Gear shifting and speed regulation method, device, equipment and storage medium for heavy-duty ATM vehicles

Abstract

The embodiments of this specification disclose a shifting and speed control method, apparatus, device, and storage medium for a heavy-duty ATM vehicle. These methods are applied to the field of vehicle engineering technology and are designed to address shift shock caused by a mismatch between the engine target speed and the transmission input shaft target speed due to frequent fluctuations in target speed under special operating conditions. The method comprises: obtaining driving status information of the heavy-duty ATM vehicle using a pre-installed sensor; the driving status information includes at least: transmission output shaft speed, slope, acceleration, and desired gear position; determining the transmission input shaft target speed of the heavy-duty ATM vehicle based on the desired gear position and the transmission output shaft speed; determining an engine speed adjustment strategy based on the absolute value of the slope; and determining the engine target speed of the heavy-duty ATM vehicle based on the adjustment strategy, a slope speed compensation value, and the transmission input shaft target speed, thereby adjusting the transmission input shaft target speed.

Description

Technical Field

[0001] This specification relates to the field of vehicle engineering technology, and in particular to a gear shifting and speed regulation method, device, equipment, and storage medium for a heavy-duty ATM vehicle. Background Art

[0002] With economic development, heavy-duty vehicles such as urban buses and construction vehicles have been increasingly put into use. The gearshift system is an integral part of the vehicle's powertrain. Currently, there are three main types of gearshift systems for heavy-duty vehicles: manual mechanical transmission (MT), electro-hydraulic automatic transmission (AT), and automated mechanical transmission (AMT). Since the mechanical portion of the AMT transmission in heavy-duty ATM vehicles still uses a traditional manual transmission, the clutch is controlled by a hydraulic pump during vehicle start-up and shifting, and the hydraulic structure operates the gear selection and shifting. The driver simply operates the shift lever and accelerator to easily maneuver the vehicle. This system combines the advantages of both MT and AT transmissions, such as simple architecture, high transmission efficiency, and low cost. Therefore, research on gearshift and speed control for heavy-duty ATM vehicles is a crucial component of heavy-duty ATM vehicle engineering technology.

[0003] Currently, the most commonly used two-parameter shifting strategy uses vehicle speed and throttle opening as the primary shift control parameters to determine the timing and operation of gear changes. The shift schedule is formulated based on optimizing power or economy under steady-state conditions. However, this shifting strategy is designed for steady-state driving on straight roads. It is difficult to address the shifting difficulties caused by the rapid speed changes and frequent jitters of the transmission output shaft in the unique operating conditions of heavy-duty ATM vehicles. This easily results in shift shock, resulting in poor shift success rate and smoothness for heavy-duty ATM vehicles. Summary of the Invention

[0004] In order to solve the above technical problems, one or more embodiments of this specification provide a gear shifting and speed regulation method, device, equipment and storage medium for a heavy-duty ATM vehicle.

[0005] One or more embodiments of this specification adopt the following technical solutions:

[0006] One or more embodiments of this specification provide a gear shifting and speed regulating method for a heavy-duty ATM vehicle, the method comprising:

[0007] Acquire driving status information of the heavy-duty ATM vehicle based on pre-installed sensors; wherein the driving status information includes at least: transmission output shaft speed, slope, acceleration, and required gear position;

[0008] Determining a target speed of the transmission input shaft of the heavy-duty ATM vehicle based on the required gear position and the transmission output shaft speed;

[0009] Determining an engine speed adjustment strategy based on the absolute value of the slope, and querying a preset compensation curve based on the slope and the acceleration to obtain a slope speed compensation value for the heavy-duty ATM vehicle;

[0010] Based on the adjustment strategy, the slope speed compensation value and the gearbox input shaft target speed, the engine target speed of the heavy-duty ATM vehicle is determined to adjust the gearbox input shaft target speed; wherein, during the gearbox input shaft target speed adjustment process, the engine target speed remains unchanged.

[0011] Optionally, in one or more embodiments of the present specification, determining an adjustment strategy for the engine speed according to the absolute value of the slope specifically includes:

[0012] Obtaining an absolute value of the slope, and if the absolute value of the slope is greater than a preset first slope threshold and the heavy-duty ATM vehicle maintains the slope for a time greater than a preset time, determining that the engine speed is adjusted based on a slope adjustment strategy;

[0013] If the absolute value of the slope is greater than a preset first slope threshold and the heavy-duty ATM vehicle maintains the slope for less than a preset time, or the absolute value of the slope is less than a preset second slope threshold, it is determined that the engine speed is adjusted based on the flat road adjustment strategy.

[0014] Optionally, in one or more embodiments of the present specification, determining the target engine speed of the heavy-duty ATM vehicle based on the adjustment strategy, the slope speed compensation value, and the target transmission input shaft speed to adjust the target transmission input shaft speed specifically includes:

[0015] Determining a current driving state of the heavy-duty ATM vehicle according to the slope speed compensation value, so as to determine an adjustment direction of the target speed of the transmission input shaft based on the current driving state; wherein the current driving state includes: uphill driving, downhill driving, and flat road driving;

[0016] If it is determined that the adjustment strategy is the flat road adjustment strategy, then obtaining the slope speed compensation value and obtaining the historical gearbox input shaft target speed of the heavy-duty ATM vehicle before entering the road corresponding to the flat road adjustment strategy;

[0017] determining an engine target speed within a transmission input shaft target speed adjustment period based on the slope speed compensation value and the historical transmission input shaft target speed, so as to adjust the transmission input shaft target speed based on the adjustment direction;

[0018] If the adjustment strategy is determined to be a slope adjustment strategy type, the engine target speed within the adjustment period is determined according to the slope speed compensation value and the transmission input shaft target speed, so as to adjust the transmission input shaft target speed based on the adjustment direction.

