a is the maximum steering angle of the steering wheel, and this application embodiment does not impose specific limitations; the preset gear can be set according to actual conditions. For example, for small passenger vehicles with fewer gears (1-5 gears), the preset gear can be set to 3; for heavy-duty trucks with more gears (1-16 gears), the preset gear can be set to 8.

[0055] (2) Steering while driving in first gear.

[0056] If the vehicle turns while driving in first gear, and the first gear is lower than a preset gear, it indicates that the vehicle is in a low gear. If the steering wheel angle is greater than a first preset angle, or the vehicle's steering angle is greater than a second preset angle, then the vehicle is determined to be in a first turning state. The vehicle's steering angle can be calculated from the speed difference between the wheels; the second preset angle can be set to b / 2, where b is the vehicle's maximum steering angle. This embodiment does not impose specific limitations on this.

[0057] (3) Steering while driving in second gear.

[0058] If the vehicle turns while driving in second gear, and the second gear is not lower than the preset gear, it indicates that the vehicle is in a high gear. If the steering wheel angle is greater than the first preset angle, or the vehicle's steering angle is greater than the second preset angle, it is determined that the vehicle is currently in the second steering state.

[0059] The descriptions of steering wheel angle, vehicle steering angle, and gear position during steering are as described above and will not be repeated here.

[0060] It should be noted that in the above (1), the condition "steering wheel angle is greater than the first preset angle" when determining whether the vehicle is in a turning state cannot be replaced with "the vehicle's turning angle is greater than the second preset angle" because the vehicle's turning angle is based on the speed difference between the wheels. In the above (1) scenario, the vehicle speed is 0, so the "speed difference between the wheels" cannot be obtained.

[0061] When it is determined that the vehicle is in a turning state, in order to ensure that the vehicle has sufficient power and smoothness during the turning process, the embodiments of this application consider to implement a gear shifting strategy based on the vehicle's driving resistance.

[0062] The vehicle's current driving resistance is derived from its current driving parameters. These parameters include various types, such as vehicle speed-related information, road conditions, and vehicle weight. Speed-related information includes vehicle speed, acceleration, and accelerator pedal opening (which is related to acceleration). Road conditions include road gradient and altitude. Driving resistance can be determined based on some or all of these parameters. All of these driving parameters can be obtained through corresponding sensors.

[0063] The mapping relationship between driving parameters and vehicle driving resistance in this embodiment is based on experiments. Different driving parameters are associated with their corresponding driving resistance and then deployed in the memory. When driving parameters are obtained through various sensors, the driving resistance corresponding to the driving parameters can be queried in the memory.

[0064] S202: Based on the current accelerator pedal opening of the vehicle, determine the target gear corresponding to the target driving force from the pre-stored mapping relationship between the transmission gear and the vehicle driving force.

[0065] Since the driving force of a vehicle is related to the gear and the opening of the accelerator pedal, it is necessary to select the appropriate gear in order to ensure sufficient power during steering.

[0066] The driving force of each gear is different under different accelerator pedal opening. Based on the current accelerator pedal opening, the driving force corresponding to each gear can be determined. Then, the target driving force is selected from the driving forces. The target driving force represents the driving force that is greater than the actual driving resistance.

[0067] Furthermore, the largest driving force can be selected from the driving forces that are greater than the actual driving resistance as the target driving force, and then the target gear corresponding to the target driving force can be determined. However, for scenarios involving turning while driving in low gears, for example, if the current gear of the vehicle is 2nd gear, based on the current accelerator pedal opening, the gears that meet the condition of being greater than the actual driving resistance are determined to be 1st, 2nd, and 3rd gears. Since the lower the gear, the slower the vehicle speed, in order to ensure that the vehicle can complete the turn quickly, 3rd gear can be used as the target gear.

[0068] S203: Shift the vehicle's transmission to the target gear according to the pre-set shift rules under steering conditions.

[0069] The shifting rules corresponding to the three steering scenarios in S201 above are implemented as follows.

[0070] (1) After engaging the starting gear, the vehicle turns and starts moving.

[0071] In this steering scenario, the vehicle is in the first steering state. When the vehicle is in the first steering state, the transmission shifts from its current gear to the target gear according to the pre-set upshift rules for the first steering state.

