Vehicle slope shifting control method, device, controller and storage medium

Abstract

This application provides a vehicle hill-start assist control method, device, controller, and storage medium. The vehicle is currently in neutral coasting mode. The method includes: detecting the vehicle's throttle opening; if the throttle opening is greater than a preset threshold, detecting the vehicle's current speed as a first current speed and calculating the highest gear matched to the first current speed; detecting the slope of the hill where the vehicle is located; if the slope is greater than a preset slope threshold, calculating the vehicle's acceleration; if the vehicle acceleration is greater than a preset acceleration threshold, determining the highest gear as the vehicle's target gear and controlling the vehicle to enter the target gear, thus ending the neutral coasting phase; if the acceleration is less than or equal to a preset acceleration threshold, downshifting one gear from the highest gear as the vehicle's target gear and controlling the vehicle to enter the target gear, thus ending the neutral coasting phase. This application enables the vehicle to maintain stable gear shifting on hills, improving vehicle power and driving safety.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and in particular to a method, device, controller and storage medium for controlling vehicle hill shifting. Background Technology

[0002] Heavy-duty vehicles often use automated mechanical transmissions (AMTs) with a large number of gears. Frequent gear shifting can shorten the lifespan of the transmission and negatively impact the vehicle's performance. When coasting in neutral, the driver places the gear lever in the neutral position, disengaging the engine from the drive wheels and allowing the vehicle to move using its momentum.

[0003] Currently, in existing technologies, when a vehicle exits neutral and enters a road with an increasingly steep gradient, the gear selection is based on the vehicle speed before exiting neutral.

[0004] However, the inventors discovered that selecting the gear solely based on the vehicle speed before coasting out of neutral cannot accurately select the gear used, which can cause the vehicle to shift up or down when driving on a slope, reducing the vehicle's power and safety. Summary of the Invention

[0005] This application provides a vehicle slope shifting control method, device, controller, and storage medium to solve the problem in the prior art where the vehicle cannot accurately select the gear when disengaging from neutral and coasting on a slope, resulting in upshifting or downshifting while driving uphill, thus reducing the vehicle's power and safety.

[0006] In a first aspect, this application provides a vehicle hill-shifting control method, wherein the vehicle is currently in neutral coasting mode, the method comprising:

[0007] Detect the throttle opening of the vehicle;

[0008] If the throttle opening is greater than a preset opening threshold, the current vehicle speed is detected as the first current vehicle speed, and the highest gear matching the first current vehicle speed is calculated.

[0009] Detect the slope of the ramp where the vehicle is located;

[0010] If the slope is greater than a preset slope threshold, then the vehicle's overall acceleration is calculated.

[0011] If the vehicle acceleration is greater than a preset acceleration threshold, the highest gear is determined as the target gear of the vehicle, and the vehicle is controlled to enter the target gear so that the vehicle ends the neutral coasting phase.

[0012] If the acceleration is less than or equal to a preset acceleration threshold, the gear obtained by downshifting one gear from the highest gear is taken as the target gear of the vehicle, and the vehicle is controlled to enter the target gear so that the vehicle ends the neutral coasting phase.

[0013] In one possible design, the step of calculating the vehicle's overall acceleration if the slope is greater than a preset slope threshold includes: if the slope is greater than the preset slope threshold, detecting the vehicle's current speed as a second current speed, calculating the vehicle's weight based on the second current speed and the slope of the ramp; and calculating the vehicle's overall acceleration based on the vehicle's weight, the second current speed, and the slope of the ramp.

[0014] In one possible design, the step of calculating the vehicle's overall acceleration if the slope is greater than a preset slope threshold includes: if the slope is greater than the preset slope threshold, calculating the vehicle's overall acceleration based on the vehicle's longitudinal dynamics equation and a Bayesian optimization algorithm.

[0015] In one possible design, estimating the vehicle's overall acceleration based on the vehicle's longitudinal dynamics equations and a Bayesian optimization algorithm includes: determining the vehicle's longitudinal dynamics equations as follows:

[0016] δma=F t -F w -F f -F s

[0017] Where δ represents the moment of inertia of the vehicle, m represents the weight of the vehicle, a represents the acceleration of the vehicle, and F represents the acceleration of the vehicle. f F represents rolling friction resistance. w F represents air resistance. f F represents rolling friction resistance. s Indicates slope resistance;

[0018]

[0019] T represents torque, i t η represents the overall speed ratio of the transmission system. t R represents the transmission system efficiency, and R represents the tire radius.