[0019] Optionally, in one or more embodiments of the present specification, determining the target engine speed within the adjustment period according to the slope speed compensation value and the target speed of the transmission input shaft specifically includes:

[0020] Acquire an initial adjustment time and an adjustment end time of a target speed of a transmission input shaft, and determine an adjustment time period based on the initial adjustment time and the adjustment end time;

[0021] The engine target speed for the initial adjustment time is determined based on the slope speed compensation value and the transmission input shaft target speed, and the engine target speed is continued until the adjustment end time to obtain the engine target speed within the transmission input shaft target speed adjustment time period.

[0022] Optionally, in one or more embodiments of this specification, determining the target speed of the transmission input shaft of the heavy-duty ATM vehicle based on the required gear position and the transmission output shaft speed specifically includes:

[0023] Obtaining a preset demand gear query curve for the heavy-duty ATM vehicle based on experimental testing;

[0024] Querying a preset demand gear query curve of the heavy-duty ATM vehicle according to the demand gear to determine the gear ratio of the heavy-duty ATM vehicle;

[0025] According to the transmission ratio and the gearbox output shaft speed, the target speed of the heavy-duty ATM vehicle is generated; wherein the target speed is: n tgt =n out ×r,n out is the speed of the gearbox output shaft, and r is the transmission ratio.

[0026] Optionally, in one or more embodiments of this specification, after determining the target engine speed of the heavy-duty ATM vehicle to adjust the target speed of the transmission input shaft, the method further includes:

[0027] Obtaining the actual engine speed of the heavy-duty ATM vehicle and the adjusted gearbox input shaft target speed, and determining a speed difference between the gearbox input shaft speed and the engine speed based on the adjusted gearbox input shaft target speed and the actual engine speed;

[0028] If it is determined that the speed difference value falls within the preset speed difference range, it is determined that the gear shifting and speed regulation of the heavy-duty ATM vehicle is completed;

[0029] If it is determined that the speed difference value does not fall within the preset speed difference range, performing iterative adjustment based on the adjustment strategy;

[0030] If it is determined that the iteration time is greater than the preset time, the gear is returned to the previous gear of the required gear.

[0031] Optionally, in one or more embodiments of this specification, before obtaining the actual engine speed of the heavy-duty ATM vehicle and the adjusted target speed of the transmission input shaft, the method further includes:

[0032] The target engine speed is input into a preset PID control module of the heavy-duty ATM vehicle, and the engine speed is adjusted based on an output instruction of the PID control module to achieve gear shifting of the heavy-duty ATM vehicle.

[0033] One or more embodiments of this specification provide a gear shifting and speed regulating device for a heavy-duty ATM vehicle, the device comprising:

[0034] A collection unit, configured to obtain driving status information of a heavy-duty ATM vehicle based on a pre-installed sensor; wherein the driving status information includes at least: transmission output shaft speed, slope, acceleration, and required gear position;

[0035] a first speed determining unit, configured to determine a target speed of a gearbox input shaft of the heavy-duty ATM vehicle based on the required gear position and the speed of the gearbox output shaft;

[0036] a strategy determination unit, configured to determine an engine speed adjustment strategy based on the absolute value of the slope, and query a preset compensation curve based on the slope and the acceleration to obtain a slope speed compensation value for the heavy-duty ATM vehicle;

[0037] The second speed determination unit is used to determine the engine target speed of the heavy-duty ATM vehicle based on the adjustment strategy, the slope speed compensation value and the transmission input shaft target speed, so as to adjust the transmission input shaft target speed; wherein, during the adjustment of the transmission input shaft target speed, the engine target speed remains unchanged.

[0038] One or more embodiments of this specification provide a gear shifting and speed regulating device for a heavy-duty ATM vehicle, the device comprising:

[0039] at least one processor; and,

[0040] a memory communicatively connected to the at least one processor; wherein,

[0041] The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to:

[0042] Acquire driving status information of the heavy-duty ATM vehicle based on pre-installed sensors; wherein the driving status information includes at least: transmission output shaft speed, slope, acceleration, and required gear position;

[0043] Determining a target speed of the transmission input shaft of the heavy-duty ATM vehicle based on the required gear position and the transmission output shaft speed;

[0044] Determining an engine speed adjustment strategy based on the absolute value of the slope, and querying a preset compensation curve based on the slope and the acceleration to obtain a slope speed compensation value for the heavy-duty ATM vehicle;

[0045] Based on the adjustment strategy, the slope speed compensation value and the gearbox input shaft target speed, the engine target speed of the heavy-duty ATM vehicle is determined to adjust the gearbox input shaft target speed; wherein, during the gearbox input shaft target speed adjustment process, the engine target speed remains unchanged.

[0046] One or more embodiments of this specification provide a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to:

[0047] Acquire driving status information of the heavy-duty ATM vehicle based on pre-installed sensors; wherein the driving status information includes at least: transmission output shaft speed, slope, acceleration, and required gear position;

[0048] Determining a target speed of the transmission input shaft of the heavy-duty ATM vehicle based on the required gear position and the transmission output shaft speed;

[0049] Determining an engine speed adjustment strategy based on the absolute value of the slope, and querying a preset compensation curve based on the slope and the acceleration to obtain a slope speed compensation value for the heavy-duty ATM vehicle;

[0050] Based on the adjustment strategy, the slope speed compensation value and the gearbox input shaft target speed, the engine target speed of the heavy-duty ATM vehicle is determined to adjust the gearbox input shaft target speed; wherein, during the gearbox input shaft target speed adjustment process, the engine target speed remains unchanged.