[0072] The upshift rules for the first steering state are set as follows:

[0073] Based on the vehicle's driving parameters under the first steering state obtained in advance, multiple influencing factors corresponding to the driving parameters are determined from the mapping relationship between the driving parameters and influencing factors.

[0074] The upshift influence factor is obtained by adding up all the influencing factors. If the upshift influence factor is greater than the first preset threshold, the first target engine speed corresponding to the current accelerator pedal opening in the upshift rule from the first gear to the second gear is determined by Basc+FacShup*(Max-Basc); otherwise, the first target engine speed corresponding to the current accelerator pedal opening in the upshift rule from the first gear to the second gear is determined by Min+FacShup*(Basc-Min).

[0075] The current accelerator pedal opening and the first target engine speed are used as the upshifting rules for shifting from the first gear to the second gear under the current first steering state;

[0076] Wherein, Basc is the first preset base engine speed corresponding to shifting from the first gear to the second gear, Max is the first preset maximum engine speed corresponding to shifting from the first gear to the second gear, Min is the first preset minimum engine speed corresponding to shifting from the first gear to the second gear, and FacShup is the upshifting influence factor; the first preset maximum engine speed > the first preset base engine speed > the first preset minimum engine speed, where the first preset maximum engine speed, the first preset base engine speed, and the first preset minimum engine speed are preset values.

[0077] For example, a set of driving parameters can be obtained when the vehicle is turning at any angle, including steering angle, vehicle weight, road slope, altitude, acceleration, accelerator pedal opening of 30%, first gear is 1st gear, second gear is 3rd gear, and when the accelerator pedal opening is 30%, the first preset base engine speed corresponding to shifting from 1st gear to 3rd gear is 1300 rpm, the first preset maximum engine speed corresponding to shifting from 1st gear to 3rd gear is 1900 rpm, and the first preset minimum engine speed corresponding to shifting from 1st gear to 3rd gear is 1280 rpm.

[0078] The mapping relationship between pre-set driving parameters and influencing factors is queried. For example, if the influencing factor for steering angle is 0.2, the influencing factor for vehicle weight is 0.1, the influencing factor for road slope is -0.3, the influencing factor for altitude is 0.2, and the influencing factor for acceleration is -0.1, then the upshift influencing factor is 0.2 + 0.1 - 0.3 + 0.2 - 0.1 = 0.1 > 0. In the upshift rule from 1st to 3rd gear, the first target engine speed corresponding to the current throttle pedal opening of 30% is 1300 rpm + 0.1 * (1900 rpm - 1300 rpm) = 1360 rpm. Through the above method, the upshift rules corresponding to different driving parameters in the first steering state can be obtained and stored in memory. This allows the vehicle to query the upshift rule corresponding to the current driving parameter from the upshift rules corresponding to different driving parameters when in the first steering state.

[0079] If the vehicle is currently in a turning process as described above, i.e., the driving parameters are the same, and the current gear is determined to be 1st gear and the target gear is 3rd gear according to steps S202 to S202, then an upshift can be performed based on the first target engine speed (1360 rpm) in the above embodiment. Because the vehicle is currently turning while driving in a low gear, the speed is not very high, so the driver may press the accelerator pedal or maintain the current accelerator pedal opening to accelerate the vehicle (increase engine speed). When the vehicle's engine speed reaches 1360 rpm, the vehicle shifts from 1st gear to 3rd gear. During this process, the engine speed continuously increases, so unless a sudden event occurs, there will be no downshifting due to a decrease in engine speed.

[0080] In this embodiment, the first target engine speed corrected by the upshift influence factor is lower than the engine speed in the original upshift rule. For example, in this embodiment, when the accelerator pedal opening is 30%, the engine speed needs to rise to 1360 rpm to shift from 1st to 3rd gear, while in the original upshift rule, the engine speed needs to rise to 1420 rpm. Compared with the original upshift point, the upshift point in this example is lower, making it easier to shift to the target gear. Therefore, the upshift rule in this embodiment can ensure that the vehicle quickly and smoothly shifts to the target gear.