[0020]

[0021] C represents the drag coefficient moment, A represents the frontal area of ​​the car, and u represents the second current vehicle speed;

[0022]

[0023] u represents the second current vehicle speed, R represents the tire radius, n represents the engine speed, and i t Indicates the overall speed ratio of the transmission system;

[0024] F f =mgfcosα

[0025] m represents the weight of the vehicle, g represents the acceleration due to gravity, f represents the rolling friction coefficient, and α represents the slope of the ramp.

[0026] F s =mgsinα

[0027] m represents the weight of the vehicle, g represents the acceleration due to gravity, and α represents the slope of the ramp.

[0028] When the vehicle moves for a short period of time, the slope α of the ramp where the vehicle is located is approximately equal to 0. Transforming the above formula, the relationship between the vehicle's weight and its acceleration is obtained as follows:

[0029]

[0030] In one possible design, the vehicle ramp shifting control method further includes: assigning multiple values ​​to the vehicle's weight; calculating the vehicle acceleration based on the assigned vehicle weight and the formula relating vehicle weight to vehicle acceleration; optimizing the vehicle acceleration using a Bayesian optimization algorithm to obtain an optimized vehicle acceleration; calculating the vehicle weight based on the optimized vehicle acceleration and the formula relating vehicle weight to vehicle acceleration, until the vehicle weight converges to obtain the optimized vehicle weight; and calculating the vehicle acceleration based on the optimized vehicle weight and the formula relating vehicle weight to vehicle acceleration.

[0031] In one possible design, after detecting the throttle opening of the vehicle, the method further includes: if the throttle opening is less than or equal to the preset opening threshold, then controlling the vehicle to continue coasting in neutral.

[0032] In one possible design, after detecting the slope of the ramp, the method further includes: if the slope is less than or equal to the preset slope threshold, then determining the highest gear as the target gear of the vehicle, and controlling the vehicle to enter the target gear so that the vehicle ends the neutral coasting phase.

[0033] Secondly, this application provides a vehicle hill-start shifting control device, comprising:

[0034] The first detection module is used to detect the throttle opening of the vehicle;

[0035] The first calculation module is used to detect the current vehicle speed as the first current vehicle speed if the throttle opening is greater than a preset opening threshold, and calculate the highest gear that matches the first current vehicle speed.

[0036] The second detection module is used to detect the slope of the ramp where the vehicle is located;

[0037] The second calculation module is used to calculate the vehicle acceleration if the slope is greater than a preset slope threshold.

[0038] The first control module is used to determine the highest gear as the target gear of the vehicle if the vehicle acceleration is greater than a preset acceleration threshold, and control the vehicle to enter the target gear so that the vehicle ends the coasting phase in neutral.

[0039] The second control module is used to, if the acceleration is less than or equal to a preset acceleration threshold, take the gear obtained by downshifting one gear from the highest gear as the target gear of the vehicle, and control the vehicle to enter the target gear so that the vehicle ends the neutral coasting phase.

[0040] In one possible design, the second calculation module is specifically used to calculate the vehicle's overall acceleration based on the vehicle's longitudinal dynamics equation and Bayesian optimization algorithm if the slope is greater than a preset slope threshold.

[0041] Thirdly, this application provides a vehicle controller, including: at least one processor and a memory;

[0042] The memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, causing the at least one processor to execute the vehicle ramp shifting control method in the first aspect and any possible design of the first aspect.

[0043] Fourthly, this application provides a computer-readable storage medium storing a computer program / instruction that, when executed by a processor, implements the vehicle ramp shifting control method as described in the first aspect and any possible design of the first aspect.

[0044] The vehicle slope shifting control method, device, controller, and storage medium provided in this application determine the highest gear matching the current vehicle speed when the vehicle's throttle opening is greater than a preset value, and calculate the vehicle's overall acceleration when the slope of the slope is greater than a preset value. If the overall vehicle acceleration is greater than a preset acceleration threshold, the highest gear is determined as the vehicle's target gear. If the acceleration is less than or equal to the preset acceleration threshold, the gear obtained by downshifting one gear from the highest gear is taken as the vehicle's target gear. The vehicle is controlled to enter the target gear, thus ending the vehicle's coasting phase in neutral. The gear is reasonably matched according to parameters such as vehicle speed, acceleration, vehicle weight, and slope, enabling the vehicle to drive stably in gear on slopes, avoiding upshifting or downshifting when driving on slopes, and improving vehicle power and driving safety. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 The flowchart of the vehicle hill-start shifting control method provided in the embodiments of this application Figure 1 ;

[0047] Figure 2 The flowchart of the vehicle hill-start shifting control method provided in the embodiments of this application Figure 2 ;

[0048] Figure 3 The flowchart of the vehicle hill-start shifting control method provided in the embodiments of this application Figure 3 ;

[0049] Figure 4 A gear shift diagram for a vehicle hill-start shifting control method provided in an embodiment of this application;

[0050] Figure 5 This is a diagram showing the gear changes in the existing technology where gear selection is based on the vehicle speed before coasting out of neutral.