[0051] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0052] The engine speed adjustment strategy is determined based on the absolute value of the slope, incorporating the slope into the speed adjustment factor and achieving the desired adjustment strategy for different road conditions. The engine target speed for heavy-duty ATM vehicles is determined by querying a preset compensation curve based on slope and acceleration, along with the transmission input shaft target speed. This allows the engine to be pre-adjusted when the vehicle is going uphill or downhill, and then the transmission input shaft target speed is adjusted. Speed ​​regulation is completed when the adjusted transmission input shaft target speed matches the engine target speed. This solves the problem of difficult shifting and speed regulation caused by rapid changes and frequent jumps in the transmission output shaft speed, shortens speed regulation time, and improves shift success rate and smoothness. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only some of the embodiments described in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. In the drawings:

[0054] Figure 1 A schematic flow chart of a method for shifting and regulating the speed of a heavy-duty ATM vehicle provided in an embodiment of this specification;

[0055] Figure 2 A schematic diagram of a slope compensation speed acquisition process provided in an embodiment of this specification;

[0056] Figure 3 A schematic diagram of the uphill speed regulation principle of a heavy-duty ATM vehicle in an application scenario provided in an embodiment of this specification;

[0057] Figure 4 A schematic diagram of the downhill speed regulation principle of a heavy-duty ATM vehicle in an application scenario provided in an embodiment of this specification;

[0058] Figure 5 A schematic diagram of the internal structure of a gear shifting and speed regulating device for a heavy-duty ATM vehicle provided in an embodiment of this specification;

[0059] Figure 6 A schematic diagram of the internal structure of a gear shifting and speed regulating device for a heavy-duty ATM vehicle provided in an embodiment of this specification;

[0060] Figure 7 A schematic diagram of the structure of a non-volatile storage medium provided in an embodiment of this specification. DETAILED DESCRIPTION

[0061] The embodiments of this specification provide a gear shifting and speed regulation method, device, equipment, and storage medium for a heavy-duty ATM vehicle.

[0062] To help those skilled in the art better understand the technical solutions in this specification, the following will provide a clear and complete description of the technical solutions in the embodiments of this specification, in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this specification without creative work should fall within the scope of protection of this specification.

[0063] like Figure 1 As shown, one or more embodiments of this specification provide a flow chart of a method for shifting and speed regulating a heavy-duty ATM vehicle. Figure 1 It can be seen that in one or more embodiments of this specification, a method for shifting and speed regulating a heavy-duty ATM vehicle includes the following steps:

[0064] S101: Acquire driving status information of a heavy-duty ATM vehicle based on a preset sensor; wherein the driving status information at least includes: transmission output shaft speed, slope, acceleration, and required gear position.

[0065] Frequent fluctuations in target speed under special operating conditions can easily lead to a mismatch between the engine speed and the target speed of the transmission input shaft, causing shift shock. Therefore, in the embodiments of this specification, to fully account for the various factors that contribute to shift shock, the heavy-duty ATM vehicle's driving state information is first acquired using pre-set sensors. It should be noted that this driving state information includes at least the transmission output shaft speed, slope, acceleration, and desired gear position. Acquiring this slope and acceleration provides a data foundation for subsequently introducing these factors to address shift shock.

[0066] S102: Determine a target speed of the transmission input shaft of the heavy-duty ATM vehicle based on the required gear position and the transmission output shaft speed.

[0067] Based on the above step S101, the required gear position and the transmission output shaft speed of the heavy-duty ATM vehicle collected by the pre-set sensor are obtained. In order to obtain the transmission input shaft target speed to achieve the matching of the engine speed and the transmission input shaft target speed in the embodiments of this specification, the transmission input shaft target speed of the heavy-duty ATM vehicle is determined based on the determined required gear position and the transmission output shaft speed. Specifically, in one or more embodiments of this specification, the transmission input shaft target speed of the heavy-duty ATM vehicle is determined based on the required gear position and the transmission output shaft speed, which specifically includes the following process: first, according to the experimental test, the preset required gear query curve of the heavy-duty ATM vehicle is obtained, and then the preset required gear query curve of the heavy-duty ATM vehicle is queried according to the required gear GrDes, so as to obtain the transmission ratio of the heavy-duty ATM vehicle in the gear. At this time, the target speed of the heavy-duty ATM vehicle is generated according to the transmission ratio and the transmission output shaft speed. It should be noted that the target speed is:

[0068] n tgt =n out ×r (1)

[0069] Among them, n out is the speed of the gearbox output shaft, and r is the transmission ratio.

[0070] S103: determining an engine speed adjustment strategy according to the absolute value of the slope, and querying a preset compensation curve according to the slope and the acceleration to obtain a slope speed compensation value of the heavy-duty ATM vehicle.

[0071] When a vehicle is traveling on a bumpy road that is sometimes uphill and sometimes downhill, the output shaft speed sometimes decreases and sometimes increases, so that the target speed changes very frequently, making it difficult to adjust the engine speed. In order to avoid this phenomenon, in the embodiment of this specification, the adjustment strategy of the gearbox input shaft speed is determined according to the absolute value of the slope of the current driving section of the heavy-duty ATM vehicle, and the preset compensation curve is queried according to the slope and the acceleration to obtain the slope speed compensation value of the heavy-duty ATM vehicle. It should be noted that the acquisition process of the slope speed compensation value is as follows: Figure 2 As shown, by querying the compensation curve determined in advance through experiments by slope and acceleration, the corresponding slope speed compensation value n can be obtained. Ofs When heavy ATM vehicles go uphill Ofs is positive, and when the heavy ATM vehicle goes downhill, n Ofs is a negative value.