[0081] Furthermore, this application embodiment also sets rules for determining influencing factors. For example, for the influencing factor corresponding to altitude, since altitude may be related to air pressure and slope, different altitudes correspond to different influencing factors under different slopes and air pressures. A one-to-one mapping between altitude and influencing factor is obtained for each slope and air pressure. To ensure smooth upshifting during steering, the influencing factor corresponding to the steering angle can also be selected as the influencing factor corresponding to the maximum steering angle.

[0082] (2) Steering while driving in first gear.

[0083] In this steering scenario, the vehicle is in the first steering state. When the vehicle is in the first steering state, the transmission shifts from its current gear to the target gear according to the pre-set upshift rules for the first steering state.

[0084] The upshifting rules are the same as those in the above embodiments, and will not be repeated here.

[0085] (3) Steering while driving in second gear.

[0086] In this steering scenario, the vehicle is in a second steering state. When the vehicle is in a second steering state, the transmission downshifts from its current gear to the target gear according to the pre-set upshift rules for the second steering state.

[0087] The downshifting rules in the second steering state are set as follows:

[0088] Based on the vehicle's driving parameters under the first steering state obtained in advance, multiple influencing factors corresponding to the driving parameters are determined from the mapping relationship between the driving parameters and influencing factors.

[0089] The downshifting influence factor is obtained by adding up the various influencing factors. If the downshifting influence factor is greater than the second preset threshold, the second target engine speed corresponding to the current accelerator pedal opening is determined by Basc1+FacShwn*(Max1-Basc1) in the downshifting rule from the second gear to the first gear.

[0090] Otherwise, the second target engine speed corresponding to the current accelerator pedal opening is determined by Min1+FacShwn*(Basc1-Min1) in the downshift rule from the second gear to the first gear;

[0091] The current accelerator pedal opening and the second target engine speed are used as the downshifting rule to downshift from the second gear to the first gear in the current second steering state;

[0092] Wherein, Basc1 is the second preset base engine speed corresponding to downshifting from the second gear to the first gear, Max1 is the second preset maximum engine speed corresponding to downshifting from the second gear to the first gear, Min1 is the second preset minimum engine speed corresponding to downshifting from the second gear to the first gear, and FacShwn is the downshifting influence factor, wherein the second preset maximum engine speed > the second preset base engine speed > the second preset minimum engine speed, and the second preset maximum engine speed, the second preset base engine speed, and the second preset minimum engine speed are preset values.

[0093] For example, a set of driving parameters can be obtained when the vehicle is turning at any angle, including steering angle, vehicle weight, road slope, altitude, acceleration, accelerator pedal opening of 30%, first gear is 8th gear, second gear is 5th gear, and when the accelerator pedal opening is 30%, the second preset base engine speed corresponding to downshifting from 8th gear to 5th gear is 650 rpm, the second preset maximum engine speed corresponding to downshifting from 8th gear to 5th gear is 750 rpm, and the second preset minimum engine speed corresponding to downshifting from 8th gear to 5th gear is 600 rpm.

[0094] The mapping relationship between pre-set driving parameters and influencing factors is queried. For example, if the influencing factor for steering angle is 0.2, the influencing factor for vehicle weight is 0.1, the influencing factor for road slope is -0.3, the influencing factor for altitude is 0.2, and the influencing factor for acceleration is -0.1, then the upshifting influencing factor is 0.2 + 0.1 - 0.3 + 0.2 - 0.1 = 0.1 > 0. In the downshifting rule from 8th gear to 5th gear, the second target engine speed corresponding to a 30% accelerator pedal opening is 650 rpm + 0.1 * (750 rpm - 650 rpm) = 660 rpm. Through the above method, the downshifting rules corresponding to different driving parameters in the second steering state can be obtained and stored in memory so that when the vehicle is in the second steering state, the downshifting rule corresponding to the current driving parameter can be queried from the downshifting rules corresponding to different driving parameters.

[0095] If the vehicle is currently in a turning process as described above, i.e., the driving parameters are the same, and the current gear is determined to be 8th gear and the target gear is 5th gear according to steps S202 to S202, then a downshift can be performed based on the second target engine speed (660 rpm) in the above embodiment. Because the vehicle is currently turning while driving in a high gear, the speed will be very high, so the driver may release the accelerator pedal to slow the vehicle down (reduce engine speed). When the vehicle's engine speed drops to 660 rpm, the vehicle downshifts from 8th gear to 5th gear. Since the engine speed is continuously decreasing during this process, there will be no upshifting.

