Control method and device for vehicle operation, vehicle and storage medium

Abstract

The embodiments of the present disclosure disclose a control method and device for vehicle operation, a vehicle and a storage medium. The method comprises: obtaining vehicle operation information; determining whether a gear shifting condition of a gearbox of the vehicle is met based on the vehicle operation information; wherein the gearbox comprises a front axle gearbox and a rear axle gearbox; in response to the gear shifting conditions of the front axle gearbox and the rear axle gearbox being met simultaneously, determining a target gear shifting sequence according to the vehicle operation information; and shifting the front axle gearbox and the rear axle gearbox in sequence based on the target gear shifting sequence. Through the method, the power performance and the driving range of the vehicle can be effectively improved.

Description

Technical Field

[0001] This disclosure relates to, but is not limited to, the field of automotive control technology, and in particular to a method, apparatus, vehicle, and storage medium for controlling vehicle operation. Background Technology

[0002] Electric vehicles (EVs) are gaining popularity due to their advantages such as energy efficiency, high performance, zero emissions, low noise, rapid acceleration, and low operating costs, leading to a surge in EV market activity and prompting various OEMs to develop their own. Four-wheel drive (4WD) vehicles offer more powerful performance than two-wheel drive (2WD) vehicles, providing better adaptability to various road conditions. To improve the fuel economy of 4WD EVs, multi-gear transmissions are increasingly being adopted. Effectively controlling automatic gear shifting to enhance the driving performance of 4WD EVs has been a major focus of attention. Summary of the Invention

[0003] In view of this, the present disclosure aims to provide a method, apparatus, vehicle, and storage medium for controlling vehicle operation.

[0004] In a first aspect, embodiments of this disclosure provide a method for controlling vehicle operation, the method comprising: Obtain vehicle operation information; Based on the vehicle operating information, it is determined whether the shifting conditions of the vehicle's transmission are met; wherein, the transmission includes a front axle transmission and a rear axle transmission; In response to the simultaneous satisfaction of the shift conditions of the front axle transmission and the rear axle transmission, a target shift sequence is determined based on the vehicle operation information; Based on the target shift sequence, the front axle transmission and the rear axle transmission are shifted sequentially.

[0005] In some embodiments, the vehicle operating information includes: the actual torque of the front axle motor corresponding to the front axle transmission, and the actual torque of the rear axle motor corresponding to the rear axle transmission; Determining the target shift sequence based on the vehicle operation information includes: In response to the actual torque of the front axle motor being less than or equal to the actual torque of the rear axle motor, it is determined that the front axle gearbox should be shifted first. In response to the fact that the actual torque of the front axle motor is greater than the actual torque of the rear axle motor, it is determined that the rear axle gearbox should be shifted first.

[0006] In some embodiments, the vehicle operating information includes: vehicle speed, the current gear of the front axle transmission and the rear axle transmission, and throttle opening; The step of determining whether the vehicle's transmission shift conditions are met based on the vehicle's operating information includes: The target torque is determined based on the vehicle speed and the throttle opening. For each of the front axle transmission and the rear axle transmission, based on the target torque, a first vehicle speed limit value is determined for upshifting conditions and a second vehicle speed limit value is determined for downshifting conditions; wherein, the first vehicle speed limit value is greater than the second vehicle speed limit value. For each transmission, based on the vehicle speed, the current gear of the transmission, and the corresponding first and second speed limits, it is determined whether the transmission shift conditions are met.

[0007] In some embodiments, determining whether the gear shifting conditions of the transmission are met based on the vehicle speed, the current gear of the transmission, and the corresponding first and second speed limits includes: If the current gear of the transmission is not the highest gear, and the vehicle speed within a preset time period is higher than the first speed limit corresponding to the transmission, then the transmission is determined to meet the upshift condition; or, If the current gear of the transmission is not the highest gear, and the vehicle speed within a preset time period drops from above the first speed limit value corresponding to the transmission to between the first speed limit value and the second speed limit value corresponding to the transmission, it is determined that the transmission meets the upshifting conditions. In some embodiments, determining whether the gear shifting conditions of the transmission are met based on the vehicle speed, the current gear of the transmission, and the corresponding first and second speed limits includes: If the current gear of the transmission is not the lowest gear, and the vehicle speed within a preset time period is lower than the second speed limit corresponding to the transmission, then the transmission is determined to meet the downshifting conditions; or, In response to the fact that the current gear of the transmission is not the lowest gear, and the vehicle speed within a preset time period increases from below the second speed limit value corresponding to the transmission to between the second speed limit value and the first speed limit value corresponding to the transmission, it is determined that the transmission meets the downshifting condition. In some embodiments, the vehicle operation information includes: a first marker indicating whether the transmission allows shifting, a second marker indicating whether the vehicle speed is valid, and the vehicle's current driving mode; The step of determining whether the vehicle's transmission shift conditions are met based on the vehicle's operating information includes: If the first marker of the transmission indicates that shifting is allowed, the second marker indicates that the vehicle speed is valid, the third marker indicates that the shifting time has not expired, and the current driving mode is a mode that allows shifting, determine whether the shifting conditions of the vehicle's transmission are met.

[0008] In some embodiments, shifting the front axle transmission and the rear axle transmission sequentially based on the target shift sequence includes: During the shifting process of the current gearbox based on the target shift sequence, if the actual gear position of the current gearbox after a first predetermined time period is inconsistent with the gear position corresponding to the target torque, the shifting operation of the current gearbox is stopped, and a first flag is set to indicate that shifting is not allowed and a third flag is set to indicate that shifting timeout has occurred.

[0009] In some embodiments, the method further includes: If, during the process of shifting gears of the current gearbox based on the target shift sequence, another shift request for the current gearbox is detected, the system controls the gearboxes other than the current gearbox to shift gears after multiple shifts are completed, based on the target shift sequence.

[0010] In some embodiments, shifting the front axle transmission and the rear axle transmission sequentially based on the target shift sequence includes: Based on the target shift sequence, the actual torque of the motor corresponding to the gearbox in the current sequence is transferred to the motor corresponding to the gearbox that is about to shift or has completed shifting. After the torque transfer is completed, the gearbox shifts in the current sequence.

[0011] In some embodiments, the method further includes: If the sum of the actual torque transferred and the torque of the motor to be shifted or the motor that has completed the shift is greater than the maximum torque of the motor to be shifted or the motor that has completed the shift, the motor to be shifted or the motor that has completed the shift is controlled to run at the maximum torque.

[0012] In some embodiments, the method further includes: If the torque transfer time exceeds the second predetermined time, and / or if the actual torque of the motor that is transferring torque is detected to be less than or equal to a predetermined torque threshold during the torque transfer process, the torque transfer is determined to be complete.