[0072] Specifically, in one or more embodiments of this specification, determining an engine speed adjustment strategy based on the absolute value of the slope specifically includes the following steps:

[0073] First, the absolute value |Slp| of the gradient Slp is obtained. If it is determined that the absolute value |Slp| of the gradient is greater than a preset first gradient threshold value, and the heavy-duty ATM vehicle maintains a time greater than a preset time in this operating condition, then it is determined that the current heavy-duty ATM vehicle is traveling on a slope, and the ramp adjustment strategy of the transmission input shaft target speed is now used. If it is determined that the absolute value |Slp| of the gradient is greater than a preset first gradient threshold value, and the heavy-duty ATM vehicle maintains a time less than a preset time in the current operating condition, that is, the current gradient, then it can be considered that the vehicle is traveling on a pothole road rather than a true ramp. Or if it is determined that the absolute value |Slp| of the gradient is less than a preset second gradient threshold value, then it can also be considered that the vehicle is traveling on a pothole road rather than a true ramp, and now it is determined that the transmission input shaft target speed is adjusted based on the flat road adjustment strategy. By determining the adjustment strategy under different roads under special operating conditions, the frequent changes in the transmission input shaft target speed of the heavy-duty ATM vehicle, which causes the problem of difficult engine speed regulation, are avoided.

[0074] S104: Determine the target engine speed of the heavy-duty ATM vehicle based on the adjustment strategy, the slope speed compensation value, and the transmission input shaft target speed, so as to adjust the transmission input shaft target speed; wherein, during the adjustment of the transmission input shaft target speed, the engine target speed remains unchanged.

[0075] After determining the engine speed adjustment strategy based on the absolute value of the slope in step S103, this specification determines the engine target speed of the heavy-duty ATM vehicle based on the adjustment strategy, the slope speed compensation value of the heavy-duty ATM vehicle obtained by querying a preset compensation curve based on slope and acceleration, and the target speed of the transmission input shaft. This allows the engine to be pre-regulated when the vehicle is going uphill or downhill, and then the transmission input shaft target speed is adjusted. Speed ​​regulation is completed when the adjusted transmission input shaft target speed matches the engine target speed, solving the problem of difficult shifting and speed regulation caused by rapid changes and frequent jumps in the transmission output shaft speed, shortening the speed regulation time, and improving the shift success rate and smoothness.

[0076] Specifically, in one or more embodiments of this specification, determining the target engine speed of the heavy-duty ATM vehicle based on the adjustment strategy, the slope speed compensation value, and the target transmission input shaft speed to adjust the target transmission input shaft speed specifically includes the following steps:

[0077] First, the current driving state of the heavy-duty ATM vehicle is determined based on the slope speed compensation value, so as to determine the adjustment direction of the transmission input shaft target speed based on the current driving state; it should be noted that the current driving state includes: uphill driving, downhill driving, and flat road driving. If the adjustment strategy is determined to be a flat road adjustment strategy, then the slope speed compensation value is obtained, and the historical transmission input shaft target speed before the heavy-duty ATM vehicle enters the road corresponding to the flat road adjustment strategy is obtained. Therefore, based on the determined slope speed compensation value and the historical transmission input shaft target speed, the engine target speed within the transmission input shaft target speed adjustment period is determined. After adjusting the engine speed, the transmission input shaft target speed is adjusted according to the adjustment direction determined in the above process. That is, in a certain application scenario, since the flat road adjustment strategy believes that the vehicle is driving on a bumpy road rather than a real slope, the transmission input shaft target speed at this time will maintain the value n before entering the pothole. SlpBfor , so first we will get the value n of the gearbox input shaft target speed before it enters the bumpy road SlpBfor Then, in order to avoid the problem that the gearbox input shaft target speed changes too quickly and the gearbox input shaft target speed is no longer matched with the engine speed when the actual engine speed reaches the target speed, the historical gearbox input shaft target speed is adjusted according to the determined slope speed compensation value and adjustment direction, and the adjusted historical gearbox input shaft target speed is used as the engine target speed, as shown in the following formula:

[0078] n EngTgt =n SlpBfor +n Ofs (2)

[0079] Among them, n EngTgt is the target engine speed, n SlpBfor is the historical gearbox input shaft target speed.

[0080] If the adjustment strategy is determined to be a slope adjustment strategy type, then the engine target speed within the adjustment period is determined based on the slope speed compensation value and the transmission input shaft target speed, so as to adjust the transmission input shaft target speed based on the determined adjustment direction.

[0081] Furthermore, in one or more embodiments of the present specification, the target engine speed within the adjustment period is determined based on the slope speed compensation value and the target speed of the transmission input shaft, specifically comprising the following steps: first, obtaining the initial adjustment time and the adjustment end time of the target speed of the transmission input shaft, and determining the adjustment period based on the initial adjustment time and the adjustment end time. Figure 3 、 Figure 4As shown, t1-t2 is the adjustment period for an uphill slope, and t3-t4 is the adjustment period for a downhill slope. The engine target speed for the initial adjustment period is then determined based on the slope speed compensation value and the transmission input shaft target speed. This target speed is maintained until the adjustment ends, thereby obtaining the engine target speed for the transmission input shaft target speed adjustment period. This allows the engine target speed to remain constant during the adjustment period, allowing the transmission input shaft target speed to gradually adjust, so that the adjusted transmission input shaft target speed matches the engine target speed, completing the speed regulation.