[0096] In this embodiment, the second target engine speed, corrected by the downshifting influence factor, is higher than the engine speed in the original downshifting rule. For example, in this embodiment, to downshift from 8th gear to 5th gear, the engine speed needs to be reduced to 660 rpm, while in the original downshifting rule, the engine speed needs to be reduced to 610 rpm. Compared to the original downshifting point, the downshifting point in this example is higher, making it easier to downshift to the target gear. Therefore, the downshifting rule in this embodiment ensures that the vehicle downshifts to the target gear quickly and smoothly.

[0097] To ensure smooth downshifting during steering, the influencing factors corresponding to the steering angle mentioned above can also be selected from those corresponding to the maximum steering angle.

[0098] Since the vehicle speed, engine speed, and accelerator pedal opening may change in real time during the entire turning process, in order to ensure that the gear does not change with the engine speed, after upshifting or downshifting through the above implementation method, the current driving mode of the vehicle is set to manual shifting mode, and the steering wheel angle of the vehicle is monitored in real time; if the steering wheel angle is less than the preset angle, it indicates that the vehicle has completed the turn and resumed straight driving, at which point the driving mode of the vehicle is switched to automatic shifting mode.

[0099] The following is through Figure 3 This application provides a detailed description of a gear shifting process for vehicle steering, as provided in an embodiment.

[0100] S301: Determine if the current gear is less than the preset gear. If yes, execute S302; otherwise, execute S310. When it is determined that the vehicle is starting after engaging the starting gear, it can be further determined whether the current gear is greater than 0. If not, it is determined that the vehicle is currently in a parking or reversing state.

[0101] S302: Determine if the steering wheel angle is greater than a / 2. If yes, execute S303; otherwise, execute S304.

[0102] S303: Obtain the vehicle's current driving parameters;

[0103] S304: Maintain automatic shifting mode;

[0104] S305: Determine the target gear based on driving parameters;

[0105] S306: According to the upshift rules, shift the current gear to the target gear;

[0106] S307: Enter manual shift mode;

[0107] S308: Determine if the vehicle's steering angle is less than b / 2. If yes, execute S309; ​​otherwise, return to S307.

[0108] S309: Exit manual shift mode and enter automatic shift mode;

[0109] S310: Determine whether the steering wheel angle is greater than a / 2. If yes, execute S311; otherwise, execute S312. In addition to determining whether the steering wheel angle is greater than a / 2, it is also possible to determine whether the vehicle's steering angle is greater than b / 2. Alternatively, it is possible to determine both whether the steering wheel angle is greater than a / 2 and whether the vehicle's steering angle is greater than b / 2. This application embodiment does not impose specific limitations.

[0110] S311: Obtain the current driving parameters of the vehicle;

[0111] S312: Maintain automatic shifting mode;

[0112] S313: Determine the target gear based on driving parameters;

[0113] S314: According to the downshifting rules, after downshifting the current gear to the target gear, execute S307 to S309.

[0114] This application provides a gear shifting method for vehicle steering, analyzing three steering scenarios. Moreover, the gear shifting rules during steering differ from those in the conventional mode, making it more suitable for steering conditions. The optimal gear is determined based on driving resistance, ensuring sufficient power during steering. Gear shifting occurs at the initial moment of steering, and after gear shifting is completed, a manual gear shifting mode is triggered. Unless there are special circumstances, the gear remains unchanged, effectively avoiding power interruption.

[0115] Based on the same inventive concept, embodiments of this application also provide a gear shifting device for vehicle steering, such as... Figure 4 As shown, the device includes:

[0116] The driving resistance determination module 401 is used to determine the current driving resistance of the vehicle when the vehicle is in a turning state. Then, based on the pre-set mapping relationship between driving parameters and vehicle driving resistance, the actual driving resistance of the vehicle under the current driving parameters is determined. The driving parameters include some or all of the following: accelerator pedal opening, vehicle speed, vehicle weight, road slope, acceleration, steering angle, and altitude.

[0117] The target gear determination module 402 is used to determine the target gear corresponding to the target driving force based on the current accelerator pedal opening of the vehicle and from the pre-stored mapping relationship between the transmission gear and the vehicle driving force. The target driving force represents a driving force that is greater than the actual driving resistance.

