Vehicle, control method thereof, and computer-readable storage medium

Abstract

This application provides a vehicle, its control method, and a computer-readable storage medium, belonging to the field of vehicle control technology. The method includes: upon detecting a gear shift operation and finding that the vehicle's first direction of travel before the shift differs from its second direction of travel after the shift, applying a first torque to the motor in the vehicle; and when the duration for which the motor maintains the first torque reaches a first target duration, applying a preloaded torque to the motor corresponding to the shifted gear, the direction of the preloaded torque being the same as the second direction of travel. In this application, before applying the preloaded torque of the shifted gear to the vehicle's motor, a first torque less than the preloaded torque is applied to the motor, reducing the collision force between the motor's gears and the transmission mechanism, thereby reducing the noise generated during gear shifting.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more particularly to a vehicle, a control method thereof, and a computer-readable storage medium. Background Technology

[0002] As people's living standards improve, vehicles have become a common means of transportation in people's daily lives.

[0003] When a vehicle shifts gears, the direction of travel changes, which in turn changes the direction of the torque of the motor that drives the vehicle's wheels. For example, the positive torque of the motor switches to negative torque.

[0004] When the positive torque of the motor switches to negative torque, or vice versa, the meshing direction of the motor gears also changes, causing the motor gears to collide with other meshing transmission mechanisms, resulting in wear and tear on the vehicle and generating significant noise, i.e., the vehicle generates significant noise when shifting gears. Summary of the Invention

[0005] This application provides a vehicle, a control method thereof, and a computer-readable storage medium to solve the problem of excessive noise generated during vehicle gear shifting.

[0006] On the one hand, this application provides a vehicle control method, including:

[0007] When a gear shift operation is detected in the vehicle, and the first direction of travel of the vehicle before the gear shift is different from the second direction of travel after the gear shift, the torque of the motor in the vehicle is applied to the first torque.

[0008] When the duration for which the motor maintains the first torque reaches the first target duration, the torque of the motor is loaded to the preload torque corresponding to the gear after the shift, the preload torque being greater than the first torque, and the direction of the preload torque being the same as the second direction of travel.

[0009] In one embodiment, the step of loading the torque of the motor to the preload torque corresponding to the shifted gear includes:

[0010] The torque of the motor is applied to a second torque, which is greater than the first torque, and the direction of the second torque is the same as the second direction of travel;

[0011] When the duration during which the motor maintains the second torque reaches the second target duration, the torque of the motor is applied to the preloaded torque, which is greater than the second torque.

[0012] In one embodiment, after the step of loading the torque of the motor in the vehicle to the first torque, the method further includes:

[0013] Obtain the first speed of the motor;

[0014] When the first rotational speed is less than the first preset rotational speed, the time interval between the time point when the motor starts to load the first torque and the first time point is determined as the first target time. The first time point is the time point when the first rotational speed is less than the first preset rotational speed.

[0015] In one embodiment, after the step of applying the torque of the motor to the second torque, the method further includes:

[0016] Obtain the second speed of the motor;

[0017] When the second rotational speed is less than the second preset rotational speed, the interval between the time point when the motor starts to load the second torque and the second time point is determined as the second target time point, where the second time point is the time point when the second rotational speed is less than the second preset rotational speed.

[0018] In one embodiment, the first torque is less than the first resistance and the second torque is greater than or equal to the first resistance, where the first resistance is the resistance experienced by the rotor of the motor when it rotates.

[0019] Alternatively, the first torque is less than the second resistance and the second torque is greater than or equal to the second torque, wherein the second torque is the sum of the resistances experienced by the first resistance and the gear connected to the rotor.

[0020] In one embodiment, after the step of loading the torque of the motor to the preload torque corresponding to the shifted gear, the method further includes:

[0021] When the duration during which the motor maintains the preloaded torque reaches a third target duration, the first opening of the accelerator pedal and the second opening of the brake pedal of the vehicle are obtained.