[0013] Secondly, embodiments of this disclosure provide a vehicle operation control device, the device comprising: The acquisition module is configured to acquire vehicle operation information; The first determining module is configured to determine, based on the vehicle operating information, whether the shifting conditions of the vehicle's transmission are met; wherein the transmission includes a front axle transmission and a rear axle transmission. The second determining module is configured to determine the target shift sequence based on the vehicle operation information in response to simultaneously satisfying the shift conditions of the front axle transmission and the rear axle transmission. The first shift module is configured to shift gears sequentially between the front axle transmission and the rear axle transmission based on the target shift sequence.

[0014] In some embodiments, the vehicle operating information includes: the actual torque of the front axle motor corresponding to the front axle transmission, and the actual torque of the rear axle motor corresponding to the rear axle transmission; The second determining module is further configured to determine, in response to the actual torque of the front axle motor being less than or equal to the actual torque of the rear axle motor, to prioritize shifting the front axle gearbox; and to determine, in response to the actual torque of the front axle motor being greater than the actual torque of the rear axle motor, to prioritize shifting the rear axle gearbox.

[0015] In some embodiments, the vehicle operating information includes: vehicle speed, the current gear of the front axle transmission and the rear axle transmission, and throttle opening; The first determining module is further configured to determine a target torque based on the vehicle speed and the throttle opening; for each of the front axle transmission and the rear axle transmission, based on the target torque, determine a first speed limit value for upshifting and a second speed limit value for downshifting; wherein the first speed limit value is greater than the second speed limit value; and for each transmission, determine whether the transmission shifting conditions are met based on the vehicle speed, the current gear of the transmission, and the corresponding first speed limit value and second speed limit value.

[0016] In some embodiments, the first determining module is further configured to determine that the transmission meets the upshifting condition in response to the current gear of the transmission not being the highest gear and the vehicle speed within a preset time period being higher than the first speed limit value corresponding to the transmission; or, in response to the current gear of the transmission not being the highest gear and the vehicle speed within a preset time period falling from higher than the first speed limit value corresponding to the transmission to between the first speed limit value and the second speed limit value corresponding to the transmission, the transmission meets the upshifting condition. In some embodiments, the first determining module is further configured to determine that the transmission meets the downshifting condition in response to the current gear of the transmission not being the lowest gear and the vehicle speed within a preset time period being lower than the second speed limit value corresponding to the transmission; or, in response to the current gear of the transmission not being the lowest gear and the vehicle speed within a preset time period rising from below the second speed limit value corresponding to the transmission to between the second speed limit value and the first speed limit value corresponding to the transmission, determine that the transmission meets the downshifting condition. In some embodiments, the vehicle operation information includes: a first marker indicating whether the transmission allows shifting, a second marker indicating whether the vehicle speed is valid, and the vehicle's current driving mode; The first determining module is further configured to determine whether the gear shifting conditions of the vehicle's gearbox are met when the first marker of the gearbox indicates that shifting is allowed, the second marker indicates that the vehicle speed is valid, the third marker indicates that shifting has not timed out, and the current driving mode is a mode that allows shifting.

[0017] In some embodiments, the first shift module is further configured to, during the process of shifting the gearbox of the current sequence based on the target shift sequence, if the actual gear of the gearbox of the current sequence after a first predetermined time period is inconsistent with the gear corresponding to the target torque, stop the shifting operation of the gearbox of the current sequence, and set a first flag of the gearbox of the current sequence to indicate that shifting is not allowed and a third flag to indicate that shifting timeout has occurred.

[0018] In some embodiments, the apparatus further includes: The second shift module is configured to, if during the process of shifting gears of the current gearbox based on the target shift sequence, another shift request for the current gearbox is detected, and after multiple shifts are completed for the current gearbox, shift gears of a gearbox other than the current gearbox based on the target shift sequence.

[0019] In some embodiments, the first shift module is further configured to transfer the actual torque of the motor corresponding to the gearbox in the current sequence to the motor corresponding to the gearbox to be shifted or to which the shift has been completed, based on the target shift sequence; and shift the gearbox in the current sequence after the torque transfer is completed.

[0020] In some embodiments, the apparatus further includes: The control module is configured to control the motor to operate at the maximum torque if the sum of the actual torque transferred and the torque of the motor to be shifted or the motor that has completed the shift is greater than the maximum torque of the motor to be shifted or the motor that has completed the shift.

[0021] In some embodiments, the apparatus further includes: The third determining module is configured to determine that the torque transfer is complete if the duration of torque transfer exceeds a second predetermined duration, and / or if the actual torque of the motor that is transferring torque is detected to be less than or equal to a predetermined torque threshold during the torque transfer process.

[0022] Thirdly, embodiments of this disclosure provide a vehicle, including: Processor; memory used to store processor-executable instructions; The processor is configured to perform the method described in the first aspect.

[0023] Fourthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method described in the first aspect.

[0024] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: In the embodiments of this disclosure, when the vehicle determines that the shifting conditions of the front axle transmission and the rear axle transmission are met simultaneously, the target shifting sequence is determined based on the vehicle's operating information, and the vehicle is controlled to shift the front axle transmission and the rear axle transmission sequentially according to the target shifting sequence. That is, targeted shifting is performed according to the actual operating conditions of the vehicle, which enables the vehicle to work with better power performance during the shifting process, effectively improving the vehicle's power and driving range.

[0025] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this disclosure and, together with the specification, serve to illustrate the technical solutions of this disclosure.

[0027] Figure 1 A schematic diagram illustrating the implementation flow of a vehicle operation control method provided in this embodiment of the disclosure; Figure 2 This is a flowchart illustrating a shift control strategy for a four-wheel drive electric vehicle according to an embodiment of this disclosure. Figure 3 This is a flowchart illustrating a torque transfer process according to an embodiment of the present disclosure; Figure 4 This is an example diagram of the judgment logic during gear shifting in an embodiment of this disclosure; Figure 5 This is a flowchart illustrating the gear shifting logic control of a four-wheel drive electric vehicle according to an embodiment of the present disclosure.

[0028] Figure 6 This is a schematic diagram of a vehicle operation control device provided in an embodiment of the present disclosure; Figure 7 This is a schematic diagram of a hardware entity of a vehicle in an embodiment of this disclosure. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this disclosure clearer, the technical solutions of this disclosure are further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this disclosure. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0030] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0031] The terms “first / second / third” used in this disclosure are merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that “first / second / third” may be interchanged in a specific order or sequence where permitted, so that the embodiments of this disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this disclosure.

[0033] Figure 1 This is a schematic diagram illustrating the implementation flow of a vehicle operation control method provided in an embodiment of this disclosure, as shown below. Figure 1 As shown, the method includes the following steps: S11. Obtain vehicle operation information; S12. Based on the vehicle operation information, determine whether the shifting conditions of the vehicle's transmission are met; wherein the transmission includes a front axle transmission and a rear axle transmission; S13. In response to simultaneously satisfying the shift conditions of the front axle transmission and the rear axle transmission, determine the target shift sequence based on the vehicle operation information. S14. Based on the target shift sequence, shift the gears of the front axle gearbox and the rear axle gearbox sequentially.