[0118] The shift module 403 is used to switch the vehicle's transmission to the target gear according to a pre-set shift rule under the steering state.

[0119] In one possible implementation, the driving resistance determination module 401 is used to determine whether the vehicle is currently in a steering state:

[0120] If the current gear of the vehicle's transmission is lower than the preset gear and the steering wheel angle is greater than the preset angle, then the vehicle is determined to be in the first steering state.

[0121] If the current gear of the vehicle's transmission is not less than a preset gear and the steering wheel angle is greater than a preset angle, then the vehicle is determined to be in the second steering state.

[0122] In one possible implementation, the shift module 403 is used to switch the vehicle's transmission to a target gear according to a pre-set shift rule for the steering state:

[0123] If the vehicle is currently in a first steering state, the current gear of the transmission will be shifted to the target gear according to the pre-set upshifting rules for the first steering state.

[0124] If the vehicle is currently in a second steering state, the current gear of the transmission will be downshifted to the target gear according to the pre-set downshifting rules for the second steering state.

[0125] In one possible implementation, the device further includes a shift rule setting module for setting upshift rules in a first steering state:

[0126] Based on the vehicle's driving parameters obtained under the first steering state, multiple influencing factors corresponding to the driving parameters are determined from the mapping relationship between the driving parameters and influencing factors.

[0127] The upshift influence factor is obtained by adding up all the influencing factors. If the upshift influence factor is greater than the first preset threshold, the first target engine speed corresponding to the current accelerator pedal opening in the upshift rule from the first gear to the second gear is determined by Basc+FacShup*(Max-Basc); otherwise, the first target engine speed corresponding to the current accelerator pedal opening in the upshift rule from the first gear to the second gear is determined by Min+FacShup*(Basc-Min).

[0128] The current accelerator pedal opening and the first target engine speed are used as the upshifting rules for shifting from the first gear to the second gear under the current first steering state;

[0129] Wherein, Basc is the first preset base engine speed corresponding to shifting from the first gear to the second gear, Max is the first preset maximum engine speed corresponding to shifting from the first gear to the second gear, Min is the first preset minimum engine speed corresponding to shifting from the first gear to the second gear, and FacShup is the upshifting influence factor; the first preset maximum engine speed > the first preset base engine speed > the first preset minimum engine speed.

[0130] In one possible implementation, a shift rule module is provided to set downshift rules for the second steering state:

[0131] Based on the vehicle's driving parameters obtained under the first steering state, multiple influencing factors corresponding to the driving parameters are determined from the mapping relationship between the driving parameters and influencing factors.

[0132] The downshifting influence factor is obtained by adding up the various influencing factors. If the downshifting influence factor is greater than the second preset threshold, the second target engine speed corresponding to the current accelerator pedal opening is determined by Basc1+FacShwn*(Max1-Basc1) in the downshifting rule from the second gear to the first gear.

[0133] Otherwise, the second target engine speed corresponding to the current accelerator pedal opening is determined by Min1+FacShwn*(Basc1-Min1) in the downshift rule from the second gear to the first gear;

[0134] The current accelerator pedal opening and the second target engine speed are used as the downshifting rule to downshift from the second gear to the first gear in the current second steering state;

[0135] Wherein, Basc1 is the second preset base engine speed corresponding to downshifting from the second gear to the first gear, Max1 is the second preset maximum engine speed corresponding to downshifting from the second gear to the first gear, Min1 is the second preset minimum engine speed corresponding to downshifting from the second gear to the first gear, and FacShwn is the downshifting influence factor, where the second preset maximum engine speed > the second preset base engine speed > the second preset minimum engine speed.

[0136] In one possible implementation, the device further includes a driving mode switching module, used to set the driving mode of the current vehicle to manual shifting mode after the current gear of the transmission is switched to the target gear, and to monitor the steering wheel angle of the vehicle in real time.

[0137] If the steering wheel angle is less than the preset angle, the driving mode of the vehicle will be switched to automatic shifting mode.

[0138] Based on the same inventive concept, this application also provides a gear shifting device for a vehicle steering process, the device comprising:

[0139] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a gear shifting method for a vehicle steering process.