[0022] The torque to be determined is determined based on the first opening degree and the second opening degree;

[0023] The required torque is obtained by correcting the torque to be determined based on the current driving mode of the vehicle.

[0024] The torque of the motor is applied to the required torque.

[0025] In one embodiment, it further includes:

[0026] Obtain the third rotational speed of the motor;

[0027] When the third rotational speed is less than the third preset rotational speed, the interval between the time point when the motor starts to load the third torque and the third time point is determined as the third target time point, where the third time point is the time point when the third rotational speed is less than the third preset rotational speed.

[0028] On the other hand, this application also provides a vehicle, including:

[0029] The first loading module is used to load the torque of the motor in the vehicle to the first torque when a gear shifting operation of the vehicle is detected, and the first direction of travel of the vehicle before the gear shift is different from the second direction of travel after the gear shift.

[0030] The second loading module is used to load the torque of the motor to the preload torque corresponding to the shifted gear when the duration for which the motor maintains the first torque reaches the first target duration. The preload torque is greater than the first torque, and the direction of the preload torque is the same as the second direction of travel.

[0031] On the other hand, this application also provides a vehicle, including: a processor, and a memory and a motor communicatively connected to the processor;

[0032] The memory stores computer-executed instructions;

[0033] The processor executes computer execution instructions stored in the memory to implement the method described above.

[0034] In another aspect, this application also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the method described above.

[0035] The vehicle, its control method, and computer-readable storage medium provided in this application, upon detecting a gear shift operation and finding that the vehicle's first direction of travel before the shift differs from its second direction of travel after the shift, apply a first torque to the motor in the vehicle. Once the duration during which the motor maintains the first torque reaches a target duration, the motor's torque is then increased to a pre-loaded torque greater than the first torque. In this application, before applying the pre-loaded torque of the shifted gear to the vehicle's motor, a first torque less than the pre-loaded torque is applied to the motor, reducing the force of the collision between the motor's gears and the transmission mechanism, thereby reducing the noise generated during gear shifting. Attached Figure Description

[0036] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0037] Figure 1 This is a schematic diagram illustrating a scenario related to the vehicle control method described in this application.

[0038] Figure 2 A flowchart illustrating the first embodiment of the vehicle control method provided in this application;

[0039] Figure 3 This is a structural schematic diagram of the vehicle involved in this application;

[0040] Figure 4 A flowchart illustrating a second embodiment of the vehicle control method provided in this application;

[0041] Figure 5 A schematic flowchart of the third embodiment of the vehicle control method provided in this application;

[0042] Figure 6 A schematic flowchart of the fourth embodiment of the vehicle control method provided in this application;

[0043] Figure 7 A schematic diagram illustrating the gear shifting process for the vehicle in this application.

[0044] Figure 8 This is a schematic diagram of the modules of the vehicle in this application;

[0045] Figure 9 This is a schematic diagram of the hardware structure of the vehicle in this application.

[0046] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0047] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0048] As people's living standards improve, vehicles have become a common means of transportation in people's daily lives.

[0049] When a vehicle shifts gears, the direction of travel changes, which in turn changes the direction of the torque of the motor that drives the vehicle's wheels. For example, the positive torque of the motor switches to negative torque.

[0050] The inventors of this application have discovered that when the positive torque of the motor switches to negative torque, or vice versa, the meshing direction of the motor gears also changes, causing the motor gears to collide with other meshing transmission mechanisms, resulting in wear and tear on the vehicle and generating significant noise, i.e., significant noise is generated when the vehicle shifts gears.

[0051] The inventors of this application therefore conceived of applying a first torque, less than the preload torque, to the vehicle motor before the preload torque of the gear shift is applied to the motor. This reduces the force of the collision between the motor gear and the transmission mechanism, thereby reducing the noise generated by the vehicle during gear shifting.