[0051] Figure 6 A schematic diagram of the vehicle ramp shifting control device provided in an embodiment of this application;

[0052] Figure 7 This is a schematic diagram of the hardware structure of the vehicle controller provided in an embodiment of this application. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] Terminology Explanation

[0055] Coasting in neutral: When the vehicle is in motion, the transmission is in neutral, which disengages the engine from the transmission clutch, allowing the vehicle to move using its inertia.

[0056] Throttle opening: The travel of the accelerator pedal.

[0057] Heavy-duty vehicles often have a large number of gears in their automated manual transmissions (AMTs). Frequent gear shifting can shorten the transmission's lifespan and negatively impact the vehicle's performance. When coasting in neutral, the driver places the gear lever in neutral, disengaging the engine from the drive wheels and allowing the vehicle to move using its momentum. However, in current technology, when a vehicle exits neutral and enters a slope with increasing gradient, gear selection is based solely on the vehicle's speed before exiting neutral, without considering factors such as current speed, gradient, vehicle weight, and acceleration. Relying solely on the speed before exiting neutral for gear selection cannot accurately determine the appropriate gear, leading to upshifting or downshifting on inclines, reducing vehicle power and safety.

[0058] To address the aforementioned issues, this application proposes a vehicle slope shifting control method. When a vehicle exits neutral and enters a road with an increasingly steep slope, the method rationally matches the gear according to the slope and acceleration of the current slope, enabling the vehicle to maintain a stable gear position on the slope and reducing the occurrence of gear shifting on the slope. This solves the problem of upshifting and downshifting when driving on a slope, which reduces the vehicle's power and safety.

[0059] The technical solutions of this application will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0060] Figure 1 The flowchart of the vehicle hill-start shifting control method provided in the embodiments of this application Figure 1 In this embodiment, the executing entity can be the vehicle controller, and the vehicle is currently in neutral coasting. For example... Figure 1 As shown, the method in this embodiment may include the following steps:

[0061] S101. Detect the throttle opening of the vehicle.

[0062] In this embodiment, throttle opening refers to the travel of the accelerator pedal, also known as throttle valve opening, which is controlled by the accelerator pedal. The gasoline engine controls the amount of fuel injected based on the throttle valve opening.

[0063] As is known in this embodiment, the vehicle is currently in neutral coasting. When the vehicle exits neutral coasting and enters a road with an increasingly steep gradient, the throttle opening and the selected gear will affect the vehicle's power. Therefore, this embodiment needs to detect the vehicle's throttle opening.

[0064] S102. Determine whether the throttle opening is greater than the preset opening threshold. If so, proceed to step S203.

[0065] In this embodiment, the preset opening threshold can be set according to the actual situation, and no specific restrictions are imposed in this embodiment.

[0066] S103. Detect the vehicle's current speed as the first current speed, and calculate the highest gear that matches the first current speed.

[0067] In this embodiment, the vehicle speedometer in the vehicle controller is used to detect the current vehicle speed and calculate the highest gear that matches the first current vehicle speed. For example, if the first current vehicle speed is 15 kilometers per hour, then the highest gear that matches the first current vehicle speed is gear 2.

[0068] S104. Detect the slope of the ramp where the vehicle is located.

[0069] In this embodiment, the method for detecting the slope of the ramp where the vehicle is located can be the method in the vehicle controller: the sensor or gyroscope installed on the vehicle measures the slope of the ramp where the vehicle is located, and sends the measured slope data to the vehicle controller. The vehicle controller receives the slope data, thus obtaining the slope of the ramp where the vehicle is located.

[0070] S105. Determine whether the slope is greater than the preset slope threshold. If so, proceed to step S206.

[0071] In this embodiment, the preset slope threshold can be set according to the actual situation, and no specific restrictions are imposed in this embodiment.

[0072] S106. Calculate the vehicle's overall acceleration.

