Shift control method, system, device, and computer storage medium

Abstract

This application discloses a shift control method, system, device, and computer storage medium, applied to an electromechanical braking system. The shift control method includes: receiving shift request information; determining shift control information based on the shift request information; wherein the shift control information includes a target deceleration and a target force duration; acquiring load identification information; and determining a target braking force based on the load identification information and the target deceleration; and performing shift control based on the target braking force and the target force duration. This application improves the efficiency of vehicle shift control.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a shift control method, system, device, and computer storage medium. Background Technology

[0002] With the rapid development of vehicle shifting technology, users have increasingly higher requirements for vehicle shifting. They hope to meet the requirements of normal vehicle shifting while ensuring the efficiency and accuracy of vehicle shifting, which also puts forward higher requirements for vehicle shifting technology.

[0003] Traditional vehicle shift control automatically shifts gears directly during acceleration. This method has a significant drawback: automatic shifting during acceleration results in a loss of power during the shifting process, leading to inefficient gear changes. Summary of the Invention

[0004] The main objective of this application is to provide a shift control method, system, device, and storage medium, aiming to address the technical problem of improving the efficiency of vehicle shift control.

[0005] To achieve the above objectives, this application provides a shift control method applied to an electromechanical braking system, the shift control method comprising the following steps:

[0006] Receive a shift request message and determine shift control information based on the shift request message; wherein, the shift control information includes the target deceleration and the duration of the target force.

[0007] Obtain load identification information, and determine the target braking force based on the load identification information and the target deceleration;

[0008] Gear shifting control is performed based on the target braking force and the duration of the target force.

[0009] Optionally, before the step of receiving shift request information and determining shift control information based on the shift request information, the method includes:

[0010] Obtain vehicle shift information and determine the throttle opening signal and shift switching information in the vehicle shift information;

[0011] If the throttle opening signal matches the preset acceleration throttle opening signal, and the gear shifting information matches the preset gear shifting signal, then a gear shifting request information is generated.

[0012] Optionally, the step of receiving shift request information and determining shift control information based on the shift request information includes:

[0013] Determine the shift information corresponding to the shift request information, and determine the gear information and speed information corresponding to the shift information;

[0014] The matching control information that matches the gear information and the speed information is found in the preset control calibration table, and the matching control information is used as the shift control information.

[0015] Optionally, before the step of searching for matching control information that matches the gear information and the speed information in a preset control calibration table, the method further includes:

[0016] Obtain vehicle gear information and determine all gears corresponding to the vehicle gear information. Based on each gear and a preset speed range, determine the duration of the applied force and the deceleration.

[0017] Based on the duration of the applied force and the deceleration calibrated for each gear and speed range, a preset control calibration table is generated.

[0018] Optionally, the step of determining the target braking force based on the load identification information and the target deceleration includes:

[0019] The actual load is determined based on the load identification information, and the slope information in the load identification information is also determined.

[0020] The target braking force is determined based on the target deceleration, the actual load, and the slope information.

[0021] Optionally, the step of determining the target braking force based on the target deceleration, the actual load, and the slope information includes:

[0022] The initial braking force is determined based on the target deceleration and the actual load, and the changing braking force corresponding to the slope information is also determined.

[0023] The sum of the varying braking force and the initial braking force is taken as the target braking force.

[0024] Optionally, the electromechanical braking system includes a brake, and the step of shifting control based on the target braking force and the duration of the target force includes:

[0025] Brake control commands that determine the target braking force through the brake;

[0026] Based on the brake control command, shift control is performed during the duration of the target force.

[0027] Furthermore, to achieve the above objectives, the present invention also provides a shift control system, the shift control system comprising:

[0028] An electromechanical braking system controller is used to receive shift request information, determine shift control information based on the shift request information, wherein the shift control information includes target deceleration and target force duration; acquire load identification information, and determine target braking force based on the load identification information and the target deceleration;

[0029] An electromechanical braking system brake is used for shift control based on the target braking force and the duration of the target force.

[0030] This application also provides a shift control device, the shift control device comprising: a memory, a processor, and a program of the shift control method stored in the memory and running on the processor, wherein when the program of the shift control method is executed by the processor, it can implement the steps of the shift control method as described above.

[0031] This application also provides a computer storage medium on which a program for implementing a shift control method is stored, the program for implementing the shift control method being executed by a processor to implement the steps of the shift control method as described above.