[0052] Reference Figure 1 , Figure 1 This is a schematic diagram illustrating the scenario involved in the vehicle control method of this application. Figure 1 As shown, when the vehicle detects a gear shift operation, and the vehicle's direction of travel A before the shift is different from the vehicle's direction of travel B after the shift, the motor's torque is applied to the first torque, and the first torque is maintained for a period of time before the motor's torque is applied to the preload torque corresponding to the gear after the shift.

[0053] It should be noted that, Figure 1 The direction of travel A in the figure can be when the vehicle is in park or in neutral. In this case, the vehicle's motor has no torque, i.e., zero torque. For example, if the vehicle is in park and stationary, the vehicle's motor has zero torque. At this time, it can be considered that the motor has been loaded with the first torque and maintained for the first duration.

[0054] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0055] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the vehicle control method of this application. The vehicle control method includes the following steps:

[0056] Step S201: When a gear shifting operation of the vehicle is detected, and the first direction of travel of the vehicle before the gear shift is different from the second direction of travel after the gear shift, the torque of the motor in the vehicle is applied to the first torque.

[0057] In this embodiment, the executing entity may be a vehicle or a vehicle control device, and the control device is used to control the vehicle's gear shifting.

[0058] For example, refer to Figure 3The vehicle includes a first motor assembly, a second motor assembly, wheels, half-shafts, a high-voltage battery, and a control device. The control device can be a CPU (Central Processing Unit), connected to the high-voltage battery via signal lines. The first and second motor assemblies are connected to the high-voltage battery via high-voltage lines. The first and second motor assemblies are connected to the wheels via half-shafts, and both are signal-connected to the control device. The first or second motor assembly can be a motor assembly including a left motor and a right motor, with the left and right motors driving the left and right wheels respectively. The motors can be connected to the vehicle via shafts, gears, or other means. Of course, the first and second motor assemblies can also include only one motor. It should be noted that the vehicle can also consist of only a first motor assembly or a second motor assembly.

[0059] For ease of description, the following explanation uses a vehicle as the executing entity to illustrate the scheme of this embodiment.

[0060] When a gear shift is detected, the vehicle first determines whether the shift will cause a change in the vehicle's direction of travel. The vehicle's direction of travel before shifting can be stationary, forward, or backward. In this embodiment, "stationary" refers to the vehicle being stationary while in operation, where the vehicle's motor has no torque, i.e., zero torque. For example, if the vehicle is in park and stationary, the motor has zero torque. At this point, it can be considered that the motor has been loaded with the first torque and maintained for the first duration.

[0061] For example, a vehicle can determine whether its direction of travel has changed based on the gear position before and after the gear shift. For instance, shifting from drive to reverse, from neutral to drive, from neutral to reverse, from park to drive, and from park to reverse all indicate a change in the vehicle's direction of travel. In this embodiment, the vehicle's current direction of travel is defined as the first direction of travel, and the direction of travel after the gear shift is defined as the second direction of travel.

[0062] When a vehicle changes direction due to gear shifting, the vehicle needs to unload the torque from the motor, releasing its elastic force. For example, before shifting, the motor has a large torque, which causes a reverse elastic force in the motor's transmission mechanism (e.g., the motor's gears). That is, the direction of the elastic force is opposite to the direction of the motor's current torque. In this exemplary technology, when the vehicle detects a gear shift due to a change in direction, the motor's gears first disengage from the currently engaged gears, and then a tooth torque is applied to the motor, causing the motor's gears to mesh with other gears. The direction of the tooth torque is the same as the direction of the elastic force. The superposition of the tooth torque and the elastic force results in an excessively high rotor speed, causing a large impact when the motor's gears mesh, resulting in significant noise and damage to the transmission mechanism.

[0063] To address this, the vehicle applies a first torque to the motor. This first torque is close to zero and is less than the gear engagement torque. Because this first torque is less than the gear engagement torque, the motor's gears are not engaged with other gears, releasing the motor's elastic force, which gradually decreases to zero. Since the motor's gears are not engaged with other gears, this release of elastic force does not cause any impact on the motor's gears. The first torque can be a preset torque value set for the vehicle.