[0082] For example, when a heavy-duty ATM vehicle is speeding uphill, the vehicle needs to downshift because the speed is reduced when going uphill. At this time, the transmission ratio increases, and the corresponding gearbox input shaft target speed will also increase rapidly. At this time, the engine speed needs to be increased to solve the problem of gear shift shock. Figure 3 The figure shows a schematic diagram of the speed regulation principle of a heavy-duty ATM vehicle uphill in an application scenario provided in the embodiment of this specification. Assuming that time t2 is the time when the speed regulation is completed, if the gearbox input shaft target speed n at time t1 is directly tgt As the target engine speed n EngTgt , the actual engine speed n will be affected by the target speed changing too fast. Eng Reach n t1Tgt At t2, the target speed has exceeded the actual speed, resulting in speed regulation failure, and then gear shifting failure. In order to avoid this phenomenon, according to Figure 3 At time t1, the corresponding slope speed compensation value n can be added to the original gearbox input shaft target speed Ofs , as shown below:

[0083] n EngTgt =n tgt +n Ofs (3)

[0084] Based on this method, when the engine speed remains unchanged from t1 to t2, n tgt When it gradually increases to t2, its speed just matches the engine speed, that is, the speed difference between the engine speed and the transmission input shaft speed is within a reasonable range, thus completing the speed regulation.

[0085] Similarly, when a heavy-duty ATM vehicle is speeding downhill, the vehicle speed increases and an upshift is required. At this time, the transmission ratio decreases, and the corresponding gearbox input shaft target speed will also decrease quickly. At this time, the engine speed needs to be adjusted to reduce in order to solve the problem of gear shift shock. Figure 4The figure shows a schematic diagram of the speed regulation principle of a heavy-duty ATM vehicle downhill in an application scenario provided in the embodiment of this specification. Assuming that time t4 is the time when the speed regulation is completed, if the gearbox input shaft target speed n at time t3 is directly tgt As the target engine speed n EngTgt , the actual engine speed n will be affected by the target speed changing too fast. Eng Reach n t3Tgt At t4, the target speed is much lower than the actual engine speed, which leads to speed regulation failure and gear shift failure. Figure 3 At time t3, the corresponding slope speed compensation value n can be added to the original target speed Ofs , as shown below:

[0086] n EngTgt =n tgt +n Ofs (4)

[0087] At this time, from t3 to t4, that is, during the gearbox input shaft target speed adjustment period, the engine speed remains unchanged at the engine target, n tgt By gradually decreasing to t4, its speed exactly matches the engine speed, meaning the speed difference between the engine speed and the transmission input shaft speed is within a reasonable range, thus completing the speed regulation. By pre-regulating the engine speed when the vehicle is traveling uphill or downhill, and completing the speed regulation when the transmission input shaft target speed exactly matches the engine target speed, this solves the difficulty in shifting and regulating caused by rapid changes and frequent jumps in the transmission output shaft speed, shortens the speed regulation time and improves the success rate and smoothness of shifts.

[0088] In summary, when n Ofs When it is greater than 0, it means that the vehicle is traveling uphill, then the final gearbox input shaft target speed n TgtFnl for:

[0089] n TgtFnl =Max(n tgt , n EngTgt ) (5)

[0090] When n Ofs When it is less than 0, it means the vehicle is traveling downhill, then the final gearbox input shaft target speed n TgtFnl for:

[0091] n TgtFnl =Min(n tgt , n EngTgt ) (6)

[0092] When n OfsWhen it is equal to 0, it means that the vehicle is driving on a flat road, then the final gearbox input shaft target speed n TgtFnl for:

[0093] n TgtFnl =n tgt (7)

[0094] Furthermore, in one or more embodiments of this specification, after determining the target engine speed of the heavy-duty ATM vehicle to adjust the target transmission input shaft speed, the method further includes:

[0095] Obtain the actual engine speed of the heavy-duty ATM vehicle and the adjusted gearbox input shaft target speed, and then determine the speed difference n between the gearbox input shaft speed and the engine speed based on the adjusted gearbox input shaft target speed and the actual engine speed. Diff The speed difference formula is as follows:

[0096] n Diff =n TgtFnl -n tgt (8)

[0097] If it is determined that the speed difference value falls within the preset speed difference range, then the gear shifting and speed regulation of the heavy-duty ATM vehicle is determined to be complete. If it is determined that the speed difference value does not fall within the preset speed difference range, then iterative adjustment is performed according to the adjustment strategy, and if the iteration time is greater than the preset time, the gear is returned to the previous gear of the required gear. Furthermore, in one or more embodiments of this specification, before obtaining the actual engine speed of the heavy-duty ATM vehicle and the adjusted gearbox input shaft target speed, the method also includes:

[0098] The target engine speed is input into a preset PID control module of the heavy-duty ATM vehicle, and the engine speed is adjusted based on the output instruction of the PID control module to achieve gear shifting of the heavy-duty ATM vehicle.