[0073] In this embodiment, the vehicle's overall acceleration is calculated based on the vehicle's weight, current speed, and gradient.

[0074] S107. Determine whether the vehicle acceleration is greater than the preset acceleration threshold. If yes, proceed to step S108; otherwise, proceed to step S109.

[0075] In this embodiment, the preset acceleration threshold can be set according to the actual situation, and no specific restrictions are imposed in this embodiment.

[0076] S108. Determine the highest gear as the target gear for the vehicle, and control the vehicle to enter the target gear so that the vehicle ends the coasting phase in neutral.

[0077] In this embodiment, if the vehicle acceleration exceeds a preset acceleration threshold, selecting a higher gear to gradually decrease the acceleration will not lead to insufficient vehicle power; therefore, it is not necessary to downshift to improve power. After determining the target gear, the vehicle is controlled to enter the target gear, thus ending the neutral coasting phase.

[0078] S109. The gear obtained by downshifting one gear from the highest gear is taken as the target gear of the vehicle, and the vehicle is controlled to enter the target gear so that the vehicle ends the coasting phase in neutral.

[0079] In this embodiment, if the vehicle acceleration is less than or equal to a preset acceleration threshold, the gradual decrease in acceleration when driving in a higher gear will lead to insufficient vehicle power. Therefore, the gear is downshifted to improve power. After determining the target gear, the vehicle is controlled to enter the target gear, thus ending the coasting phase in neutral.

[0080] Figure 4 The gear shift diagram for the vehicle hill-start shift control method provided in this application embodiment is from... Figure 4 As can be seen from this, the vehicle slope shifting control method of this embodiment does not cause upshifting or downshifting when the vehicle is driving uphill. In the prior art, when a vehicle enters a road with an increasingly steep slope after coasting out of neutral, the gear is selected based on the vehicle speed before coasting out of neutral. Figure 5 This is a diagram illustrating gear shifts in existing technology where gear selection is based on the vehicle speed before coasting out of neutral. Figure 5 It can be seen that selecting a gear solely based on the vehicle speed before coasting out of neutral will cause the vehicle to shift up or down when driving on a slope, thereby reducing the vehicle's power and safety.

[0081] In summary, the vehicle slope shifting control method provided in this embodiment determines the highest gear matching the current vehicle speed when the vehicle's throttle opening is greater than a preset value, and calculates the vehicle's overall acceleration when the slope of the slope is greater than a preset value. If the overall vehicle acceleration is greater than a preset acceleration threshold, the highest gear is determined as the vehicle's target gear. If the acceleration is less than or equal to the preset acceleration threshold, the gear obtained by downshifting one gear from the highest gear is taken as the vehicle's target gear. The method controls the vehicle to enter the target gear, thus ending the vehicle's coasting phase in neutral. By rationally matching the gear according to parameters such as vehicle speed, acceleration, vehicle weight, and slope, the vehicle can maintain stable gear position on slopes, avoiding upshifts and downshifts while driving on slopes, thereby improving vehicle power and driving safety.

[0082] Figure 2 The flowchart of the vehicle hill-start shifting control method provided in the embodiments of this application Figure 2 .exist Figure 1 Based on the example implementation, Figure 2 The process of determining whether the slope is greater than a preset slope threshold in steps S105 and S106, and then calculating the vehicle's overall acceleration if it is, is explained in detail. Figure 2 As shown, the method in this embodiment may include the following steps:

[0083] S201. Determine whether the slope is greater than the preset slope threshold.

[0084] S202. If the slope is greater than the preset slope threshold, the vehicle's acceleration is calculated based on the vehicle's longitudinal dynamics equation and Bayesian optimization algorithm.

[0085] In this embodiment, the vehicle's overall acceleration is calculated based on the vehicle's longitudinal dynamics equations and a Bayesian optimization algorithm, including:

[0086] The longitudinal dynamic equations of the vehicle are determined as follows:

[0087] δma=F t -F w -F f -F s (Formula 1)

[0088] Where δ represents the vehicle's moment of inertia, m represents the vehicle's weight, a represents the vehicle's acceleration, and F... f F represents rolling friction resistance. w F represents air resistance. f F represents rolling friction resistance. s Indicates slope resistance;

[0089]

[0090] T represents torque, i t η represents the overall speed ratio of the transmission system. t R represents the transmission system efficiency, and R represents the tire radius.