[0064] The vehicle applies torque to the motor at a certain torque increment rate until the motor reaches a first torque. This torque increment rate is defined as the first torque increment rate, which can be obtained by calibrating the vehicle. During the calibration of the first torque increment rate, it is ensured that the vehicle does not experience any impact when the motor is applying the first torque. Preferably, the first torque increment rate is calibrated under conditions where the vehicle is at the brink of impact. Based on the calibrated first torque increment rate, the vehicle can apply the motor torque to the first torque as quickly as possible, shortening the vehicle's shift time and thus optimizing the vehicle's shift response.

[0065] Step S202: When the duration for which the motor maintains the first torque reaches the first target duration, the motor torque is applied to the preload torque corresponding to the gear after the shift. The preload torque is greater than the first torque, and the direction of the preload torque is the same as the second direction of travel.

[0066] The vehicle will maintain the motor's torque for a period of time, causing the motor's elastic force to decrease to zero. Once the motor's elastic force has been released, the vehicle will apply the motor's torque to the preload torque corresponding to the shifted gear. The preload torque is the gear torque, which causes the motor's gear to mesh with other gears to complete the vehicle's gear shift.

[0067] Specifically, when the vehicle applies the first torque to the motor, it starts timing to obtain the timing duration, which is defined as the first duration. When the first duration reaches the first target duration, it can be determined that the motor's elastic force has been fully released, and the vehicle then applies the motor's torque to the pre-loaded torque. The first target duration can be a preset value, that is, a fixed duration set by the vehicle, and this fixed duration is a small value to avoid excessively long gear shifting times.

[0068] It should be noted that the vehicle loads torque onto the motor by controlling the current or voltage of the motor.

[0069] In this embodiment, when a gear shift is detected, and the vehicle's first direction of travel before the shift differs from its second direction of travel after the shift, the motor's torque is applied to a first torque. Once the duration the motor maintains the first torque reaches a target duration, the motor's torque is applied to a pre-loaded torque greater than the first torque. In this embodiment, before the vehicle's motor applies the pre-loaded torque for the shifted gear, a first torque less than the pre-loaded torque is applied to the motor. This reduces the impact force between the motor's gears and the transmission mechanism, thereby reducing the noise generated during gear shifting.

[0070] Reference Figure 4 , Figure 4 This is a second embodiment of the vehicle control method of this application. Based on the first embodiment, step S202 includes:

[0071] Step S401: Apply the motor torque to the second torque, which is greater than the first torque, and the direction of the second torque is the same as the second travel direction.

[0072] In step S402, when the duration for which the motor maintains the second torque reaches the second target duration, the torque of the motor is loaded to the preload torque, which is greater than the second torque.

[0073] After the motor torque is maintained for the first target duration, the motor gear is close to the gear that needs to mesh. Since the first torque is small, the relative distance between the motor gear and the gear that needs to mesh is slightly large. If a large gear torque is directly applied to the motor, it may cause the motor gear to collide with the meshing gear.

[0074] To address this, a second torque is applied to the motor. This second torque is greater than the first torque but less than the preloaded torque. Under the influence of this second torque, the motor's gears approach the gears that need to mesh and begin initial engagement. Because the second torque is less than the tooth engagement torque, and the motor's elastic force has already been released, the impact generated by the initial meshing of the motor's gears with other gears is minimal. The second torque can be a preset torque value within the vehicle.

[0075] When the second duration for maintaining the motor torque reaches the second target duration, the vehicle then applies the motor torque to the preloaded torque, completing the meshing of the motor gear with other gears. The second target duration can be a preset value, that is, a fixed duration set by the vehicle, and this fixed duration is a small value to avoid excessively long gear shifting times.