[0034] The vehicle operation control method of this disclosure can be applied to a vehicle. During vehicle operation, the vehicle can obtain vehicle operation information through the Vehicle Control Unit (VCU). This vehicle operation information may include information about the actual operation of the vehicle, such as vehicle speed, driving mode, the current gear of the front axle and rear axle transmissions, the current actual torque of the front and rear axle motors, and the throttle opening when the user presses the accelerator. It may also include information representing the vehicle state determined by the VCU based on information from the actual operation process, such as whether the vehicle speed allows for gear shifting, whether the vehicle speed is valid, and whether the previous gear shift timed out.

[0035] In step S12, the vehicle determines whether the shift conditions for the front axle transmission and the rear axle transmission are met based on the aforementioned vehicle operating information. It should be noted that in some embodiments, the vehicle continuously acquires current vehicle operating information and executes the shift control method of this disclosure; in other embodiments, the vehicle can execute step S12 and trigger transmission shifts at certain shift cycles. The shift cycle can be time-based, for example, the vehicle can trigger the shift cycle at predetermined intervals; it can also be based on current vehicle operating information and historical vehicle operating information, for example, triggered when the current vehicle speed and historical vehicle speed change; or it can be triggered, for example, when uphill or downhill road conditions are detected. This disclosure does not impose any limitations. It is understood that the shift cycle-based approach can reduce the power consumption caused by frequently determining whether to shift gears and triggering shifts. A shift cycle can be a preset duration, and one or more shifts can be triggered within a shift cycle.

[0036] In this embodiment of the disclosure, the shifting conditions may include upshifting conditions and downshifting conditions, and the shifting conditions corresponding to the front axle transmission and the rear axle transmission may be the same or different. The vehicle can determine whether to shift gears based on the actual driving speed of the vehicle and the torque required by the driver.

[0037] In step S13, when the vehicle determines that the front axle transmission and the rear axle transmission simultaneously meet their respective shift conditions, the target shift sequence is determined based on the vehicle operation information, and in step S14, the front axle transmission and the rear axle transmission are shifted sequentially according to the target shift sequence.

[0038] It should be noted that when shifting gears between the front and rear axle transmissions sequentially, the shift can be performed either by selecting a target gear or by upshifting (or downshifting) at a preset level when it is determined that the transmission needs to upshift (or downshift). For example, the preset level could be level 1, meaning that if it is determined that the front axle transmission needs to upshift, the transmission can be adjusted to a gear one level higher than the current gear. The target gear can be determined based on the torque required by the driver.

[0039] Typically, if both the front and rear axle transmissions meet the shifting conditions simultaneously, only single-axle shifting is allowed to maintain the electric vehicle's power output; simultaneous shifting by the front and rear axle motors is not permitted. In related technologies, when the shifting conditions of both the front and rear axle transmissions are met simultaneously, they are shifted in a fixed sequence, such as shifting the front axle transmission first and then the rear axle transmission. Since shifting any transmission affects the vehicle's power, a fixed shifting sequence cannot be tailored to actual driving conditions, and therefore may not provide optimal power performance during shifts.

[0040] In this implementation, when the vehicle determines that the shifting conditions of both the front axle transmission and the rear axle transmission are met simultaneously, the target shifting sequence is determined based on the vehicle's operating information. The vehicle is then controlled to shift gears sequentially between the front axle transmission and the rear axle transmission according to the target shifting sequence. This means that targeted shifting is performed based on the actual operating conditions of the vehicle, enabling the vehicle to operate with better power performance during the shifting process, effectively improving the vehicle's power and driving range.

[0041] In some embodiments, the vehicle operating information includes: the actual torque of the front axle motor corresponding to the front axle transmission, and the actual torque of the rear axle motor corresponding to the rear axle transmission; Determining the target shift sequence based on the vehicle operation information includes: In response to the actual torque of the front axle motor being less than or equal to the actual torque of the rear axle motor, it is determined that the front axle gearbox should be shifted first. In response to the fact that the actual torque of the front axle motor is greater than the actual torque of the rear axle motor, it is determined that the rear axle gearbox should be shifted first.

[0042] In this embodiment, the vehicle operation information also includes the actual torque of the front axle motor and the rear axle motor, wherein the front axle motor is used to drive the front axle transmission to shift gears, and the rear axle motor is used to drive the rear axle transmission to shift gears. Typically, the torque of the motor affects the vehicle's speed. Therefore, in this embodiment, when the actual torque of the front axle motor is less than or equal to the actual torque of the rear axle motor, the front axle transmission is shifted first; when the actual torque of the front axle motor is greater than the actual torque of the rear axle motor, the rear axle transmission is shifted first. That is, shifting is prioritized to the transmission corresponding to the motor with the lower actual torque. This reduces excessive speed fluctuations caused by excessive torque loss during gear shifting, thereby improving the smoothness of vehicle operation during gear shifting.

[0043] In some embodiments, the vehicle operating information includes: vehicle speed, the current gear of the front axle transmission and the rear axle transmission, and throttle opening; The step of determining whether the vehicle's transmission shift conditions are met based on the vehicle's operating information includes: The target torque is determined based on the vehicle speed and the throttle opening. For each of the front axle transmission and the rear axle transmission, based on the target torque, a first vehicle speed limit value is determined for upshifting conditions and a second vehicle speed limit value is determined for downshifting conditions; wherein, the first vehicle speed limit value is greater than the second vehicle speed limit value. For each transmission, based on the vehicle speed, the current gear of the transmission, and the corresponding first and second speed limits, it is determined whether the transmission shift conditions are met.

[0044] In this embodiment, when determining whether the vehicle meets the gearbox shifting conditions, it determines whether to perform automatic gear shifting based on the driver's driving needs. Specifically, the vehicle can determine the target torque based on the vehicle speed and throttle opening from its operating information, for example, by looking up the corresponding target torque using a lookup table. It should be noted that the target torque refers to the target torque of the electric motor, which drives the gearbox to operate at the target gear under the target torque. Therefore, when the aforementioned vehicle shifts gears sequentially between the front axle gearbox and the rear axle gearbox, it shifts according to the target gear, that is, controlling the vehicle to operate the gearbox at the target gear based on the target torque.

[0045] Typically, to ensure vehicle stability, there is a speed limit based on the motor torque during gear shifting. For example, Table 1 shows the speed limit relationship between the target torque and the gearbox on the front and rear axles during upshifting:

[0046] Table 2 shows the speed limit relationship between the target torque and the vehicle speed limit when downshifting for the front axle transmission and the rear axle transmission:

[0047] In Tables 1 and 2 above, the torque required by the driver is the target torque, and the speed limit corresponding to the target torque is the speed defined by the vehicle developers. The speed limit in Table 1 is the first speed limit value of this embodiment, and the speed limit in Table 2 is the second speed limit value of this embodiment.