[0099] like Figure 5 As shown, the embodiment of this specification provides a schematic diagram of the internal structure of a gear shifting and speed regulating device for a heavy-duty ATM vehicle, which is composed of Figure 5 A gear shifting and speed regulating device for a heavy-duty ATM vehicle is known, the device comprising:

[0100] The acquisition unit 501 is configured to acquire the driving state information of the heavy-duty ATM vehicle based on a pre-installed sensor; wherein the driving state information includes at least: the transmission output shaft speed, slope, acceleration, and required gear position;

[0101] A first speed determining unit 502 is configured to determine a target speed of the transmission input shaft of the heavy-duty ATM vehicle based on the required gear position and the transmission output shaft speed;

[0102] a strategy determination unit 503 for determining an engine speed adjustment strategy according to the absolute value of the slope, and querying a preset compensation curve according to the slope and the acceleration to obtain a slope speed compensation value for the heavy-duty ATM vehicle;

[0103] The second speed determination unit 504 is configured to determine the engine target speed of the heavy-duty ATM vehicle based on the adjustment strategy, the slope speed compensation value, and the transmission input shaft target speed, so as to adjust the transmission input shaft target speed; wherein, during the adjustment of the transmission input shaft target speed, the engine target speed remains unchanged.

[0104] like Figure 6 As shown, the embodiment of this specification provides a schematic diagram of the internal structure of a gear shifting and speed regulating device for a heavy-duty ATM vehicle, which is composed of Figure 6 Known equipment includes:

[0105] at least one processor 601; and,

[0106] A memory 602 in communication with the at least one processor 601; wherein,

[0107] The memory 602 stores instructions that can be executed by the at least one processor 601. The instructions are executed by the at least one processor 601 to enable the at least one processor 601 to:

[0108] Acquire driving status information of the heavy-duty ATM vehicle based on pre-installed sensors; wherein the driving status information includes at least: transmission output shaft speed, slope, acceleration, and required gear position;

[0109] Determining a target speed of the transmission input shaft of the heavy-duty ATM vehicle based on the required gear position and the transmission output shaft speed;

[0110] Determining an engine speed adjustment strategy based on the absolute value of the slope, and querying a preset compensation curve based on the slope and the acceleration to obtain a slope speed compensation value for the heavy-duty ATM vehicle;

[0111] Based on the adjustment strategy, the slope speed compensation value and the gearbox input shaft target speed, the engine target speed of the heavy-duty ATM vehicle is determined to adjust the gearbox input shaft target speed; wherein, during the gearbox input shaft target speed adjustment process, the engine target speed remains unchanged.

[0112] like Figure 7 As shown, the embodiment of this specification provides a schematic diagram of the internal structure of a non-volatile storage medium. Figure 7As can be seen, a non-volatile storage medium stores computer-executable instructions 701, wherein the computer-executable instructions 701 can:

[0113] Acquire driving status information of the heavy-duty ATM vehicle based on pre-installed sensors; wherein the driving status information includes at least: transmission output shaft speed, slope, acceleration, and required gear position;

[0114] Determining a target speed of the transmission input shaft of the heavy-duty ATM vehicle based on the required gear position and the transmission output shaft speed;

[0115] Determining an engine speed adjustment strategy based on the absolute value of the slope, and querying a preset compensation curve based on the slope and the acceleration to obtain a slope speed compensation value for the heavy-duty ATM vehicle;

[0116] Based on the adjustment strategy, the slope speed compensation value and the gearbox input shaft target speed, the engine target speed of the heavy-duty ATM vehicle is determined to adjust the gearbox input shaft target speed; wherein, during the gearbox input shaft target speed adjustment process, the engine target speed remains unchanged. The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment, and non-volatile computer storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0117] The foregoing description of this specification describes specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0118] The foregoing description is merely one or more embodiments of this specification and is not intended to limit this specification. It will be apparent to those skilled in the art that various modifications and variations may be made to one or more embodiments of this specification. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of one or more embodiments of this specification are intended to be within the scope of the claims of this specification.

Claims

1. A gear shifting and speed regulating method for a heavy-duty ATM vehicle, characterized in that: The method comprises: Acquire driving status information of the heavy-duty ATM vehicle based on pre-installed sensors; wherein the driving status information includes at least: transmission output shaft speed, slope, acceleration, and required gear position; Determining a target speed of the transmission input shaft of the heavy-duty ATM vehicle based on the required gear position and the transmission output shaft speed; Determining an engine speed adjustment strategy based on the absolute value of the slope, and querying a preset compensation curve based on the slope and the acceleration to obtain a slope speed compensation value for the heavy-duty ATM vehicle; Determining an engine target speed of the heavy-duty ATM vehicle based on the adjustment strategy, the slope speed compensation value, and the transmission input shaft target speed, so as to adjust the transmission input shaft target speed; wherein, during the adjustment of the transmission input shaft target speed, the engine target speed remains unchanged; The engine speed adjustment strategy is determined according to the absolute value of the slope, specifically including: Obtaining an absolute value of the slope, and if the absolute value of the slope is greater than a preset first slope threshold and the heavy-duty ATM vehicle maintains the slope for a time greater than a preset time, determining that the engine speed is adjusted based on a slope adjustment strategy; If the absolute value of the slope is greater than a preset first slope threshold and the heavy-duty ATM vehicle maintains the slope for less than a preset time, or the absolute value of the slope is less than a preset second slope threshold, determining that the engine speed is adjusted based on the flat road adjustment strategy; Based on the adjustment strategy, the slope speed compensation value and the gearbox input shaft target speed, determining the engine target speed of the heavy-duty ATM vehicle to adjust the gearbox input shaft target speed, specifically comprising: Determining a current driving state of the heavy-duty ATM vehicle according to the slope speed compensation value, so as to determine an adjustment direction of the target speed of the transmission input shaft based on the current driving state; wherein the current driving state includes: uphill driving, downhill driving, and flat road driving; If it is determined that the adjustment strategy is the flat road adjustment strategy, then obtaining the slope speed compensation value and obtaining the historical gearbox input shaft target speed of the heavy-duty ATM vehicle before entering the road corresponding to the flat road adjustment strategy; determining an engine target speed within a transmission input shaft target speed adjustment period based on the slope speed compensation value and the historical transmission input shaft target speed, so as to adjust the transmission input shaft target speed based on the adjustment direction; If the adjustment strategy is determined to be a slope adjustment strategy type, the engine target speed within the adjustment period is determined according to the slope speed compensation value and the transmission input shaft target speed, so as to adjust the transmission input shaft target speed based on the adjustment direction.