[0076] Furthermore, the vehicle applies torque to the motor at a certain torque increase rate until the motor reaches the second torque. This torque increase rate is defined as the second torque increase rate, which can be obtained by calibrating the vehicle. During the calibration of the second torque increase rate, it is ensured that the vehicle does not experience any impact. Preferably, the second torque increase rate is calibrated under conditions where the vehicle is at the critical point of impact. Based on the calibrated second torque increase rate, the vehicle can apply the motor torque to the second torque at the fastest speed, shortening the vehicle's shift time and thus optimizing the vehicle's shift response.

[0077] In this embodiment, after maintaining the motor torque at the first torque for a period of time, the motor torque is loaded with a second torque, and then the motor torque is loaded to the preloaded torque, so that the motor gear can accurately mesh with other gears.

[0078] Reference Figure 5 , Figure 5 This is a third embodiment of the vehicle control method of this application. Based on the second embodiment, after step S401, it further includes:

[0079] Step S501: Obtain the second speed of the motor.

[0080] Step S502: When the second speed is less than the second preset speed, the interval between the time point when the motor starts to load the second torque and the second time point is determined as the second target time. The second time point is the time point when the second speed is less than the second preset speed.

[0081] In this embodiment, the duration for which the motor maintains the second torque is determined by the motor's current rotational speed, which is defined as the second rotational speed. In other words, the second target duration is determined by the second rotational speed.

[0082] Specifically, when the motor torque reaches the second torque level, the motor speed increases. However, due to the initial meshing of the motor gears with other gears under the influence of the second torque, the resistance experienced by the motor gears increases, thus reducing the motor speed. Since the meshing of the motor gears requires motor rotation, to ensure accurate gear meshing, the second target duration needs to be maximized. Therefore, the second target duration can be obtained by reducing the motor speed to a smaller value.

[0083] To address this, when the vehicle begins applying the second torque to the motor, it acquires the motor's second rotational speed and the time point at which the second torque application begins; this time point is defined as the start time point. If the second rotational speed is less than a second preset rotational speed, the interval between the start time point and the second time point can be determined as the second target duration. The second time point is the time when the second rotational speed is less than the second preset rotational speed. The second preset rotational speed is a small value, for example, 5 rpm. It should be noted that the motor rotational speeds mentioned above refer to the rotational speed of the motor's rotor.

[0084] Additionally, the first torque is less than the first resistance and the second torque is greater than or equal to the first resistance, where the first resistance is the resistance experienced by the rotor of the motor when it rotates. Alternatively, the first torque is less than the second resistance and the second torque is greater than or equal to the second resistance, where the second torque is the sum of the first resistance and the resistance experienced by the rotation of the gears connected to the rotor.

[0085] Specifically, the elastic force of the motor gradually decreases, meaning the rotor speed decreases. However, when the elastic force is fully released or becomes very small, the rotor stops rotating because the first torque is less than the first resistance or the second resistance. Therefore, the motor speed can be used to monitor whether the elastic force has been fully released. The vehicle can determine a first target duration based on the motor speed. The speed used to determine the first target duration is defined as the first speed. When the first speed of the motor is less than a first preset speed, the interval between the point when the motor applies the first torque and the first time point is determined as the first target duration. The first time point is the point when the first speed is less than the first preset speed. The first preset speed is a small value, for example, 5 rpm.

[0086] When the gears of the motor mesh, the motor needs to rotate. Therefore, the second torque is set to be greater than the first resistance or the second resistance so that the rotor of the motor can rotate.

[0087] In this embodiment, the vehicle determines the duration for maintaining the second torque of the motor by the motor's rotational speed, thereby ensuring that the motor's gears can mesh accurately.

[0088] Reference Figure 6 , Figure 6 This is the fourth embodiment of the vehicle control method of this application. Based on any one of the first to third embodiments, after step S202, it further includes:

[0089] Step S601: When the duration for which the motor maintains the preloaded torque reaches the third target duration, the first opening degree of the accelerator pedal and the second opening degree of the brake pedal of the vehicle are obtained.