[0091]

[0092] C represents the drag coefficient moment, A represents the frontal area of ​​the car, and u represents the second current vehicle speed;

[0093]

[0094] u represents the second current vehicle speed, R represents the tire radius, n represents the engine speed, and i t Indicates the overall speed ratio of the transmission system;

[0095] Ff =mgfcosα(Formula 5)

[0096] m represents the weight of the vehicle, g represents the acceleration due to gravity, f represents the rolling friction coefficient, and α represents the slope of the ramp.

[0097] F s =mgsinα(Formula 6)

[0098] m represents the weight of the vehicle, g represents the acceleration due to gravity, and α represents the slope of the ramp.

[0099] When a vehicle moves for a short period of time, the slope α of the ramp where the vehicle is located is approximately equal to 0. Transforming formulas one through six above, we obtain the following formula relating the vehicle's weight to its acceleration:

[0100]

[0101] Among them, torque T and transmission system efficiency η t The engine speed n, air resistance coefficient C, vehicle frontal area A, second current vehicle speed u, gravitational acceleration g, rolling friction coefficient f, and vehicle moment of inertia δ are all known quantities that can be obtained.

[0102] In this embodiment, after obtaining the formula relating the vehicle's weight to its acceleration, the method further includes:

[0103] The vehicle's weight is assigned multiple times, and the vehicle's acceleration is calculated based on the assigned vehicle weight and the formula relating the vehicle's weight to the vehicle's acceleration.

[0104] The vehicle acceleration is optimized using a Bayesian optimization algorithm to obtain the optimized vehicle acceleration. The vehicle weight is then calculated based on the optimized vehicle acceleration and the formula relating vehicle weight to vehicle acceleration, until the vehicle weight converges, thus obtaining the optimized vehicle weight.

[0105] The vehicle acceleration is calculated based on the optimized vehicle weight and the formula relating vehicle weight to vehicle acceleration.

[0106] Bayesian optimization (BO) is a global optimization method that essentially uses Bayes' theorem to guide the search to find the minimum or maximum value of the objective function. When optimizing parameters, the Bayesian algorithm constructs a probabilistic surrogate model based on historical information (prior knowledge) of the samples to approximate the black-box objective function. It then constructs a collection function using the calculated posterior probability distribution and selects the next most promising evaluation point by maximizing the collection function. The general process of Bayesian optimization is as follows: 1) Initialize the prior distribution of the probabilistic surrogate model; 2) Calculate the data point x where the collection function a(x) reaches its maximum value; 3) Calculate the value of the objective function f(x) based on the evaluation data point x; 4) Update the probabilistic surrogate model using (x, f(x)) obtained in step 3), and calculate the posterior distribution as the prior distribution for the next iteration; 5) Repeat steps 2) to 4) for iterative updates until the set maximum number of iterations is reached; 6) Output the optimal data point x. Compared with the least squares (RLS) and Kalman filtering (EKF) methods, Bayesian optimization algorithms can provide more accurate results when there is less data or reliable prior information.

[0107] In summary, the vehicle ramp shifting control method provided in this embodiment detects the vehicle's current speed as the second current speed, calculates the vehicle's weight based on the second current speed and the ramp's gradient, and then calculates the vehicle's acceleration based on the vehicle's weight, the second current speed, and the ramp's gradient. This method can obtain a more accurate vehicle acceleration, which is beneficial for the accurate control of subsequent gears.

[0108] Figure 3 The flowchart of the vehicle hill-start shifting control method provided in the embodiments of this application Figure 3 This embodiment is another embodiment of the vehicle slope shifting control method, such as... Figure 3 As shown, the method in this embodiment may include the following steps:

[0109] S301. Detect the throttle opening of the vehicle.

[0110] S302. Determine whether the throttle opening is greater than the preset opening threshold. If not, proceed to step S303. If yes, proceed to step S304.

[0111] S303, Control the vehicle to continue coasting in neutral.

[0112] In this embodiment, if the throttle opening is less than or equal to a preset opening threshold, it is considered that there is no throttle signal during coasting in neutral, so the vehicle continues to coast in neutral.

[0113] S304. Detect the vehicle's current speed as the first current speed, and calculate the highest gear that matches the first current speed.

[0114] S305. Inspect the slope of the ramp where the vehicle is located.

[0115] S306. Determine whether the slope is greater than the preset slope threshold. If not, proceed to step S307. If yes, proceed to step S308.

[0116] S307. Determine the highest gear as the target gear for the vehicle, and control the vehicle to enter the target gear so that the vehicle ends the coasting phase in neutral.