[0048] In the tables above, the first or second speed limit values ​​corresponding to different target torques are the same. Furthermore, in Table 1, the first speed limit value corresponding to the same target torque is the same for both the front and rear axle motors during upshifting; similarly, in Table 2, the second speed limit value corresponding to the same target torque is the same for both the front and rear axle motors during downshifting. However, it should be noted that the first speed limit value corresponding to different target torques can be different for either the front or rear axle motor, and the second speed limit value can also be different. Furthermore, during upshifting, the first speed limit value corresponding to the same target torque can be different for the front and rear axle motors; similarly, during downshifting, the second speed limit value corresponding to the same target torque can also be different. Based on different speed limit settings, either the front or rear axle transmission can be triggered to meet the shift conditions without requiring both transmissions to meet the shift conditions simultaneously. Moreover, the shifting of each transmission can be flexibly controlled.

[0049] In this embodiment of the disclosure, for each transmission, after determining the first and second speed limits corresponding to the target torque, it is possible to determine whether the corresponding upshift or downshift conditions of the transmission are met by combining the vehicle's driving speed and the current gear of the transmission. Typically, the difference between the first and second speed limits is called the hysteresis interval. The main purpose of setting different first and second speed limits is to prevent the vehicle from frequently requiring upshifts or downshifts.

[0050] Since vehicle speed can reflect the driver's driving needs to a certain extent, in this embodiment of the disclosure, the determination of whether the conditions for upshifting or downshifting are met is made by combining the first speed limit value, the second speed limit value and the current gear of the transmission. This allows for matching the appropriate gear based on the driver's driving needs, demonstrating good intelligence.

[0051] In some embodiments, determining whether the gear shifting conditions of the transmission are met based on the vehicle speed, the current gear of the transmission, and the corresponding first and second speed limits includes: If the current gear of the transmission is not the highest gear, and the vehicle speed within a preset time period is higher than the first speed limit corresponding to the transmission, then the transmission is determined to meet the upshift condition; or, If the current gear of the transmission is not the highest gear, and the vehicle speed within a preset time period drops from above the first speed limit value corresponding to the transmission to between the first speed limit value and the second speed limit value corresponding to the transmission, it is determined that the transmission meets the upshifting conditions.

[0052] In this embodiment of the disclosure, the vehicle can determine whether the upshift condition is met based on the driving speed within a preset time period. Taking the front axle transmission as an example, if the current gear of the front axle transmission is 1st gear and the target torque is 3000 Nm, based on Table 1, the first speed limit corresponding to the target torque is 60 km / h, and the second speed limit is 40 km / h. In one case, if the driving speed within the preset time period is 70 km / h, since the actual speed within the preset time period is greater than the first speed limit corresponding to the target torque, it indicates that the driver has an acceleration need, and therefore the front axle transmission can be upshifted. In another case, if the driving speed within the preset time period drops from greater than 60 km / h to between 40 km / h and 60 km / h, it indicates that the driver may have an acceleration need, but due to the gear, it may not be able to continue driving at a speed greater than 60 km / h. Therefore, in this case, the front axle transmission can also be upshifted.

[0053] In some embodiments, determining whether the gear shifting conditions of the transmission are met based on the vehicle speed, the current gear of the transmission, and the corresponding first and second speed limits includes: If the current gear of the transmission is not the lowest gear, and the vehicle speed within a preset time period is lower than the second speed limit corresponding to the transmission, then the transmission is determined to meet the downshifting conditions; or, In response to the fact that the current gear of the transmission is not the lowest gear, and the vehicle speed within a preset time period increases from below the second speed limit value corresponding to the transmission to between the second speed limit value and the first speed limit value corresponding to the transmission, it is determined that the transmission meets the downshifting condition. In this embodiment of the disclosure, the vehicle can also determine whether the downshift condition is met based on the driving speed within a preset time period. Taking the rear axle transmission as an example, if the current gear of the rear axle transmission is 2nd gear and the target torque is 2000 Nm, based on Table 2, the first speed limit corresponding to the target torque is 60 km / h, and the second speed limit is 40 km / h. In one case, if the driving speed within the preset time period is 30 km / h, since the actual speed within the preset time period is less than the second speed limit corresponding to the target torque, it indicates that the driver has a need to decelerate, and therefore the rear axle transmission can be downshifted. In another case, if the driving speed within the preset time period increases from less than 40 km / h to between 40 km / h and 60 km / h, it indicates that the driver may have a need to decelerate, but due to the gear, it may not be possible to continue driving at a speed less than 40 km / h. Therefore, in this case, the rear axle transmission can also be downshifted.

[0054] It is understood that in this embodiment of the present disclosure, the vehicle speed within a preset time period is compared with the first speed limit and the second speed limit to determine whether the conditions for upshifting or downshifting are met. Since the vehicle speed may change abruptly due to the influence of the driving environment or vehicle system, and the sudden change in speed is not triggered by the driver's driving needs, the vehicle speed monitoring within the preset time period can more reasonably reflect the driver's driving needs, thereby improving the accuracy of gear shift determination.

[0055] In some embodiments, the vehicle operation information includes: a first marker indicating whether the transmission allows shifting, a second marker indicating whether the vehicle speed is valid, and the vehicle's current driving mode; The step of determining whether the vehicle's transmission shift conditions are met based on the vehicle's operating information includes: If the first marker of the transmission indicates that shifting is allowed, the second marker indicates that the vehicle speed is valid, the third marker indicates that the shifting time has not expired, and the current driving mode is a mode that allows shifting, determine whether the shifting conditions of the vehicle's transmission are met.

[0056] In this embodiment, the first marker indicating whether the transmission allows shifting can be a manually set marker or a marker determined based on historical operating information; vehicle speed validity can refer to whether the actual vehicle speed is consistent with the calculated vehicle speed. The vehicle can obtain the actual vehicle speed based on wheel speed sensors, calculate the theoretical vehicle speed based on the actual torque of the motor, the gear position of the transmission, and the throttle opening, and compare the actual vehicle speed with the theoretical vehicle speed to determine whether the vehicle speed is valid and determine the second marker; the third marker indicating whether the transmission has exceeded the shifting time can be a marker determined based on historical operating information; the current driving mode of the vehicle can be a mode manually set by the driver or a mode automatically adjusted by the vehicle based on the driving conditions. Different driving modes result in different power outputs of the vehicle. The driving modes may include sport mode, energy-saving mode, snow mode, off-road mode, standard mode, etc. In some modes, shifting can be set to not be allowed, for example, shifting is not allowed in off-road mode.