[0090] Step S602: Determine the torque to be determined based on the first opening degree and the second opening degree.

[0091] When the motor's torque reaches the preload torque, the motor's gears begin to mesh. Since the preload torque is used to engage the motor's gears—that is, immediately after a gear shift—but the vehicle needs to move after the shift, the motor needs to be supplied with the torque required for the vehicle's movement. The torque required for the vehicle to move is defined as the demand torque.

[0092] To address this, when the duration for which the motor maintains the preloaded torque reaches the third target duration, the first opening of the accelerator pedal and the second opening of the brake pedal are obtained. The third target duration can be a fixed value.

[0093] The vehicle stores a mapping relationship between the first opening degree, the second opening degree, and the required torque. The required torque can be calculated using this mapping relationship, the first opening degree, and the second opening degree. However, the vehicle's required torque is related to the vehicle's driving mode. Therefore, the calculated required torque is not the final torque required for the vehicle to move. The vehicle defines the required torque as the torque to be determined.

[0094] Step S603: Correct the torque to be determined according to the current driving mode of the vehicle to obtain the required torque.

[0095] The vehicle acquires the current driving mode and uses this mode to adjust the required torque based on the determined torque. Driving modes include one or more of the following: drivability control mode, cruise control mode, intelligent driving control mode, driver assistance control mode, anti-slip control mode, and anti-lock braking system (ABS) mode.

[0096] Each driving mode has a corresponding correction factor. By correcting the torque to be determined using the correction factor, the required torque can be obtained.

[0097] Step S604: Apply the required torque to the motor.

[0098] After determining the required torque, the vehicle applies the motor's torque to the required torque, thereby enabling the vehicle to move.

[0099] Furthermore, the third target duration can be determined by the motor's rotational speed. Specifically, the vehicle acquires the motor's rotational speed, which is defined as the third rotational speed. When the third rotational speed is less than the third preset rotational speed, the vehicle determines the interval between the start time of the third torque application to the motor and the third time point as the third target duration. The third time point is the time when the third rotational speed is less than the third preset rotational speed. The third preset rotational speed is a small value; for example, the third preset rotational speed is 5 rpm.

[0100] In this embodiment, the vehicle applies a preloaded torque to the motor for a period of time, and then applies the required torque to the motor, so that the vehicle can start driving after shifting gears.

[0101] Based on the above embodiments, the vehicle control method of this application will be briefly described.

[0102] Reference Figure 7 , Figure 7 This diagram illustrates the changes in motor speed and torque during gear shifting. For example, at time t0, the vehicle shifts from R (reverse) to D (drive). At this point, the vehicle enters torque unloading control, which loads the motor's torque to the first torque level. The motor speed increases from 0 rpm. As the vehicle maintains the first torque on the motor, the motor speed begins to decrease. When the motor speed drops to a first preset speed, the vehicle enters second torque loading control, at time t1.

[0103] At time t1, the vehicle applies torque to the motor again, bringing the motor torque to the second torque level. The motor speed begins to increase. As the vehicle maintains the second torque on the motor, the motor speed begins to decrease. When the motor speed decreases to the second preset speed value, the third torque loading control is initiated. The time at this point is t2, and the third torque is the preloaded torque.

[0104] At time t2, the vehicle applies torque to the motor again, bringing the motor torque to three torque levels. The motor speed begins to increase. As the vehicle maintains the third torque on the motor, the motor speed begins to decrease. When the motor speed decreases to the third preset speed value, the vehicle enters the required torque control phase. The time at this point is t3.

[0105] At time t3, the vehicle reloads the motor's torque to the required torque, and the motor's speed begins to increase. At this time, the vehicle moves in D gear.