[0032] The technical solution of this application receives shift request information and determines shift control information based on the shift request information; wherein, the shift control information includes a target deceleration and a target force duration; load identification information is acquired, and a target braking force is determined based on the load identification information and the target deceleration; shift control is performed based on the target braking force and the target force duration. By receiving shift request information and determining shift control information through an electromechanical braking system, and acquiring load identification information, the target braking force is determined based on the load identification information and the target deceleration in the shift control information. Finally, shift control is performed based on the target force duration and the target braking force in the shift control information. This avoids the phenomenon of power loss during automatic shifting of the vehicle during acceleration. The shift control method of this application can perform shift control based on the target braking force and the target force duration in the shift control information, thereby ensuring the efficiency of vehicle shifting. Attached Figure Description

[0033] 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.

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the gear shift control device structure in the hardware operating environment involved in the embodiments of the present invention;

[0036] Figure 2 This is a flowchart illustrating the first embodiment of the shift control method of this application;

[0037] Figure 3 This is a flowchart illustrating the second embodiment of the shift control method of this application;

[0038] Figure 4 This is a schematic diagram of the shift control system module of this application;

[0039] Figure 5 This is a schematic diagram of the shift control system structure of this application.

[0040] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0041] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0042] Reference Figure 1 , Figure 1 This is a schematic diagram of the gear shift control device structure in the hardware operating environment involved in the embodiments of the present invention.

[0043] like Figure 1 As shown, the shift control device may include: a processor 0003, such as a central processing unit (CPU), a communication bus 0001, an acquisition interface 0002, a processing interface 0004, and a memory 0005. The communication bus 0001 is used to establish communication between these components. The acquisition interface 0002 may include an information acquisition system or an acquisition unit such as a computer; optionally, the acquisition interface 0002 may also include a standard wired interface or a wireless interface. The processing interface 0004 may optionally include a standard wired interface or a wireless interface. The memory 0005 may be a high-speed random access memory.

[0044] The memory 0005 can be a random access memory (RAM), or a stable non-volatile memory (NVM), such as a disk storage device. Alternatively, the memory 0005 can also be a storage system independent of the aforementioned processor 0003.

[0045] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the shift control device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0046] like Figure 1 As shown, the memory 0005, which serves as a storage medium, may include an operating system, an acquisition interface module, an execution interface module, and a shift control program.

[0047] exist Figure 1 In the shift control device shown, the communication bus 0001 is mainly used to realize the connection and communication between components; the acquisition interface 0002 is mainly used to connect to the backend server and communicate data with the backend server; the processing interface 0004 is mainly used to connect to the deployment end (user end) and communicate data with the deployment end; the processor 0003 and the memory 0005 in the shift control device of the present invention can be set in the shift control device. The shift control device calls the shift control program stored in the memory 0005 through the processor 0003 and executes the shift control method provided in the embodiment of the present invention.

[0048] To ensure clarity and conciseness in the description of the following embodiments, a brief introduction to the implementation of a shift control method is given first:

[0049] With the development of vehicle technology, automatic transmissions are increasingly used in new energy commercial vehicles, especially in commercial vehicles with heavy loads, where multi-speed transmissions such as 2-speed, 4-speed, and 6-speed automatic transmissions are widely used. However, current automatic transmissions require cutting off power output during automatic shifting, resulting in power loss during the shift process. This severely impacts acceleration smoothness and shifting efficiency (shifting requires continuous speed, but power loss during shifting prevents normal acceleration). For example, a vehicle using a 2-speed automatic transmission automatically shifts from 1st to 2nd gear when accelerating to 30km / h, a shift lasting approximately 1 second. During this time, the vehicle loses power, and during acceleration, there is noticeable deceleration within this 1-second window, resulting in poor acceleration smoothness and driving comfort. In vehicles with more gears, frequent shifting during driving leads to a noticeable acceleration experience and easily causes complaints. Based on the problems existing in the automatic transmission shifting process, this application proposes a shift control method.

[0050] EMB (Electromechanical Brake System) has the advantages of fast response and high adjustment precision, and has been developed and implemented in some commercial vehicles. This application, based on the EMB system, designs a control scheme to compensate for the uneven acceleration caused by power loss during automatic transmission shifting. EMB can accurately and quickly respond to the vehicle's minute deceleration control requirements, and can relatively accurately identify the vehicle's actual load through information such as wheel speed, vehicle speed, four-wheel braking force, vehicle deceleration, and slope information. This application provides a shift control method that receives shift request information and determines shift control information based on the shift request information; wherein, the shift control information includes target deceleration and target force duration; acquires load identification information, and determines target braking force based on the load identification information and the target deceleration; and performs shift control based on the target braking force and the target force duration. The shift control method of this application receives shift request information through an electromechanical braking system, determines shift control information, and acquires load identification information. Then, based on the target deceleration in the load identification information and shift control information, it determines the target braking force. Finally, it performs shift control based on the duration of the target force and the target braking force in the shift control information. This avoids the phenomenon of power loss during automatic shifting of the vehicle during acceleration. The shift control method of this application can perform shift control based on the target braking force and the duration of the target force in the shift control information, thereby ensuring the efficiency of vehicle shifting.