[0117] In this embodiment, if the slope is less than or equal to the preset slope threshold, it is considered that the vehicle is driving on a road with no slope or a very small slope. When driving in a high gear, the acceleration will not gradually decrease and cause insufficient power. Therefore, the highest gear can be determined as the target gear of the vehicle, and the vehicle can be controlled to enter the target gear so that the vehicle ends the coasting phase in neutral.

[0118] S308. The current speed of the vehicle is detected as the second current speed, and the weight of the vehicle is calculated based on the second current speed and the slope of the ramp.

[0119] S309. The vehicle's overall acceleration is calculated based on the vehicle's weight, the second current speed, and the gradient of the slope.

[0120] S310. Determine whether the vehicle acceleration is greater than the preset acceleration threshold. If yes, proceed to step S312; otherwise, proceed to step S311.

[0121] S311. The gear obtained by downshifting one gear from the highest gear is taken as the target gear of the vehicle, and the vehicle is controlled to enter the target gear so that the vehicle ends the coasting phase in neutral.

[0122] S312. Determine the highest gear as the target gear for the vehicle, and control the vehicle to enter the target gear so that the vehicle ends the coasting phase in neutral.

[0123] In summary, the vehicle slope shifting control method provided in this embodiment selects and shifts gears based on parameters such as current vehicle speed, slope, vehicle weight, and acceleration. This avoids multiple gear adjustments due to unreasonable gear selection, allows the vehicle to drive stably in pre-selected gears, reduces the occurrence of gear shifting on slopes, and significantly improves the vehicle's power and safety.

[0124] Figure 6 This is a schematic diagram of the vehicle ramp shifting control method device provided in the embodiments of this application, as shown below. Figure 6As shown, the vehicle ramp shifting control method device of this embodiment is used to implement the operation corresponding to the vehicle controller in any of the above method embodiments. The vehicle is currently in the neutral coasting stage. The vehicle ramp shifting control method device of this embodiment includes: a first detection module 601, a first calculation module 602, a second detection module 603, a second calculation module 604, a first control module 606, and a second control module 606.

[0125] The first detection module 601 is used to detect the throttle opening of the vehicle.

[0126] The first calculation module 602 is used to detect the current vehicle speed as the first current vehicle speed if the throttle opening is greater than a preset opening threshold, and calculate the highest gear that matches the first current vehicle speed.

[0127] The second detection module 603 is used to detect the slope of the ramp where the vehicle is located.

[0128] The second calculation module 604 is used to calculate the vehicle's overall acceleration if the slope is greater than a preset slope threshold.

[0129] The first control module 606 is used to determine the highest gear as the target gear of the vehicle if the vehicle acceleration is greater than a preset acceleration threshold, and control the vehicle to enter the target gear so that the vehicle ends the coasting phase in neutral.

[0130] The second control module 606 is used to, if the acceleration is less than or equal to a preset acceleration threshold, take the gear obtained by downshifting one gear from the highest gear as the target gear of the vehicle, and control the vehicle to enter the target gear so that the vehicle ends the coasting phase in neutral.

[0131] In one possible implementation, the second calculation module 604 is specifically used to calculate the vehicle's overall acceleration based on the vehicle's longitudinal dynamics equation and Bayesian optimization algorithm if the slope is greater than a preset slope threshold.

[0132] In one possible implementation, the second calculation module 604 is further specifically used to determine the vehicle's longitudinal dynamics equations as follows:

[0133] δma=F t -F w -F f -F s

[0134] Where δ represents the vehicle's moment of inertia, m represents the vehicle's weight, a represents the vehicle's acceleration, and F... f F represents rolling friction resistance. w F represents air resistance. f F represents rolling friction resistance. s Indicates slope resistance;

[0135]

[0136] T represents torque, i t η represents the overall speed ratio of the transmission system. t R represents the transmission system efficiency, and R represents the tire radius.

[0137]

[0138] C represents the drag coefficient moment, A represents the frontal area of ​​the car, and u represents the second current vehicle speed;

[0139]

[0140] u represents the second current vehicle speed, R represents the tire radius, n represents the engine speed, and i t Indicates the overall speed ratio of the transmission system;

[0141] F f =mgfcosα

[0142] m represents the weight of the vehicle, g represents the acceleration due to gravity, f represents the rolling friction coefficient, and α represents the slope of the ramp.

[0143] F s =mgsinα

[0144] m represents the weight of the vehicle, g represents the acceleration due to gravity, and α represents the slope of the ramp.