[0140] like Figure 5 As shown, the device includes a processor 501, a memory 502, and a communication interface 503; a bus 504. The processor 501, memory 502, and communication interface 503 are interconnected via the bus 504.

[0141] The processor 501 is used to read and execute instructions from the memory 502, so that the at least one processor can execute the particulate matter trap fault detection method provided in the above embodiments.

[0142] The memory 502 is used to store various instructions and programs for the particulate matter trap fault detection method provided in the above embodiments.

[0143] The communication interface 503 is used for data interaction between the transient smoke sensor and the electronic control unit.

[0144] Bus 504 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0145] Processor 501 can be a central processing unit (CPU), a network processor (NP), a graphics processing unit (GPU), or any combination of CPU, NP, and GPU. It can also be a hardware chip. The aforementioned hardware chip can be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The aforementioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0146] Based on the same inventive concept, this application also provides a vehicle, the vehicle comprising:

[0147] A gear shifting device for vehicle steering process, enabling the at least one processor to execute a gear shifting method for vehicle steering process;

[0148] Sensors are used to collect various driving parameters and send them to the processor, so that the processor can determine the actual driving resistance of the vehicle under the current driving parameters; based on the current accelerator pedal opening of the vehicle, the target gear corresponding to the target driving force is determined from the pre-stored mapping relationship between the transmission gear and the vehicle driving force; according to the pre-set shifting rules under the steering state, the transmission of the vehicle is switched to the target gear.

[0149] In addition, this application also provides a computer-readable storage medium storing a computer program for causing a computer to execute a gear shifting method for a vehicle steering process as described in the above embodiments.

[0150] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0151] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0152] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0153] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for shifting gears during vehicle steering, characterized in that, The method includes: If it is determined that the vehicle is currently in a turning state, then the actual driving resistance of the vehicle under the current driving parameters is determined according to the pre-set mapping relationship between driving parameters and vehicle driving resistance. The driving parameters include vehicle speed-related information, road conditions where the vehicle is located, and some or all of the driving parameters in the vehicle weight. The turning state includes a first turning state and a second turning state. Based on the current accelerator pedal opening of the vehicle, the target gear corresponding to the target driving force is determined from the pre-stored mapping relationship between the transmission gear and the vehicle driving force. The target driving force represents the driving force that is greater than the actual driving resistance. According to the pre-set shift rules in the steering state, the vehicle's transmission is switched to the target gear. The shift rules include upshift rules in the first steering state and downshift rules in the second steering state. The upshifting rules in the first steering state are set as follows: Based on the vehicle's driving parameters obtained under the first steering state, multiple influencing factors corresponding to the driving parameters are determined from the mapping relationship between driving parameters and influencing factors. These influencing factors are then added together to obtain an upshift influencing factor. If the upshift influencing factor is greater than a first preset threshold, then Basc+FacShup is used. (Max-Basc) determines the first target engine speed corresponding to the current accelerator pedal opening in the upshift rule from first to second gear; otherwise, it uses Min+FacShup. (Basc-Min) determines the first target engine speed corresponding to the current accelerator pedal opening in the upshift rule from the first gear to the second gear; the current accelerator pedal opening and the first target engine speed are used as the upshift rule from the first gear to the second gear under the current first steering state; Basc is the first preset base engine speed corresponding to the upshift from the first gear to the second gear, Max is the first preset maximum engine speed corresponding to the upshift from the first gear to the second gear, Min is the first preset minimum engine speed corresponding to the upshift from the first gear to the second gear, and FacShup is the upshift influence factor; the first preset maximum engine speed > the first preset base engine speed > the first preset minimum engine speed.

2. The method according to claim 1, characterized in that, Determining that the vehicle is currently in a turning state includes: If the current gear of the vehicle's transmission is lower than the preset gear and the steering wheel angle is greater than the preset angle, then the vehicle is determined to be in the first steering state. If the current gear of the vehicle's transmission is not less than a preset gear and the steering wheel angle is greater than a preset angle, then the vehicle is determined to be in the second steering state.