[0057] Understandably, the shift conditions for the corresponding transmission are only determined when the first marker of the transmission indicates that shifting is allowed, the second marker indicates that the vehicle speed is valid, the third marker indicates that the shift has not exceeded the time limit, and the current driving mode is a mode that allows shifting. This reduces unnecessary shift condition determinations and saves vehicle energy consumption.

[0058] In some embodiments, shifting the front axle transmission and the rear axle transmission sequentially based on the target shift sequence includes: During the shifting process of the current gearbox based on the target shift sequence, if the actual gear position of the current gearbox after a first predetermined time period is inconsistent with the gear position corresponding to the target torque, the shifting operation of the current gearbox is stopped, and a first flag is set to indicate that shifting is not allowed and a third flag is set to indicate that shifting timeout has occurred.

[0059] Normally, if the transmission performs normally, the gear adjustment can be completed within a predetermined time. Therefore, in this embodiment of the present disclosure, if the actual gear of the transmission currently performing the shift is inconsistent with the gear corresponding to the target torque after a first predetermined time, it may be that the transmission is malfunctioning. In this case, stopping the shifting operation of the transmission in the current sequence and marking the transmission with a first mark indicating that shifting is not allowed and a third mark indicating that shifting timeout has occurred can reduce invalid shifting.

[0060] It should be noted that if the first mark corresponding to the current gearbox indicates that shifting is not allowed and the third mark indicates that shifting timeout has occurred, then shifting of that gearbox is not allowed within the current shifting cycle.

[0061] In some embodiments, the method further includes: If, during the process of shifting gears of the current gearbox based on the target shift sequence, another shift request for the current gearbox is detected, the system controls the gearboxes other than the current gearbox to shift gears after multiple shifts are completed, based on the target shift sequence.

[0062] In this embodiment of the disclosure, since the driver's needs may change during the shifting process, such as increasing the accelerator or pressing the brake, which may trigger a new shifting demand for the current gearbox, the vehicle prioritizes completing multiple shifts of the current gearbox before shifting to other gearboxes. This method can reduce the frequent switching of motor torque transfer and reduce the impact on the motor during the shifting process.

[0063] In some embodiments, shifting the front axle transmission and the rear axle transmission sequentially based on the target shift sequence includes: Based on the target shift sequence, the actual torque of the motor corresponding to the gearbox in the current sequence is transferred to the motor corresponding to the gearbox that is about to shift or has completed shifting. After the torque transfer is completed, the gearbox shifts in the current sequence.

[0064] In this embodiment, when shifting gears between the front axle transmission and the rear axle transmission based on a target shift sequence, the actual torque of the motor corresponding to the current transmission needs to be transferred to the motor corresponding to the other transmission. This other transmission can be the motor corresponding to the transmission to be shifted, or it can be the motor corresponding to a transmission that has already completed a shift. After the motor currently transferring torque completes the torque transfer, the vehicle can send a request to the Transmission Control Unit (TCU) via the VCU to switch the corresponding transmission to the target gear, so that the TCU can perform the shift. The completion of the torque transfer can be determined based on the duration of the torque transfer and / or the actual torque of the motor during the torque transfer process.

[0065] For example, taking the target shift sequence as shifting the front axle transmission first and then the rear axle transmission as an example, during the shift process, the vehicle first allows the front axle motor corresponding to the front axle transmission to transfer the output torque to the rear axle motor corresponding to the rear axle transmission. When the torque of the front axle motor drops to a certain value, it is determined that the torque transfer is complete. Subsequently, the vehicle sends the target gear request of the front axle transmission to the TCU through the VCU, and the TCU performs the shift of the front axle transmission. After the front axle transmission completes the shift, the output torque of the rear axle motor corresponding to the rear axle transmission is transferred to the front axle motor. When the torque of the rear axle motor drops to a certain value, the vehicle sends the target gear request of the rear axle transmission to the TCU through the VCU, and the TCU performs the shift of the rear axle transmission.

[0066] It should be noted that during torque transfer, the motor transferring torque will perform torque transfer at a predetermined rate. For example, Table 3 shows the relationship between the actual torque change rate of the front axle transmission and the rear axle transmission during torque transfer:

[0067] As shown in Table 3, both the front axle motor and the rear axle motor transfer torque at the same rate of torque change under different actual torques. It should be noted that the corresponding rate of torque change under different actual torques is customizable. A larger rate of torque change allows for faster gear shifting; a smaller rate of torque change helps maintain vehicle stability during gear shifting. Furthermore, in this embodiment, the front axle motor and the rear axle motor can also be set to different rates of torque change.

[0068] It is understood that, in this embodiment of the present disclosure, when the vehicle shifts gears in the gearbox according to the target shift sequence, the torque of the motor corresponding to the gearbox in the current sequence is first transferred to other gearboxes before shifting gears. This can maintain the original power of the vehicle while maintaining the original total torque as much as possible, thereby improving the smoothness of vehicle driving. In addition, the torque transfer can also improve the safety and reliability of the motor corresponding to the gearbox in the current sequence.

[0069] In some embodiments, the method further includes: If the sum of the actual torque transferred and the torque of the motor to be shifted or the motor that has completed the shift is greater than the maximum torque of the motor to be shifted or the motor that has completed the shift, the motor to be shifted or the motor that has completed the shift is controlled to run at the maximum torque.

[0070] In this embodiment of the disclosure, when torque transfer is performed based on the target shift sequence, if the sum of the actual transferred torque and the torque of the motor to be shifted or the motor that has completed the shift is greater than the maximum torque of the motor to be shifted or the motor that has completed the shift, the motor to be shifted or the motor that has completed the shift is controlled to run at the maximum torque. This can control the vehicle to maintain its original power as much as possible within the torque range of the gearbox to be shifted or the motor that has completed the shift, thereby maintaining the stability of vehicle driving.

[0071] In some embodiments, the method further includes: If the torque transfer time exceeds the second predetermined time, and / or if the actual torque of the motor that is transferring torque is detected to be less than or equal to a predetermined torque threshold during the torque transfer process, the torque transfer is determined to be complete.

[0072] In this embodiment, both the second predetermined duration and the predetermined torque threshold can be calibrated values. Torque transfer is determined to be complete when the torque transfer duration exceeds the calibrated second predetermined duration, and / or when the actual torque of the motor transferring the torque is detected to be less than the calibrated predetermined torque threshold during the torque transfer process. It should be noted that the actual operation of the front axle motor and the rear axle motor depends on the performance of the motors themselves. The calibrated second predetermined durations for the front axle motor and the rear axle motor can be the same or different. Correspondingly, the calibrated predetermined torque thresholds for the front axle motor and the rear axle motor can also be the same or different.