[0051] Based on the above hardware structure, an embodiment of the shift control method of the present invention is proposed.

[0052] This invention provides a shift control method, referring to... Figure 2 , Figure 2 This is a flowchart illustrating a first embodiment of a shift control method according to the present invention, which is applied to an electromechanical braking system.

[0053] In this embodiment, the shift control method includes:

[0054] Step S10: Receive shift request information and determine shift control information based on the shift request information; wherein, the shift control information includes target deceleration and target force duration;

[0055] Step S20: Obtain load identification information and determine the target braking force based on the load identification information and the target deceleration;

[0056] Step S30: Perform gear shift control based on the target braking force and the duration of the target force.

[0057] In this embodiment, the electromechanical braking system controller responds to the shift request information and then determines the corresponding shift control information based on the shift request information. The shift request information refers to the control request information generated when the vehicle's shift information meets the shift control requirements. The shift control information refers to the relevant control information for shift control, which may include at least the target deceleration and the target force duration. The target deceleration refers to the deceleration of this shift control, and the target force duration refers to the duration for which the force corresponding to the target deceleration continuously acts on the wheels. After obtaining the shift control information, the controller acquires the collected load identification information based on the shift control information (the load identification information is only triggered for further processing when shift control information is available; normally, if there is no shift control information, load identification information may be collected, but subsequent processing steps will not be executed). The load identification information can be collected in real time or after the control request is issued. The target braking force is then determined based on the load identification information and the target deceleration in the shift control information. Load identification information includes wheel speed, vehicle speed, four-wheel braking force, vehicle deceleration, and gradient information. Based on this information, the vehicle load can be determined. Then, based on the vehicle load and the target deceleration in the shift control information, the target braking force is determined. The target braking force refers to the braking force required to achieve the target deceleration, determined based on the vehicle load and the target deceleration in the shift control information. Finally, the electromechanical braking system controls the shifting based on the duration of the target force and the target braking force in the shift control information. Specifically, the duration of the target force and the target braking force in the shift control information can be sent to the electromechanical braking system to control the shifting, enabling the electromechanical braking system to brake the vehicle. This ensures smooth shifting and improves the efficiency of the entire shifting process.

[0058] It's worth noting that the EMB controller (hereinafter referred to as the controller in the electromechanical braking system) can apply a corresponding target braking force to the wheels based on load recognition and the slight deceleration requested by the braking request. When the vehicle's transmission requests a deceleration a1 from the EMB controller just before a shift, the EMB controller, upon receiving the throttle opening signal and determining that the vehicle is in an acceleration phase, applies a target braking force to the wheel ends sufficient to achieve the deceleration a1. A certain time t1 before the electronic shifter shifts, it sends an impending shift status information and a target deceleration a1 request to the EMB controller. Upon receiving this information, the EMB controller, based on the identified load information and the current road surface gradient, calculates the target braking force to be applied to the wheel ends and sends this information to the EMB brake. The EMB brake responds to the braking force request and feeds back the execution result to the EMB controller via CAN, thus achieving closed-loop feedback. At the moment the electronic shifter begins to perform a shift, it sends a shift execution cancellation message. Upon receiving the cancellation message, the EMB controller immediately controls the cancellation of the corresponding target braking force on the EMB brake (the brake in the electromechanical braking system, abbreviated as brake). This ensures that the vehicle can smoothly transition through gear shifts, guaranteeing the efficiency of gear shifting and the user's driving experience. For example, in a pure electric two-axle vehicle with an EMB configuration, the electronic shifter is a 2-speed transmission with a shift duration of 0.9 seconds. Previously, there was a noticeable loss of power during the shift process, resulting in poor acceleration smoothness. The control strategy of this application was added to the vehicle. By calibrating the t1 time to 1.5 seconds, a target deceleration of 0.05g is requested during the shift process, where g is the acceleration due to gravity. Verification showed that this significantly improved acceleration smoothness.

[0059] Furthermore, a schematic diagram of the shift control system structure is also provided for this embodiment, referring to... Figure 5In this embodiment, the entire shift control system includes at least an EMB controller (EMB-controller in the figure, the electromechanical braking system controller described herein) and an EMB brake (EMB-brake in the figure, the electromechanical braking system brake described herein). The EMB controller communicates with the electronic shifter via a CAN network, and the EMB controller and the EMB brake also communicate via a CAN network. The EMB brake applies a target braking force to the wheels for a period of time before shifting, and removes the target braking force at the start of shifting (utilizing the fast response of the EMB). This allows the vehicle to travel at a stable speed during the shifting period, preventing a drop in speed due to power loss during shifting and avoiding uneven acceleration during shifting. The EMB controller determines the gear shift information via the CAN network between itself and the electronic shifter. Based on this information, the load on the entire vehicle is determined. Finally, the target braking force is determined based on the load and the deceleration corresponding to the gear shift. The target braking force requirement is then transmitted to the EMB brake via the CAN network between the EMB controller and the EMB brake. The EMB brake applies the target braking force to the wheels and releases the target braking force when the target force duration corresponding to the gear is reached. This ensures that the vehicle maintains a smooth speed during the gear shift period, guaranteeing the efficiency of gear shifting and improving the user's shifting experience.