3. The method according to claim 2, characterized in that, The step of switching the vehicle's transmission to the target gear according to a pre-set shifting rule under a steering state includes: If the vehicle is currently in a first steering state, the current gear of the transmission will be shifted to the target gear according to the pre-set upshifting rules for the first steering state. If the vehicle is currently in a second steering state, the current gear of the transmission will be downshifted to the target gear according to the pre-set downshifting rules for the second steering state.

4. The method according to claim 3, characterized in that, The downshifting rules in the second steering state are set as follows: Based on the vehicle's driving parameters obtained under the first steering state, multiple influencing factors corresponding to the driving parameters are determined from the mapping relationship between the driving parameters and influencing factors. The various influencing factors are summed to obtain the downgrading influence factor. If the downgrading influence factor is greater than the second preset threshold, then Basc1+FacShwn is applied. (Max1-Basc1) determines the second target engine speed corresponding to the current accelerator pedal opening in the downshift rule from the second gear to the first gear; Otherwise, use Min1+FacShwn (Basc1-Min1) determines the second target engine speed corresponding to the current accelerator pedal opening in the downshift rule from the second gear to the first gear; The current accelerator pedal opening and the second target engine speed are used as the downshifting rule to downshift from the second gear to the first gear in the current second steering state; Wherein, Basc1 is the second preset base engine speed corresponding to downshifting from the second gear to the first gear, Max1 is the second preset maximum engine speed corresponding to downshifting from the second gear to the first gear, Min1 is the second preset minimum engine speed corresponding to downshifting from the second gear to the first gear, and FacShwn is the downshifting influence factor, where the second preset maximum engine speed > the second preset base engine speed > the second preset minimum engine speed.

5. The method according to any one of claims 1 to 4, characterized in that, After shifting the current gear of the transmission to the target gear, the method further includes: Set the current vehicle's driving mode to manual shift mode and monitor the vehicle's steering wheel angle in real time; If the steering wheel angle is less than the preset angle, the driving mode of the vehicle will be switched to automatic shifting mode.

6. A gear shifting device for vehicle steering, characterized in that, The device includes: The driving resistance determination module is used to determine the current driving resistance of the vehicle when it is in a turning state. Based on the pre-set mapping relationship between driving parameters and vehicle driving resistance, it determines the actual driving resistance of the vehicle under the current driving parameters. The driving parameters include some or all of the driving parameters in terms of vehicle speed-related information, road conditions, and vehicle weight. The turning state includes a first turning state and a second turning state. The target gear determination module is used to determine the target gear corresponding to the target driving force based on the current accelerator pedal opening of the vehicle and from the pre-stored mapping relationship between the transmission gear and the vehicle driving force. The target driving force represents a driving force that is greater than the actual driving resistance. The shift module is used to switch the vehicle's transmission to a target gear according to a pre-set shift rule in a steering state. The shift rule includes an upshift rule in a first steering state and a downshift rule in a second steering state. The upshifting rules in the first steering state are set as follows: Based on the vehicle's driving parameters obtained under the first steering state, multiple influencing factors corresponding to the driving parameters are determined from the mapping relationship between driving parameters and influencing factors. These influencing factors are then added together to obtain an upshift influencing factor. If the upshift influencing factor is greater than a first preset threshold, then Basc+FacShup is used. (Max-Basc) determines the first target engine speed corresponding to the current accelerator pedal opening in the upshift rule from first to second gear; otherwise, it uses Min+FacShup. (Basc-Min) determines the first target engine speed corresponding to the current accelerator pedal opening in the upshift rule from the first gear to the second gear; the current accelerator pedal opening and the first target engine speed are used as the upshift rule from the first gear to the second gear under the current first steering state; Basc is the first preset base engine speed corresponding to the upshift from the first gear to the second gear, Max is the first preset maximum engine speed corresponding to the upshift from the first gear to the second gear, Min is the first preset minimum engine speed corresponding to the upshift from the first gear to the second gear, and FacShup is the upshift influence factor; the first preset maximum engine speed > the first preset base engine speed > the first preset minimum engine speed.

7. A gear shifting device for vehicle steering, characterized in that, The device includes: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described in any one of claims 1-5.

8. A vehicle, characterized in that, The vehicle includes a gear shifting device for the vehicle steering process as described in claim 7.

9. A computer storage medium, characterized in that, The computer storage medium stores a computer program that enables the computer to perform the method as described in any one of claims 1-5.

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