[0073] Understandably, as mentioned earlier, since the front or rear axle motor transfers torque at a predetermined rate, it is convenient to calibrate and obtain a second predetermined duration and / or a predetermined torque threshold based on this predetermined rate. Therefore, comparing this with the calibrated value allows for a simple and quick determination of whether the torque transfer is complete.

[0074] Figure 2 This is a flowchart illustrating a shift control strategy for a four-wheel drive electric vehicle according to an embodiment of this disclosure. Figure 2 As shown, it includes the following steps: S21. Obtain the four-wheel drive vehicle operation information, and determine whether the front and rear axles of the electric vehicle have upshift or downshift requests based on the operation information; S22. Based on the operating information, determine the permissible shift sequence of the shift shaft; S23. Based on the aforementioned operating information, torque transfer is performed on the first allowed shift shaft; S24. Based on the operating information, send the target gear information to the automatic transmission control unit and determine whether the shift shaft is allowed to complete the shift first. S25. Based on the operating information, torque transfer is performed on the rear permissible shift shaft; S26. Based on the operating information, send the target gear information to the automatic transmission control unit and determine whether the shift shaft is allowed to complete the shift.

[0075] In this embodiment, the four-wheel drive vehicle operating information refers to the vehicle operating information in this implementation. In step S21, based on the operating information, it is determined whether the front and rear axles of the electric vehicle have upshift or downshift requests, i.e., based on the vehicle operating information, it is determined whether the vehicle's transmission shifting conditions are met. In step S22, based on the operating information, it is determined whether the shifting sequence of the shift shafts is allowed, i.e., if the shifting conditions of both the front axle transmission and the rear axle transmission are met simultaneously, the target shifting sequence is determined based on the vehicle operating information. The process of steps S23-S26, i.e., the aforementioned torque transfer and the process of the VCU sending a request to the TCU after the torque transfer is completed so that the TCU can perform a shift, will not be described in detail here. Among them, determining the shift shaft shifting completion status means determining whether the actual gear of the transmission after the shift is consistent with the gear corresponding to the target torque.

[0076] It should be noted that after step S26 is completed, the four-wheel drive vehicle can jump back to step S21 to perform gear shift control multiple times.

[0077] Figure 3 This is a flowchart illustrating a torque transfer process according to an embodiment of the present disclosure, as shown below. Figure 3 As shown, it includes the following steps: S31. Enter the torque transfer module, obtain the request to allow upshifting or downshifting. If both the front and rear axles meet the conditions, shift gears to the axle with the smaller current torque first. S32. Transfer the currently allowed shift shaft torque to another shaft; the target torque transfer rate can be calibrated. S33. Determine whether the torque transfer is complete. If the shift shaft torque is allowed to drop to the target value (which can be calibrated) or the torque transfer time exceeds a certain time (which can be calibrated), then the torque transfer is determined to be complete.

[0078] In this embodiment of the disclosure, obtaining the upshift or downshift permission request in step S31 involves determining whether the vehicle's transmission shift conditions are met based on vehicle operating information. If both the front axle and rear axle transmission shift conditions are met simultaneously, the transmission corresponding to the motor with the lower actual torque is prioritized for shifting. In step S32, the vehicle's VCU transfers the actual torque of the motor corresponding to the current transmission at a predetermined rate to the motor corresponding to the transmission to be shifted or to which the shift has been completed, based on the target shift sequence. In step S33, when the vehicle determines that the torque transfer duration exceeds a second predetermined duration, or detects that the actual torque of the motor transferring the torque is equal to a predetermined torque threshold during the torque transfer process, it determines that the torque transfer is complete.

[0079] Figure 4 This is an example diagram of a judgment logic during gear shifting in an embodiment of this disclosure, such as... Figure 4 As shown, it includes the following steps: S41. Enter the shift module, obtain the torque transfer completion signal, and send the target gear information to the automatic transmission control unit; S42. Wait for the automatic transmission control unit to perform a gear shifting operation. If the automatic transmission control unit shifts gears for more than a certain period of time (which can be calibrated), it is considered that the current shaft has failed to shift gears and a shift timeout signal is issued.

[0080] In this embodiment, after the vehicle's MCU completes the torque transfer control, the MCU sends target gear information to the TCU, which is the gear corresponding to the target torque. The TCU then controls the transmission to shift to the target gear. If the TCU times out, it issues a timeout signal to cause the MCU to set a first flag indicating that shifting is not allowed and a third flag indicating that shifting has timed out. In the case of a shift timeout, shifting of the transmission is no longer allowed within the shift cycle. In other words, if the actual gear of the current-sequence transmission after a first predetermined time interval does not match the gear corresponding to the target torque, the shifting operation of the current-sequence transmission is stopped, and the first flag of the current-sequence transmission is set to indicate that shifting is not allowed, and the third flag is set to indicate that shifting has timed out.

[0081] Figure 5 This is a flowchart illustrating the shift logic control of a four-wheel drive electric vehicle according to an embodiment of this disclosure, such as... Figure 5 As shown, it includes the following steps: S51. Is the driving mode allowed? If yes, proceed to step S52; otherwise, exit.

[0082] In this embodiment, driving mode permission means determining whether the current driving mode is a mode that allows gear shifting.

[0083] S52. Is the vehicle speed valid? If yes, proceed to steps S53a and S53b; otherwise, exit.

[0084] In this embodiment, S53a corresponds to the shift logic control of the front axle transmission, and S53b corresponds to the shift logic control of the rear axle transmission.

[0085] S53a and S53b: Whether the front axle is engaged in gear shifting and whether the rear axle is allowed to shift gears. If the front axle is allowed to shift gears, proceed to step S54a; if the rear axle is allowed to shift gears, proceed to step S54b.

[0086] In this embodiment, the front axle refers to the front axle gearbox, and the rear axle refers to the rear axle gearbox.

[0087] S54a and S54b: Whether the front axle shifts out of time and whether the rear axle shifts out of time. If the front axle shifts out of time, proceed to step S55a; if the rear axle shifts out of time, proceed to step S55b.

[0088] S55a and S55b: Is the vehicle speed higher than the upshift line? If yes, proceed to steps S56a and S56b; otherwise, proceed to steps S57a and S57b.

[0089] In this embodiment, the upshift line is the first vehicle speed limit value.

[0090] S56a and S56b: Is the current gear 1? If so, upshifting is allowed.

[0091] In this implementation, if the current gear corresponding to the transmission is 1st gear (not the highest gear), and the vehicle speed is higher than the first speed limit value corresponding to the transmission, the transmission is allowed to upshift.

[0092] S57a and S57b: Is the vehicle speed below the downshift line? If yes, proceed to steps S59a and S59b; otherwise, proceed to steps S58a and S58b.

[0093] In this embodiment, the downshift line is the second speed limit value.

[0094] S58a and S58b: Has the vehicle speed ever exceeded the upshift line? If not, proceed to steps S59a and S59b; if so, proceed to steps S56a and S56b.