[0060] This embodiment receives shift request information and determines shift control information based on the shift request information. The shift control information includes a target deceleration and a target force duration. Load identification information is acquired, and a target braking force is determined based on the load identification information and the target deceleration. Shift control is then performed based on the target braking force and the target force duration. By receiving shift request information and determining shift control information through an electromechanical braking system, and acquiring load identification information, the target braking force is determined based on the load identification information and the target deceleration in the shift control information. Finally, shift control is performed based on the target force duration and the target braking force in the shift control information. This avoids the phenomenon of power loss during automatic shifting in the acceleration phase. The shift control method of this application can perform shift control based on the target braking force and the target force duration in the shift control information, thereby ensuring the efficiency of vehicle shifting.

[0061] Furthermore, based on the first embodiment of the shift control method of the present invention, a second embodiment of the shift control method of the present invention is proposed, with reference to... Figure 3 , Figure 3This is a flowchart illustrating a second embodiment of the shift control method of this application. The electromechanical braking system includes an electromechanical braking system brake. The steps of the shift control method, which performs shift control based on the target braking force and the duration of the target force, include:

[0062] Step B10: Determine the brake control command for the target braking force through the brake;

[0063] Step B20: Perform shift control based on the brake control command during the duration of the target force.

[0064] In this embodiment, when the electromechanical braking system receives the target braking force and the target force duration in the shift control information, it indicates that shift control is required for this shift. The system determines the target braking force through the brake control command and the target force duration in the shift control information, and performs shift control within the target force duration based on the brake control command. Specifically, the electromechanical braking system controller determines the shift request information based on the vehicle shift information and determines the shift control information based on the shift request information. The entire implementation process is as described in steps S10-S20. The target braking force refers to the additional force applied by the electromechanical braking system to the wheel during acceleration. The brake control command is the command issued by the brake to achieve this additional force, such as automatically lowering the brake pressure by A degrees. The target force duration refers to the duration of the additional force, which generally acts for a short period before the shift. This additional force is removed at the moment the shift begins, and the duration of the target force generally requires the end of the duration to coincide with the start of the shift, and the entire duration must be uninterrupted. This prevents a decrease in speed during gear shifts, ensuring a smooth transition between gear changes and enhancing the driving experience.

[0065] Furthermore, based on the second embodiment and / or the first embodiment of the shift control method of the present invention, a third embodiment of the shift control method of the present invention is proposed, which is applied to an electronic shifter in a shift control system. The shift control method includes:

[0066] Step C10: If a shift command is received, the shift command is sent to the electromechanical braking system controller within a preset time period. The electromechanical braking system controller receives shift request information and determines shift control information based on the shift request information. The shift control information includes target deceleration and target force duration. Load identification information is acquired, and target braking force is determined based on the load identification information and the target deceleration. Shift control is performed based on the target braking force and the target force duration.

[0067] In this embodiment, after receiving a shift command, the electronic shifter sends the shift command to the electromechanical braking system controller within a preset time period. The shift command refers to the instruction for shift control, and the preset time period is a user-defined duration, which can also be the instant before the point in time of the force duration. The force duration and deceleration in the shift control information can also be sent directly to the controller by the electronic shifter after the shift. The controller then further performs operations such as whether to accelerate and determining the target braking force after acceleration. The limitation of this time period is that the difference between this time period and the time at the start of the shift must be greater than the longest force duration in the preset control calibration table. For example, if the time from receiving the shift command to starting the shift is Q1, and the maximum force duration in the preset control calibration table is Q1, then the maximum preset time can be determined to be Q1-Q2 (including the delay time for command transmission and control, that is, after Q1-Q2 ends, control for the duration of Q1 can be performed directly). This ensures that the electromechanical braking system controller has sufficient time to execute subsequent control operations after receiving the shift command, ensuring accurate execution of the entire shift control, thereby ensuring smooth vehicle driving and improving the user's driving experience.

[0068] Furthermore, based on the first, second, and third embodiments of the shift control method of the present invention, a fourth embodiment of the shift control method of the present invention is proposed, the shift control method comprising:

[0069] Before the step of receiving shift request information and determining shift control information based on the shift request information, the following steps are included:

[0070] Step S11: Obtain vehicle shift information and determine the throttle opening signal and shift switching information in the vehicle shift information;

[0071] Step S12: If the throttle opening signal matches the preset acceleration throttle opening signal, and the gear shifting information matches the preset gear shifting signal, then a gear shifting request information is generated.