2. A gear shifting and speed regulating method for a heavy-duty ATM vehicle according to claim 1, characterized in that: Determining the target engine speed within the adjustment period according to the slope speed compensation value and the target speed of the transmission input shaft specifically includes: Acquire an initial adjustment time and an adjustment end time of a target speed of a transmission input shaft, and determine an adjustment time period based on the initial adjustment time and the adjustment end time; The engine target speed for the initial adjustment time is determined based on the slope speed compensation value and the transmission input shaft target speed, and the engine target speed is continued until the adjustment end time to obtain the engine target speed within the transmission input shaft target speed adjustment time period.

3. The gear shifting and speed regulating method for a heavy-duty ATM vehicle according to claim 1, wherein: Determining a target speed of the transmission input shaft of the heavy-duty ATM vehicle based on the required gear and the transmission output shaft speed specifically includes: Obtaining a preset demand gear query curve for the heavy-duty ATM vehicle based on experimental testing; Querying a preset demand gear query curve of the heavy-duty ATM vehicle according to the demand gear to determine the gear ratio of the heavy-duty ATM vehicle; The target speed of the heavy-duty ATM vehicle is generated according to the transmission ratio and the speed of the gearbox output shaft; wherein the target speed is: , is the gearbox output shaft speed, is the transmission ratio.

4. The gear shifting and speed regulating method for a heavy-duty ATM vehicle according to claim 1, wherein: After determining the target engine speed of the heavy-duty ATM vehicle to adjust the target transmission input shaft speed, the method further includes: Obtaining the actual engine speed of the heavy-duty ATM vehicle and the adjusted gearbox input shaft target speed, and determining a speed difference between the gearbox input shaft speed and the engine speed based on the adjusted gearbox input shaft target speed and the actual engine speed; If it is determined that the speed difference value falls within the preset speed difference range, it is determined that the gear shifting and speed regulation of the heavy-duty ATM vehicle is completed; If it is determined that the speed difference value does not fall within the preset speed difference range, performing iterative adjustment based on the adjustment strategy; If it is determined that the iteration time is greater than the preset time, the gear is returned to the previous gear of the required gear.

5. A gear shifting and speed regulating method for a heavy-duty ATM vehicle according to claim 4, characterized in that: Before obtaining the actual engine speed of the heavy-duty ATM vehicle and the adjusted target speed of the transmission input shaft, the method further includes: The target engine speed is input into a preset PID control module of the heavy-duty ATM vehicle, and the engine speed is adjusted based on an output instruction of the PID control module to achieve gear shifting of the heavy-duty ATM vehicle.

6. A gear shifting and speed regulating device for a heavy-duty ATM vehicle, characterized in that: The device comprises: A collection unit, configured to obtain driving status information of a heavy-duty ATM vehicle based on a pre-installed sensor; wherein the driving status information includes at least: transmission output shaft speed, slope, acceleration, and required gear position; a first speed determining unit, configured to determine a target speed of a gearbox input shaft of the heavy-duty ATM vehicle based on the required gear position and the speed of the gearbox output shaft; a strategy determination unit, configured to determine an engine speed adjustment strategy based on the absolute value of the slope, and query a preset compensation curve based on the slope and the acceleration to obtain a slope speed compensation value for the heavy-duty ATM vehicle; a second speed determination unit, configured to determine a target engine speed of the heavy-duty ATM vehicle based on the adjustment strategy, the slope speed compensation value, and the target speed of the transmission input shaft, so as to adjust the target speed of the transmission input shaft; wherein, during the adjustment of the target speed of the transmission input shaft, the target engine speed remains unchanged; The engine speed adjustment strategy is determined according to the absolute value of the slope, specifically including: Obtaining an absolute value of the slope, and if the absolute value of the slope is greater than a preset first slope threshold and the heavy-duty ATM vehicle maintains the slope for a time greater than a preset time, determining that the engine speed is adjusted based on a slope adjustment strategy; If the absolute value of the slope is greater than a preset first slope threshold and the heavy-duty ATM vehicle maintains the slope for less than a preset time, or the absolute value of the slope is less than a preset second slope threshold, determining that the engine speed is adjusted based on the flat road adjustment strategy; Based on the adjustment strategy, the slope speed compensation value and the gearbox input shaft target speed, determining the engine target speed of the heavy-duty ATM vehicle to adjust the gearbox input shaft target speed, specifically comprising: Determining a current driving state of the heavy-duty ATM vehicle according to the slope speed compensation value, so as to determine an adjustment direction of the target speed of the transmission input shaft based on the current driving state; wherein the current driving state includes: uphill driving, downhill driving, and flat road driving; If it is determined that the adjustment strategy is the flat road adjustment strategy, then obtaining the slope speed compensation value and obtaining the historical gearbox input shaft target speed of the heavy-duty ATM vehicle before entering the road corresponding to the flat road adjustment strategy; determining an engine target speed within a transmission input shaft target speed adjustment period based on the slope speed compensation value and the historical transmission input shaft target speed, so as to adjust the transmission input shaft target speed based on the adjustment direction; If the adjustment strategy is determined to be a slope adjustment strategy type, the engine target speed within the adjustment period is determined according to the slope speed compensation value and the transmission input shaft target speed, so as to adjust the transmission input shaft target speed based on the adjustment direction.