[0106] This application also provides a vehicle, as shown in reference to Figure 8 The 800 vehicles include:

[0107] The first loading module 810 is used to load the torque of the motor in the vehicle to a first torque when a gear shifting operation is detected and the first direction of travel of the vehicle before the gear shift is different from the second direction of travel after the gear shift. The direction of the first torque is the same as the direction of travel of the vehicle after the gear shift.

[0108] The second loading module 820 is used to load the motor torque to the preload torque corresponding to the shifted gear when the duration of the motor maintaining the first torque reaches the first target duration. The preload torque is greater than the first torque, and the direction of the preload torque is the same as the second travel direction.

[0109] In one embodiment, the second loading module 820 includes:

[0110] The first loading unit is used to load the motor torque to the second torque, the second torque being greater than the first torque, and the direction of the second torque being the same as the second travel direction;

[0111] The second loading unit is used to load the motor torque to a preload torque when the duration during which the motor maintains the second torque reaches a second target duration. The preload torque is greater than the second torque.

[0112] In one embodiment, the second loading module 820 further includes:

[0113] The first acquisition unit is used to acquire the first speed of the motor;

[0114] The first determining unit is used to determine the interval between the time point when the motor starts to load the first torque and the first time point when the first speed is less than the first preset speed as the first target time. The first time point is the time point when the first speed is less than the first preset speed.

[0115] In one embodiment, the first torque is less than the first resistance and the second torque is greater than or equal to the first resistance, where the first resistance is the resistance experienced by the rotor of the motor when it rotates.

[0116] Alternatively, the first torque is less than the second resistance and the second torque is greater than or equal to the second torque, where the second torque is the sum of the resistances experienced by the first resistance and the gear connected to the rotor.

[0117] In one embodiment, the vehicle 800 further includes:

[0118] The first acquisition module is used to acquire the second speed of the motor;

[0119] The first determining module is used to determine the interval between the time point when the motor starts to load the second torque and the second time point when the second speed is less than the second preset speed as the second target time. The second time point is the time point when the second speed is less than the second preset speed.

[0120] In one embodiment, the vehicle 800 further includes:

[0121] The second acquisition module is used to acquire the first opening degree of the accelerator pedal and the second opening degree of the brake pedal when the duration of the motor maintaining the preloaded torque reaches the third target duration.

[0122] The second determining module is used to determine the torque to be determined based on the first opening degree and the second opening degree;

[0123] The correction module is used to correct the determined torque according to the vehicle's current driving mode to obtain the required torque;

[0124] The third loading module is used to load the motor torque to the required torque, and the direction of the required torque is the same as the direction of the preloaded torque.

[0125] In one embodiment, the second acquisition module includes:

[0126] The second acquisition unit is used to acquire the third speed of the motor;

[0127] The second determining unit is used to determine the interval between the time point when the motor starts to load the third torque and the third time point when the third speed is less than the third preset speed as the third target time. The third time point is the time point when the third speed is less than the third preset speed.

[0128] Figure 9 This is a hardware structure diagram of a vehicle according to an exemplary embodiment.

[0129] Vehicle 900 may include: a processor 91, such as a CPU, a memory 92, a transceiver 93, and a motor (not shown). The motor is connected to the processor 91. Those skilled in the art will understand that... Figure 9 The structure shown does not constitute a limitation on the vehicle and may include more or fewer components than illustrated, or combine certain components, or have different component arrangements. Memory 92 may be implemented by any type of volatile or non-volatile storage device or 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.

[0130] The processor 91 can call the computer program stored in the memory 92 or execute the computer instructions to complete all or part of the steps of the above-described vehicle control method.

[0131] Transceiver 93 is used to receive information sent by external devices and to send information to external devices.

[0132] An electronic device includes: a processor, and a memory communicatively connected to the processor;

[0133] The memory stores instructions that the computer executes;

[0134] The processor executes computer execution instructions stored in memory to implement the vehicle control method as described in any of the above embodiments.