[0072] In this embodiment, by acquiring vehicle shift information, the throttle opening signal and shift switching information within the vehicle shift information are determined. When it is determined that the throttle opening signal matches a preset acceleration throttle opening signal, and the shift switching information matches a preset shift switching signal, a shift request is generated. The vehicle shift information refers to the vehicle's real-time state information, which may include information such as the vehicle being in acceleration, deceleration, constant speed, waiting to shift gears, or normal gear driving. The throttle opening signal refers to information such as the throttle being depressed, thus determining whether the vehicle is in acceleration or other states. The shift switching information indicates whether the vehicle is in a waiting-to-shift state or normal gear driving state. The preset acceleration throttle opening signal refers to the throttle opening information during acceleration, and the preset shift switching signal refers to the signal indicating the waiting-to-shift state. Therefore, a shift request is generated when the vehicle is in both acceleration and waiting-to-shift states. If either the throttle opening signal or the shift switching information does not meet the preset acceleration throttle opening signal or the preset shift switching signal, no shift request is generated. The steps for acquiring vehicle shift information can be as described above, using the shift state and speed state as vehicle shift information. Alternatively, if shift switching information matching a preset shift switching signal is received, a collection command is triggered to collect the throttle opening signal. If the collected throttle opening signal matches a preset acceleration throttle opening signal, a shift request is generated; otherwise, no shift request is generated. Alternatively, if a throttle opening signal matching a preset acceleration throttle opening signal is received, a collection command is triggered to collect shift switching information. If the collected shift switching information matches a preset shift switching signal, a shift request is generated; otherwise, no shift request is generated. Here, the collection command refers to the command to collect corresponding information; it can also refer to a monitoring command, monitoring whether acceleration and shifting have occurred. This embodiment designs a control mode that combines EMB braking with gearbox shifting assistance. During acceleration, a target deceleration is applied to the vehicle within a certain period before shifting. When power is lost at the moment of shifting, the braking force is simultaneously disengaged to reduce the noticeable loss of power during shifting. Based on the high precision and high response speed of EMB, the problem of uneven acceleration during the shifting process of multi-speed transmissions is solved.

[0073] Furthermore, based on the first, second, third, and / or fourth embodiments of the shift control method of the present invention, a fifth embodiment of the shift control method of the present invention is proposed, the shift control method comprising:

[0074] The step of receiving shift request information and determining shift control information based on the shift request information includes:

[0075] Step a: Determine the shift information corresponding to the shift request information, and determine the gear information and speed information corresponding to the shift information;

[0076] Step b: Search for matching control information that matches the gear information and the speed information in the preset control calibration table, and use the matching control information as the shift control information.

[0077] In this embodiment, after the shift request information is generated, the corresponding shift control information is determined. The shift control information mainly consists of a combination of deceleration and deceleration duration. Other control information can also be added based on other factors, which is not limited here. By determining the shift switching information corresponding to the generated shift request information, and simultaneously determining the gear position information and speed information corresponding to the shift switching information, the matching control information that matches the gear position information and speed information is searched in a preset control calibration table. Finally, the matching control information is used as the shift control information. Here, gear position information refers to the gear position before the shift, speed information refers to the speed of the vehicle before the shift, the preset control calibration table is a table of deceleration and deceleration duration corresponding to different gear positions and speed ranges, and the matching control information refers to the information composed of deceleration and deceleration duration corresponding to the gear position information and speed information in the preset control calibration table. Here, gear position information can also refer to the gear position after the shift, or it can refer to both the gear position before and after the shift. Therefore, the correspondence in the preset control calibration table will differ depending on the meaning. Here, gear information refers to the gear position before a vehicle shifts. For example, if the gear information is 1st gear and the speed information is 30 km / h, then the preset control calibration table will determine the deceleration and deceleration duration corresponding to a speed of 30 km / h for 1st gear. If the preset control calibration table shows that for 1st gear, the deceleration for speeds of 20-40 km / h is a2 and the deceleration duration is t2, then the deceleration a2 and deceleration duration t2 will be determined as the shift control information. This provides a control basis for shift control, ensuring accurate shift control.

[0078] In this embodiment, by determining the shift switching information corresponding to the shift request information, and determining the gear position information and speed information corresponding to the shift switching information, matching control information that matches the gear position information and speed information is searched in a preset control calibration table, and the matching control information is used as the shift control information. Thus, the matching control information can be obtained by searching the preset control calibration table using the gear position information and speed information, providing a control basis for the entire shift control and ensuring the accuracy of subsequent shift control.