[0095] In this embodiment, if the current vehicle speed is between the downshift line and the upshift line, but has previously been higher than the upshift line, then S56a and S56b continue, that is, the vehicle speed within a preset time period drops from being higher than the first speed limit value corresponding to the transmission to between the first speed limit value and the second speed limit value corresponding to the transmission, and the current gear of the transmission is not the highest gear, then it is determined that the transmission meets the upshift condition.

[0096] S59a and S59b: Is the current gear 2? If so, downshifting is allowed.

[0097] In this implementation, if the current gear corresponding to the transmission is 2nd gear (not the lowest gear), and the vehicle speed is lower than the second speed limit value corresponding to the transmission, or the vehicle speed within a preset time period increases from lower than the second speed limit value corresponding to the transmission to between the second speed limit value and the first speed limit value corresponding to the transmission, then the transmission is determined to meet the downshifting condition. It should be noted that in this embodiment, the transmission maintains the original gear position in all situations other than indicating upshift or downshift.

[0098] It is understood that, in the embodiments disclosed herein, based on the above-mentioned shift control logic, torque transfer control logic, and judgment logic during shifting, the working efficiency of the front and rear axle motors can be effectively improved, the safety and reliability of the motors can be improved, and the power and driving range of the four-wheel drive electric vehicle can be enhanced.

[0099] Figure 6 This is a schematic diagram of a vehicle operation control device provided in an embodiment of the present disclosure, such as... Figure 6 As shown, the vehicle operation control device includes: Module 101 is configured to acquire vehicle operation information; The first determining module 102 is configured to determine, based on the vehicle operating information, whether the shifting conditions of the vehicle's transmission are met; wherein the transmission includes a front axle transmission and a rear axle transmission. The second determining module 103 is configured to determine a target shift sequence based on the vehicle operation information in response to simultaneously satisfying the shift conditions of the front axle transmission and the rear axle transmission. The first shift module 104 is configured to shift the front axle transmission and the rear axle transmission sequentially based on the target shift sequence.

[0100] In some embodiments, the vehicle operating information includes: the actual torque of the front axle motor corresponding to the front axle transmission, and the actual torque of the rear axle motor corresponding to the rear axle transmission; The second determining module 104 is further configured to determine, in response to the actual torque of the front axle motor being less than or equal to the actual torque of the rear axle motor, to prioritize shifting the front axle gearbox; and to determine, in response to the actual torque of the front axle motor being greater than the actual torque of the rear axle motor, to prioritize shifting the rear axle gearbox.

[0101] In some embodiments, the vehicle operating information includes: vehicle speed, the current gear of the front axle transmission and the rear axle transmission, and throttle opening; The first determining module 103 is further configured to determine a target torque based on the vehicle speed and the throttle opening; for each of the front axle transmission and the rear axle transmission, based on the target torque, determine a first speed limit value for upshifting and a second speed limit value for downshifting; wherein the first speed limit value is greater than the second speed limit value; and for each transmission, determine whether the transmission shifting conditions are met based on the vehicle speed, the current gear of the transmission, and the corresponding first speed limit value and second speed limit value.

[0102] In some embodiments, the first determining module 103 is further configured to determine that the transmission meets the upshifting condition in response to the current gear of the transmission not being the highest gear and the vehicle speed within a preset time period being higher than the first speed limit value corresponding to the transmission; or, in response to the current gear of the transmission not being the highest gear and the vehicle speed within a preset time period falling from higher than the first speed limit value corresponding to the transmission to between the first speed limit value and the second speed limit value corresponding to the transmission. In some embodiments, the first determining module 103 is further configured to determine that the transmission meets the downshifting condition in response to the current gear of the transmission not being the lowest gear and the vehicle speed within a preset time period being lower than the second speed limit value corresponding to the transmission; or, in response to the current gear of the transmission not being the lowest gear and the vehicle speed within a preset time period rising from below the second speed limit value corresponding to the transmission to between the second speed limit value and the first speed limit value corresponding to the transmission, determine that the transmission meets the downshifting condition. In some embodiments, the vehicle operation information includes: a first marker indicating whether the transmission allows shifting, a second marker indicating whether the vehicle speed is valid, and the vehicle's current driving mode; The first determining module 103 is further configured to determine whether the gear shifting conditions of the vehicle's gearbox are met when the first mark of the gearbox indicates that shifting is allowed, the second mark indicates that the vehicle speed is valid, the third mark indicates that shifting has not timed out, and the current driving mode is a mode that allows shifting.

[0103] In some embodiments, the first shift module 104 is further configured to, during the process of shifting the gearbox of the current sequence based on the target shift sequence, if the actual gear of the gearbox of the current sequence after a first predetermined time period is inconsistent with the gear corresponding to the target torque, stop the shifting operation of the gearbox of the current sequence, and set a first flag of the gearbox of the current sequence to indicate that shifting is not allowed and a third flag to indicate that shifting timeout has occurred.

[0104] In some embodiments, the apparatus further includes: The second shift module 105 is configured to, if during the process of shifting gears of the current gearbox based on the target shift sequence, another shift request for the current gearbox is detected, and after multiple shifts are completed for the current gearbox, shift gears of a gearbox other than the current gearbox based on the target shift sequence.

[0105] In some embodiments, the first shift module 104 is further configured to transfer the actual torque of the motor corresponding to the gearbox in the current sequence to the motor corresponding to the gearbox to be shifted or to which the shift has been completed, based on the target shift sequence; and to shift the gearbox in the current sequence after the torque transfer is completed.

[0106] In some embodiments, the apparatus further includes: The control module 106 is configured to control the motor to operate at the maximum torque if the sum of the actual torque transferred and the torque of the motor to be shifted or the motor that has completed the shift is greater than the maximum torque of the motor to be shifted or the motor that has completed the shift.

[0107] In some embodiments, the apparatus further includes: The third determining module 107 is configured to determine that the torque transfer is complete if the duration of torque transfer exceeds a second predetermined duration, and / or if the actual torque of the motor that is transferring torque is detected to be less than or equal to a predetermined torque threshold during the torque transfer process.

[0108] Figure 7 This is a schematic diagram of a hardware entity of a vehicle in an embodiment of this disclosure, such as... Figure 7 As shown, the hardware components of the vehicle 800 include a processor 801, a communication interface 802, and a memory 803. The processor 801 typically controls the overall operation of the electronic device 800. The communication interface 802 enables the electronic device to communicate with other terminals or servers via a network.

[0109] The memory 803 is configured to store instructions and applications executable by the processor 801, and can also cache data to be processed or already processed (e.g., image data, audio data, voice communication data, and video communication data) in the processor 801 and various modules in the electronic device 800. It can be implemented using flash memory or random access memory (RAM). Data can be transferred between the processor 801, the communication interface 802, and the memory 803 via bus 804. The processor 801 is used to execute some or all of the steps in the aforementioned vehicle operation control method.