[0135] A non-transitory computer-readable storage medium, wherein instructions (computer-executable instructions) in the storage medium, when executed by a vehicle's processor, enable the vehicle to perform the aforementioned vehicle control method.

[0136] A computer program product includes a computer program that, when executed by a vehicle's processor, enables the vehicle to perform the aforementioned vehicle control method.

[0137] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0138] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that, include: When a gear shift operation is detected in the vehicle, and the first direction of travel of the vehicle before the gear shift is different from the second direction of travel after the gear shift, the torque of the motor in the vehicle is applied to the first torque. When the duration for which the motor maintains the first torque reaches the first target duration, the torque of the motor is loaded to the preload torque corresponding to the gear after the shift, the preload torque being greater than the first torque, and the direction of the preload torque being the same as the second direction of travel; After the step of loading the torque of the motor in the vehicle to the first torque, the method further includes: Obtain the first speed of the motor; When the first rotational speed is less than the first preset rotational speed, the time interval between the time point when the motor starts to load the first torque and the first time point is determined as the first target time. The first time point is the time point when the first rotational speed is less than the first preset rotational speed.

2. The vehicle control method according to claim 1, characterized in that, The step of loading the motor torque to the preload torque corresponding to the shifted gear includes: The torque of the motor is applied to a second torque, which is greater than the first torque, and the direction of the second torque is the same as the second direction of travel; When the duration during which the motor maintains the second torque reaches the second target duration, the torque of the motor is applied to the preloaded torque, which is greater than the second torque.

3. The vehicle control method according to claim 2, characterized in that, After the step of applying the torque of the motor to the second torque, the method further includes: Obtain the second speed of the motor; When the second rotational speed is less than the second preset rotational speed, the interval between the time point when the motor starts to load the second torque and the second time point is determined as the second target time point, where the second time point is the time point when the second rotational speed is less than the second preset rotational speed.

4. The vehicle control method according to claim 2, characterized in that, The first torque is less than the first resistance and the second torque is greater than or equal to the first resistance, where the first resistance is the resistance experienced by the rotor of the motor when it rotates. Alternatively, the first torque is less than the second resistance and the second torque is greater than or equal to the second resistance, wherein the second torque is the sum of the resistances experienced by the first resistance and the gear connected to the rotor.

5. The vehicle control method according to any one of claims 1-4, characterized in that, After the step of loading the motor torque to the preload torque corresponding to the shifted gear, the method further includes: When the duration during which the motor maintains the preloaded torque reaches a third target duration, the first opening of the accelerator pedal and the second opening of the brake pedal of the vehicle are obtained. The torque to be determined is determined based on the first opening degree and the second opening degree; The required torque is obtained by correcting the torque to be determined based on the current driving mode of the vehicle. The torque of the motor is applied to the required torque.

6. The vehicle control method according to claim 5, characterized in that, Also includes: Obtain the third rotational speed of the motor; When the third rotational speed is less than the third preset rotational speed, the interval between the time point when the motor starts to load the third torque and the third time point is determined as the third target time point, where the third time point is the time point when the third rotational speed is less than the third preset rotational speed.

7. A vehicle, characterized in that, include: The first loading module is used to load the torque of the motor in the vehicle to the first torque when a gear shifting operation of the vehicle is detected and the first direction of travel of the vehicle before the gear shift is different from the second direction of travel after the gear shift. The second loading module is used to load the torque of the motor to the preload torque corresponding to the gear after the shift when the duration for which the motor maintains the first torque reaches the first target duration. The preload torque is greater than the first torque, and the direction of the preload torque is the same as the second direction of travel. The second loading module includes: The first acquisition unit is used to acquire the first rotational speed of the motor; The first determining unit is used to determine the interval between the time point when the motor starts loading the first torque and the first time point as the first target duration when the first rotational speed is less than the first preset rotational speed. The first time point is the time point when the first rotational speed is less than the first preset rotational speed.

8. A vehicle, characterized in that, include: A processor, and a memory and a motor that are communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-6.

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