[0145] When a vehicle moves for a short period of time, the slope α of the ramp where the vehicle is located is approximately equal to 0. Transforming the above formula, the relationship between the vehicle's weight and its acceleration is obtained as follows:

[0146]

[0147] In one possible implementation, the second calculation module 604 is further specifically used to assign the vehicle's weight multiple times, calculate the vehicle acceleration based on the assigned vehicle weight and the formula relating the vehicle's weight to the vehicle's acceleration, optimize the vehicle acceleration using a Bayesian optimization algorithm to obtain the optimized vehicle acceleration, calculate the vehicle's weight based on the optimized vehicle acceleration and the formula relating the vehicle's weight to the vehicle's acceleration, until the vehicle's weight converges to obtain the optimized vehicle weight, and finally calculate the vehicle acceleration based on the optimized vehicle weight and the formula relating the vehicle's weight to the vehicle's acceleration.

[0148] In one possible implementation, the vehicle hill-start shift control device further includes a third control module 607, which controls the vehicle to continue coasting in neutral if the throttle opening is less than or equal to a preset opening threshold.

[0149] In one possible implementation, the vehicle slope shift control device further includes: a fourth control module 608, which is used to determine the highest gear as the target gear of the vehicle if the slope is less than or equal to a preset slope threshold, and control the vehicle to enter the target gear so that the vehicle ends the neutral coasting phase.

[0150] The vehicle ramp shifting control device provided in this application embodiment can execute the above method embodiment. Its specific implementation principle and technical effect can be found in the above method embodiment, and will not be repeated here.

[0151] Figure 7 This is a schematic diagram of the hardware structure of the vehicle controller provided in an embodiment of this application. Figure 7 As shown, the vehicle controller includes a memory 701 and at least one processor 702. The memory 701 stores instructions to be executed by the computer. The memory 701 may include high-speed random access memory (RAM) or non-volatile memory (NVM), such as at least one disk drive, and may also be a USB flash drive, external hard drive, read-only memory, disk, or optical disc, etc.

[0152] At least one processor 702 is configured to execute computer-executable instructions stored in memory to implement the vehicle ramp shifting control method in the above embodiments. For details, please refer to the relevant descriptions in the foregoing method embodiments. The processor 702 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0153] Alternatively, the memory 701 can be either standalone or integrated with the processor 702.

[0154] When the memory 701 is a device independent of the processor 702, the vehicle controller may also include a bus 703. This bus 703 is used to connect the memory 701 and the processor 702. The bus 703 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0155] The vehicle controller provided in this embodiment can be used to execute the above-described vehicle slope shifting control device method. Its implementation and technical effects are similar, and will not be described again here.

[0156] This application also provides a computer-readable storage medium storing a computer program / instruction that, when executed by a processor, implements the vehicle ramp shifting control device method provided in the various embodiments described above.

[0157] The computer-readable storage medium can be a computer storage medium or a communication medium. A communication medium includes any medium that facilitates the transfer of a computer program from one location to another. A computer storage medium can be any available medium accessible to a general-purpose or special-purpose computer. For example, a computer-readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the ASIC can reside in a user equipment. Of course, the processor and the computer-readable storage medium can also exist as discrete components in a communication device.

[0158] Specifically, the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium accessible to general-purpose or special-purpose computers.

[0159] This application also provides a computer program product comprising a computer program / instructions stored in a computer-readable storage medium. At least one processor of the device can read the computer program / instructions from the computer-readable storage medium, and the at least one processor executes the computer program / instructions to cause the device to perform the methods provided in the various embodiments described above.

[0160] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0161] The modules can be physically separate, for example, installed in different locations within a single device, installed on different devices, distributed across multiple network units, or distributed across multiple processors. Alternatively, the modules can be integrated, for example, installed in the same device, or integrated into a single codebase. The modules can exist in hardware form, software form, or a combination of both. This application can select some or all of the modules to achieve the objectives of this embodiment based on actual needs.

[0162] When the various modules are implemented as integrated software functional modules, they can be stored in a computer-readable storage medium. The aforementioned software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, vehicle controller, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of this application.