[0079] Furthermore, before the step of searching for matching control information that matches the gear information and the speed information in a preset control calibration table, the method further includes:

[0080] Step c: Obtain vehicle gear information and determine all gears corresponding to the vehicle gear information; determine the duration of force and deceleration based on each gear and a preset speed range.

[0081] Step d: Generate a preset control calibration table based on the duration of the applied force and the deceleration calibrated for each gear and speed range.

[0082] In this embodiment, before the entire scheme is executed, a preset control calibration table is generated inside the controller. The deceleration and deceleration duration in the preset control calibration table are based on the optimal deceleration and deceleration duration at this gear and speed, obtained from multiple experiments. The braking deceleration and deceleration duration must meet at least the following three conditions: First, the target braking force corresponding to the slight deceleration and the braking force applied to the wheel should not cause a feeling of sluggish acceleration, that is, the target braking force should not affect the entire normal acceleration; Second, during the gear shift, at the instant the acceleration power is lost, the pre-applied braking force at the wheel should also be released instantly. By releasing the braking force, the vehicle's motion inertia during the gear shift is increased, reducing the feeling of loss of vehicle power during gear shift. That is, the target braking force only acts for a short period of time before the gear shift, and is released instantly during the gear shift; Finally, the target braking force needs to be completed within the shortest possible cycle, that is, the deceleration duration should be as short as possible. On the one hand, this can reduce the controller's control energy consumption, and on the other hand, it can ensure that the entire acceleration and gear shift are not affected. During the generation of the preset control calibration table, vehicle gear information is acquired, and all gears corresponding to the vehicle gear information are determined. Then, the corresponding force duration and deceleration are calibrated for all gears and preset speed ranges. The preset speed range refers to a user-defined speed range, which can be an evenly divided speed range or an unevenly divided speed range. For example, when in gear 1, the optimal force duration and deceleration for 20-40 km / h are t3 and a3, respectively, while when in gear 2, the optimal force duration and deceleration for 40-50 km / h can be set to t4 and a4, respectively. The gear can also be refined to the gears for switching between gears. For example, when switching from gear 1 to gear 2 at a speed of 35 km / h, the force duration and deceleration are t5 and a5, respectively, while when switching from gear 2 to gear 1 at a speed of 35 km / h, the force duration and deceleration are t6 and a6, respectively. The same force duration and deceleration can also be set. Ultimately, a preset control calibration table is generated based on the force duration and deceleration calibrated across all gears and preset speed ranges. This table includes the force duration and deceleration corresponding to different speeds at different gears. Here, vehicle gear information refers to the vehicle's gears or the shifting relationships between gears; preset speed ranges refer to speed ranges set by the user based on multiple experiments for different gears; force duration refers to the duration of the target braking force; and deceleration refers to the deceleration achieved by the target braking force. By pre-determining the preset control calibration table, the source of the force duration and deceleration information is ensured.

[0083] In this embodiment, vehicle gear information is acquired, and all gears corresponding to the vehicle gear information are determined. The duration of the applied force and the deceleration are determined based on each gear and a preset speed range. A preset control calibration table is generated based on the duration of the applied force and the deceleration calibrated for each gear and the speed range. By calibrating the duration of the applied force and the deceleration corresponding to different gears and preset speed ranges to generate the preset control calibration table, a control basis can be provided for subsequent gear shifting control for different gears and preset speed ranges. Targeted gear shifting control based on the duration of the applied force and the deceleration corresponding to different gears and preset speed ranges ensures the accuracy of the entire gear shifting control.

[0084] Furthermore, based on the first, second, third, fourth, and / or fifth embodiments of the shift control method of the present invention, a sixth embodiment of the shift control method of the present invention is proposed, the shift control method comprising:

[0085] The step of determining the target braking force based on the load identification information and the target deceleration includes:

[0086] Step e: Determine the actual load based on the load identification information, and determine the slope information in the load identification information;

[0087] Step f: Determine the target braking force based on the target deceleration, the actual load, and the slope information.

[0088] In this embodiment, the main function of EMB is to accurately and quickly respond to the vehicle's minute deceleration control requirements. It can also accurately identify the vehicle's actual load using information such as wheel speed, vehicle speed, four-wheel braking force, vehicle deceleration, and slope information. For example, given wheel speed A, vehicle speed B, four-wheel braking force C, vehicle deceleration D, and slope information E (units omitted), the actual load of the vehicle is determined as M = μA + σB + ρC + ΨD + βE. This allows for the determination of the actual load corresponding to the collected load identification information. Here, μ, σ, ρ, Ψ, and β refer to the influencing factors corresponding to wheel speed, vehicle speed, four-wheel braking force, vehicle deceleration, and slope information. These can be numerical values ​​or formulas. For example, μ can be 0.2 or 1 / 2rLF, where L is the tire diameter, F is the tire torque, and r is the material parameter corresponding to the tire material. After determining the actual load, the target deceleration from the shift control information and the gradient information from the load identification information are used to determine the target braking force. Finally, the target braking force is determined based on the target deceleration, actual load, and gradient information. Here, gradient information refers to the slope of the road surface where the vehicle is traveling; target deceleration refers to the target deceleration to be achieved in the shift control information; and actual load refers to the actual mass of the vehicle. The target braking force required to achieve the target deceleration is then determined based on the actual load and gradient information. The vehicle can then be controlled based on this target braking force to achieve the target deceleration.