[0110] Correspondingly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements some or all of the steps in the above method.

[0111] It should be noted that the descriptions of the storage medium and device embodiments above are similar to those of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium and device embodiments of this disclosure, please refer to the descriptions of the method embodiments of this disclosure for understanding.

[0112] It should be understood that the phrase "an embodiment" or "one embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this disclosure. Therefore, "in one embodiment" or "one embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this disclosure, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure. The sequence numbers of the above-described embodiments are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0113] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0114] In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components may be combined, or integrated into another system, or some features may be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0115] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0116] In addition, each functional unit in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0117] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0118] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, or the part that contributes to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, magnetic disks, or optical disks.

[0119] The above description is merely an embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A method for controlling vehicle operation, characterized in that, The method includes: Obtain vehicle operation information; the vehicle operation information includes: vehicle speed, the current gear of the front axle transmission and the rear axle transmission of the vehicle, and throttle opening; The target torque is determined based on the vehicle speed and the throttle opening. For each of the front axle transmission and the rear axle transmission, based on the target torque, a first vehicle speed limit value is determined for upshifting conditions and a second vehicle speed limit value is determined for downshifting conditions; wherein, the first vehicle speed limit value is greater than the second vehicle speed limit value. For each transmission, based on the vehicle speed, the current gear of the transmission, and the corresponding first speed limit and second speed limit, it is determined whether the transmission shift conditions are met. In response to the simultaneous satisfaction of the shift conditions of the front axle transmission and the rear axle transmission, a target shift sequence is determined based on the vehicle operation information; Based on the target shift sequence, the front axle transmission and the rear axle transmission are shifted sequentially.

2. The method according to claim 1, characterized in that, The vehicle operation information includes: the actual torque of the front axle motor corresponding to the front axle transmission, and the actual torque of the rear axle motor corresponding to the rear axle transmission; Determining the target shift sequence based on the vehicle operation information includes: In response to the actual torque of the front axle motor being less than or equal to the actual torque of the rear axle motor, it is determined that the front axle gearbox should be shifted first. In response to the fact that the actual torque of the front axle motor is greater than the actual torque of the rear axle motor, it is determined that the rear axle gearbox should be shifted first.

3. The method according to claim 1, characterized in that, The step of determining whether the gearbox shifting conditions are met based on the vehicle speed, the current gear of the transmission, and the corresponding first and second speed limits includes: If the current gear of the transmission is not the highest gear, and the vehicle speed within a preset time period is higher than the first speed limit corresponding to the transmission, then the transmission is determined to meet the upshift condition; or, If the current gear of the transmission is not the highest gear, and the vehicle speed within a preset time period drops from above the first speed limit value corresponding to the transmission to between the first speed limit value and the second speed limit value corresponding to the transmission, it is determined that the transmission meets the upshifting conditions.

4. The method according to claim 1, characterized in that, The step of determining whether the gearbox shifting conditions are met based on the vehicle speed, the current gear of the transmission, and the corresponding first and second speed limits includes: If the current gear of the transmission is not the lowest gear, and the vehicle speed within a preset time period is lower than the second speed limit corresponding to the transmission, then the transmission is determined to meet the downshifting conditions; or, In response to the fact that the current gear of the transmission is not the lowest gear, and the vehicle speed within a preset time period increases from below the second speed limit value corresponding to the transmission to between the second speed limit value and the first speed limit value corresponding to the transmission, it is determined that the transmission meets the downshifting condition.

5. The method according to claim 1, characterized in that, The vehicle operation information includes: a first marker indicating whether the transmission allows shifting, a second marker indicating whether the vehicle speed is valid, a third marker indicating whether the shifting time has expired, and the vehicle's current driving mode. The step of determining whether the vehicle's transmission shift conditions are met based on the vehicle's operating information includes: If the first marker of the transmission indicates that shifting is allowed, the second marker indicates that the vehicle speed is valid, the third marker indicates that the shifting time has not expired, and the current driving mode is a mode that allows shifting, determine whether the shifting conditions of the vehicle's transmission are met.

6. The method according to claim 5, characterized in that, The step of shifting the front axle transmission and the rear axle transmission sequentially based on the target shift sequence includes: During the shifting process of the current gearbox based on the target shift sequence, if the actual gear position of the current gearbox after a first predetermined time period is inconsistent with the gear position corresponding to the target torque, the shifting operation of the current gearbox is stopped, and a first flag is set to indicate that shifting is not allowed and a third flag is set to indicate that shifting timeout has occurred.

7. The method according to claim 1, characterized in that, The method further includes: If, during the process of shifting gears of the current gearbox based on the target shift sequence, another shift request for the current gearbox is detected, the system controls the gearboxes other than the current gearbox to shift gears after multiple shifts are completed, based on the target shift sequence.

8. The method according to claim 1, characterized in that, The step of shifting the front axle transmission and the rear axle transmission sequentially based on the target shift sequence includes: Based on the target shift sequence, the actual torque of the motor corresponding to the gearbox in the current sequence is transferred to the motor corresponding to the gearbox that is about to shift or has completed shifting. After the torque transfer is completed, the gearbox shifts in the current sequence.

9. The method according to claim 8, characterized in that, The method further includes: If the sum of the actual torque transferred and the torque of the motor to be shifted or the motor that has completed the shift is greater than the maximum torque of the motor to be shifted or the motor that has completed the shift, the motor to be shifted or the motor that has completed the shift is controlled to run at the maximum torque.

10. The method according to claim 8, characterized in that, The method further includes: If the torque transfer time exceeds the second predetermined time, and / or if the actual torque of the motor that is transferring torque is detected to be less than or equal to a predetermined torque threshold during the torque transfer process, the torque transfer is determined to be complete.

11. A control device for vehicle operation, characterized in that, The device includes: The acquisition module is configured to acquire vehicle operating information, which includes: vehicle speed, the current gear of the front axle transmission and the rear axle transmission, and throttle opening. The first determining module is configured to: determine a target torque based on the vehicle speed and the throttle opening; for each of the front axle transmission and the rear axle transmission, determine a first speed limit value for upshifting and a second speed limit value for downshifting based on the target torque; wherein the first speed limit value is greater than the second speed limit value; and for each transmission, determine whether the transmission shift conditions are met based on the vehicle speed, the current gear of the transmission, and the corresponding first and second speed limits. The second determining module is configured to determine the target shift sequence based on the vehicle operation information in response to simultaneously satisfying the shift conditions of the front axle transmission and the rear axle transmission. The first shift module is configured to shift gears sequentially between the front axle transmission and the rear axle transmission based on the target shift sequence.

12. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to perform the method as described in any one of claims 1 to 10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 10.

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