7. A gear shifting and speed regulating device for a heavy-duty ATM vehicle, characterized in that: The device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to: Acquire driving status information of the heavy-duty ATM vehicle based on pre-installed sensors; wherein the driving status information includes at least: transmission output shaft speed, slope, acceleration, and required gear position; Determining a target speed of the transmission input shaft of the heavy-duty ATM vehicle based on the required gear position and the transmission output shaft speed; Determining an engine speed adjustment strategy based on the absolute value of the slope, and querying a preset compensation curve based on the slope and the acceleration to obtain a slope speed compensation value for the heavy-duty ATM vehicle; Determining an engine target speed of the heavy-duty ATM vehicle based on the adjustment strategy, the slope speed compensation value, and the transmission input shaft target speed, so as to adjust the transmission input shaft target speed; wherein, during the adjustment of the transmission input shaft target speed, the engine target speed remains unchanged; The engine speed adjustment strategy is determined according to the absolute value of the slope, specifically including: Obtaining an absolute value of the slope, and if the absolute value of the slope is greater than a preset first slope threshold and the heavy-duty ATM vehicle maintains the slope for a time greater than a preset time, determining that the engine speed is adjusted based on a slope adjustment strategy; If the absolute value of the slope is greater than a preset first slope threshold and the heavy-duty ATM vehicle maintains the slope for less than a preset time, or the absolute value of the slope is less than a preset second slope threshold, determining that the engine speed is adjusted based on the flat road adjustment strategy; Based on the adjustment strategy, the slope speed compensation value and the gearbox input shaft target speed, determining the engine target speed of the heavy-duty ATM vehicle to adjust the gearbox input shaft target speed, specifically comprising: Determining a current driving state of the heavy-duty ATM vehicle according to the slope speed compensation value, so as to determine an adjustment direction of the target speed of the transmission input shaft based on the current driving state; wherein the current driving state includes: uphill driving, downhill driving, and flat road driving; If it is determined that the adjustment strategy is the flat road adjustment strategy, then obtaining the slope speed compensation value and obtaining the historical gearbox input shaft target speed of the heavy-duty ATM vehicle before entering the road corresponding to the flat road adjustment strategy; determining an engine target speed within a transmission input shaft target speed adjustment period based on the slope speed compensation value and the historical transmission input shaft target speed, so as to adjust the transmission input shaft target speed based on the adjustment direction; If the adjustment strategy is determined to be a slope adjustment strategy type, the engine target speed within the adjustment period is determined according to the slope speed compensation value and the transmission input shaft target speed, so as to adjust the transmission input shaft target speed based on the adjustment direction.

8. A non-volatile storage medium storing computer-executable instructions, characterized in that: The computer executable instructions are capable of: Acquire driving status information of the heavy-duty ATM vehicle based on pre-installed sensors; wherein the driving status information includes at least: transmission output shaft speed, slope, acceleration, and required gear position; Determining a target speed of the transmission input shaft of the heavy-duty ATM vehicle based on the required gear position and the transmission output shaft speed; Determining an engine speed adjustment strategy based on the absolute value of the slope, and querying a preset compensation curve based on the slope and the acceleration to obtain a slope speed compensation value for the heavy-duty ATM vehicle; Determining an engine target speed of the heavy-duty ATM vehicle based on the adjustment strategy, the slope speed compensation value, and the transmission input shaft target speed, so as to adjust the transmission input shaft target speed; wherein, during the adjustment of the transmission input shaft target speed, the engine target speed remains unchanged; The engine speed adjustment strategy is determined according to the absolute value of the slope, specifically including: Obtaining an absolute value of the slope, and if the absolute value of the slope is greater than a preset first slope threshold and the heavy-duty ATM vehicle maintains the slope for a time greater than a preset time, determining that the engine speed is adjusted based on a slope adjustment strategy; If the absolute value of the slope is greater than a preset first slope threshold and the heavy-duty ATM vehicle maintains the slope for less than a preset time, or the absolute value of the slope is less than a preset second slope threshold, determining that the engine speed is adjusted based on the flat road adjustment strategy; Based on the adjustment strategy, the slope speed compensation value and the gearbox input shaft target speed, determining the engine target speed of the heavy-duty ATM vehicle to adjust the gearbox input shaft target speed, specifically comprising: Determining a current driving state of the heavy-duty ATM vehicle according to the slope speed compensation value, so as to determine an adjustment direction of the target speed of the transmission input shaft based on the current driving state; wherein the current driving state includes: uphill driving, downhill driving, and flat road driving; If it is determined that the adjustment strategy is the flat road adjustment strategy, then obtaining the slope speed compensation value and obtaining the historical gearbox input shaft target speed of the heavy-duty ATM vehicle before entering the road corresponding to the flat road adjustment strategy; determining an engine target speed within a transmission input shaft target speed adjustment period based on the slope speed compensation value and the historical transmission input shaft target speed, so as to adjust the transmission input shaft target speed based on the adjustment direction; If the adjustment strategy is determined to be a slope adjustment strategy type, the engine target speed within the adjustment period is determined according to the slope speed compensation value and the transmission input shaft target speed, so as to adjust the transmission input shaft target speed based on the adjustment direction.

Images