[0089] In this embodiment, the actual load is determined based on the load identification information, and the slope information in the load identification information is also determined. The target braking force is then determined based on the target deceleration, the actual load, and the slope information. By determining the target braking force using the target deceleration, actual load, and slope information, and then controlling the braking force of the entire vehicle based on the target braking force, the entire vehicle can achieve the target deceleration, thus fulfilling the deceleration requirements for gear shift control, ensuring the accuracy of gear shifts, and providing control assurance for smooth speed during subsequent gear shifts.

[0090] The step of determining the target braking force based on the target deceleration, the actual load, and the slope information includes:

[0091] Step g: Determine the initial braking force based on the target deceleration and the actual load, and determine the changing braking force corresponding to the slope information;

[0092] Step h, the sum of the changed braking force and the initial braking force is taken as the target braking force.

[0093] In this embodiment, determining the target braking force mainly involves determining its magnitude to control the vehicle's braking force. This is achieved by determining the initial braking force corresponding to the target deceleration and the actual load, for example, the initial braking force F1 = MA1, where M is the actual load and A1 is the target deceleration. After determining the initial braking force, the variable braking force is determined using slope information. The initial braking force refers to the relationship between force, acceleration, and mass under normal, slope-free conditions, while the variable braking force refers to the additional braking force caused by the slope. For example, the relationship between slope information and variable braking force is F2 = ±αMθ, where θ represents the slope angle, α represents the slope influence factor, ± represents uphill and downhill conditions, and F2 represents the variable braking force. The final target braking force is F = F1 + F2 = MA1 ± αMθ, and this target braking force is used to control the vehicle to achieve the target deceleration requirement.

[0094] In this embodiment, the initial braking force is determined based on the target deceleration and the actual load, and the variable braking force corresponding to the slope information is also determined. The sum of the variable braking force and the initial braking force is used as the target braking force. By determining the variable braking force and the initial braking force, and then determining the target braking force, the accuracy of the target braking force determination can be ensured. This provides an accurate control basis for the subsequent control of the target deceleration, and further ensures the accurate control of the entire gear shifting process, thus guaranteeing smooth vehicle control during gear shifting.

[0095] The present invention also provides a shift control system, referring to Figure 4 The shift control system includes:

[0096] The electromechanical braking system controller A01 is used to receive shift request information, determine shift control information based on the shift request information; wherein, the shift control information includes target deceleration and target force duration; acquire load identification information, and determine target braking force based on the load identification information and the target deceleration;

[0097] The electromechanical braking system brake A02 is used for shift control based on the target braking force and the duration of the target force.

[0098] Optionally, the electromechanical braking system controller A01 is further configured to:

[0099] Obtain vehicle shift information and determine the throttle opening signal and shift switching information in the vehicle shift information;

[0100] If the throttle opening signal matches the preset acceleration throttle opening signal, and the gear shifting information matches the preset gear shifting signal, then a gear shifting request information is generated.

[0101] Optionally, the electromechanical braking system controller A01 is further configured to:

[0102] Determine the shift information corresponding to the shift request information, and determine the gear information and speed information corresponding to the shift information;

[0103] The matching control information that matches the gear information and the speed information is found in the preset control calibration table, and the matching control information is used as the shift control information.

[0104] Optionally, the electromechanical braking system controller A01 is further configured to:

[0105] Obtain vehicle gear information and determine all gears corresponding to the vehicle gear information. Based on each gear and a preset speed range, determine the duration of the applied force and the deceleration.

[0106] Based on the duration of the applied force and the deceleration calibrated for each gear and speed range, a preset control calibration table is generated.

[0107] Optionally, the electromechanical braking system controller A01 is further configured to:

[0108] The actual load is determined based on the load identification information, and the slope information in the load identification information is also determined.

[0109] The target braking force is determined based on the target deceleration, the actual load, and the slope information.

[0110] Optionally, the electromechanical braking system controller A01 is further configured to:

[0111] The initial braking force is determined based on the target deceleration and the actual load, and the changing braking force corresponding to the slope information is also determined.

[0112] The sum of the varying braking force and the initial braking force is taken as the target braking force.