[0163] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0164] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling gear shifting on a vehicle slope, characterized in that, The vehicle is currently coasting in neutral, and the method includes: Detect the throttle opening of the vehicle; If the throttle opening is greater than a preset opening threshold, the current vehicle speed is detected as the first current vehicle speed, and the highest gear matching the first current vehicle speed is calculated. Detect the slope of the ramp where the vehicle is located; If the slope is greater than a preset slope threshold, then the vehicle's overall acceleration is calculated. If the vehicle acceleration is greater than a preset acceleration threshold, the highest gear is determined as the target gear of the vehicle, and the vehicle is controlled to enter the target gear so that the vehicle ends the neutral coasting phase. If the acceleration is less than or equal to a preset acceleration threshold, the gear obtained by downshifting one gear from the highest gear is taken as the target gear of the vehicle, and the vehicle is controlled to enter the target gear so that the vehicle ends the neutral coasting phase. If the slope is greater than a preset slope threshold, the calculation of the vehicle's overall acceleration includes: If the slope is greater than a preset slope threshold, the vehicle's acceleration is calculated based on the vehicle's longitudinal dynamics equation and Bayesian optimization algorithm.

2. The method according to claim 1, characterized in that, The calculation of the vehicle's overall acceleration based on the vehicle's longitudinal dynamics equations and Bayesian optimization algorithm includes: The longitudinal dynamic equations of the vehicle are determined as follows: in, This represents the moment of inertia of the entire vehicle. This indicates the weight of the vehicle. Indicates the acceleration of the entire vehicle. This indicates the driving force transmitted from the engine to the wheels. Indicates air resistance, Indicates rolling friction resistance. Indicates slope resistance; T represents torque. Indicates the overall speed ratio of the transmission system. R represents the transmission system efficiency, and R represents the tire radius. C represents the air drag coefficient moment. Indicates the frontal area of ​​a car. Indicates the second current vehicle speed; This indicates the second current vehicle speed, and R represents the tire radius. Indicates engine speed. Indicates the overall speed ratio of the transmission system; m represents the weight of the vehicle, g represents the acceleration due to gravity, f represents the rolling friction coefficient, and α represents the slope of the ramp. m represents the weight of the vehicle, g represents the acceleration due to gravity, and α represents the slope of the ramp. When the vehicle moves for a short period of time, the slope α of the ramp where the vehicle is located is approximately equal to 0. Transforming the above formula, the relationship between the vehicle's weight and its acceleration is obtained as follows: 。 3. The method according to claim 2, characterized in that, Also includes: The weight of the vehicle is assigned multiple times, and the vehicle acceleration is calculated based on the assigned vehicle weight and the formula relating the vehicle weight to the vehicle acceleration. The vehicle acceleration is optimized using a Bayesian optimization algorithm to obtain the optimized vehicle acceleration. The vehicle weight is then calculated based on the optimized vehicle acceleration and the formula relating vehicle weight to vehicle acceleration, until the vehicle weight converges, thus obtaining the optimized vehicle weight. The vehicle acceleration is calculated based on the optimized vehicle weight and the formula relating vehicle weight to vehicle acceleration.

4. The method according to claim 1, characterized in that, After detecting the throttle opening of the vehicle, the method also includes: If the throttle opening is less than or equal to the preset opening threshold, the vehicle is controlled to continue coasting in neutral.

5. The method according to any one of claims 1 to 4, characterized in that, After detecting the slope of the ramp, the method further includes: If the slope is less than or equal to the preset slope threshold, the highest gear is determined as the target gear of the vehicle, and the vehicle is controlled to enter the target gear so that the vehicle ends the coasting phase in neutral.

6. A vehicle hill-start shifting control device, wherein the vehicle is currently in neutral coasting mode, characterized in that, include: The first detection module is used to detect the throttle opening of the vehicle; The first calculation module is used to detect the current vehicle speed as the first current vehicle speed if the throttle opening is greater than a preset opening threshold, and calculate the highest gear that matches the first current vehicle speed. The second detection module is used to detect the slope of the ramp where the vehicle is located; The second calculation module is used to calculate the vehicle acceleration if the slope is greater than a preset slope threshold. The first control module is used to determine the highest gear as the target gear of the vehicle if the vehicle acceleration is greater than a preset acceleration threshold, and control the vehicle to enter the target gear so that the vehicle ends the coasting phase in neutral. The second control module is used to, if the acceleration is less than or equal to a preset acceleration threshold, take the gear obtained by downshifting the highest gear by 1 gear as the target gear of the vehicle, and control the vehicle to enter the target gear so that the vehicle ends the neutral coasting phase. The second calculation module is specifically used to calculate the vehicle's overall acceleration based on the vehicle's longitudinal dynamics equation and Bayesian optimization algorithm if the slope is greater than a preset slope threshold.

7. A vehicle controller, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the vehicle ramp shift control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program / instruction, which, when executed by a processor, implements the vehicle ramp shifting control method as described in any one of claims 1 to 5.

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