[0113] Optionally, the electromechanical braking system brake A02 is further used for:

[0114] Brake control commands that determine the target braking force through the brake;

[0115] Based on the brake control command, shift control is performed during the duration of the target force.

[0116] The methods executed by the above-mentioned program modules can be referred to in the various embodiments of the shift control method of the present invention, and will not be repeated here.

[0117] The present invention also provides a gear shifting control device.

[0118] The device of the present invention includes: a memory and a processor, wherein the memory stores a shift control program that can run on the processor, and when the shift control program is executed by the processor, it implements the steps of the shift control method as described above.

[0119] The present invention also provides a storage medium.

[0120] The storage medium described in this invention can be a computer-readable storage medium, on which a shift control program is stored. When the shift control program is executed by a processor, it implements the steps of the shift control method as described above.

[0121] The method implemented when the shift control program running on the processor is executed can be referred to in various embodiments of the shift control method of the present invention, and will not be repeated here.

[0122] 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 system 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 system. 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 system that includes that element.

[0123] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0124] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0125] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A gear shifting control method, characterized in that, The shift control method, applied to electromechanical braking systems, includes the following steps: Receive shift request information and determine shift control information based on the shift request information; wherein, the shift control information includes target deceleration and target force duration, and the target force duration includes the duration for which the force corresponding to the target deceleration continuously acts on the wheel; Acquire load identification information and determine the target braking force based on the load identification information and the target deceleration, wherein the step of determining the target braking force based on the load identification information and the target deceleration includes: The actual load is determined based on the load identification information, and the slope information in the load identification information is also determined; the target braking force is determined based on the target deceleration, the actual load, and the slope information, wherein the actual load is determined by wheel speed, vehicle speed, four-wheel braking force, vehicle deceleration, and slope information; Gear shifting control is performed based on the target braking force and the duration of the target force.

2. The shift control method as described in claim 1, characterized in that, Before the step of receiving shift request information and determining shift control information based on the shift request information, the following steps are included: Obtain vehicle shift information and determine the throttle opening signal and shift switching information in the vehicle shift information; If the throttle opening signal matches the preset acceleration throttle opening signal, and the gear shifting information matches the preset gear shifting signal, then a gear shifting request information is generated.

3. The shift control method as described in claim 1, characterized in that, The step of receiving shift request information and determining shift control information based on the shift request information includes: Determine the shift information corresponding to the shift request information, and determine the gear information and speed information corresponding to the shift information; The matching control information that matches the gear information and the speed information is searched in the preset control calibration table, and the matching control information is used as the gear shift control information.

4. The shift control method as described in claim 3, characterized in that, Before the step of searching for matching control information that matches the gear information and the speed information in a preset control calibration table, the method further includes: Obtain vehicle gear information and determine all gears corresponding to the vehicle gear information. Based on each gear and a preset speed range, determine the duration of the applied force and the deceleration. Based on the duration of the applied force and the deceleration calibrated for each gear and speed range, a preset control calibration table is generated.

5. The shift control method as described in claim 1, characterized in that, The step of determining the target braking force based on the target deceleration, the actual load, and the slope information includes: The initial braking force is determined based on the target deceleration and the actual load, and the changing braking force corresponding to the slope information is also determined. The sum of the varying braking force and the initial braking force is taken as the target braking force.

6. The shift control method as described in claim 1, characterized in that, The electromechanical braking system includes a brake, and the step of shifting control based on the target braking force and the duration of the target force includes: Brake control commands that determine the target braking force through the brake; Based on the brake control command, shift control is performed during the duration of the target force.

7. A gear shifting control system, characterized in that, The shift control system includes: An electromechanical braking system controller is used to receive shift request information and determine shift control information based on the shift request information; wherein the shift control information includes a target deceleration and a target force duration, the target force duration including the duration of continuous action of the force corresponding to the target deceleration on the wheel; acquire load identification information and determine a target braking force based on the load identification information and the target deceleration, wherein the step of determining the target braking force based on the load identification information and the target deceleration includes: determining the actual load based on the load identification information and determining the slope information in the load identification information; determining the target braking force based on the target deceleration, the actual load, and the slope information, wherein the actual load is determined by wheel speed, vehicle speed, four-wheel braking force, vehicle deceleration, and slope information; An electromechanical braking system brake is used for shift control based on the target braking force and the duration of the target force.

8. A gear shifting control device, characterized in that, The shift control device includes a memory and a processor. The memory stores a shift control program that runs on the processor. When the shift control program is executed by the processor, it implements the steps of the shift control method as described in any one of claims 1 to 6.

9. A computer storage medium, characterized in that, The computer storage medium stores a program for implementing the shift control method, which is executed by a processor to implement the steps of the shift control method as described in any one of claims 1 to 6.

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