Gear shift control method, device, computer equipment and storage medium

Abstract

The present application relates to a shift control method, apparatus, computer device, storage medium, and computer program product. The method includes: upon receiving a shift request, obtaining the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, motor gear information, and transmission gear; determining a motor speed request value based on the transmission gear when the lubricating oil temperature, time interval, motor gear information, and transmission gear meet preset conditions; controlling the motor to output a first torque that matches the motor speed request value, and obtaining the real-time motor speed during the first torque operation; controlling the motor to operate at zero torque when the real-time motor speed during the first torque operation reaches a first target speed; subtracting the real-time motor speed during the zero torque operation from the motor speed request value to obtain a speed difference; and switching gears based on the speed difference and transmission gear. This method can improve the problem of difficult shifting.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a shift control method, apparatus, computer equipment, storage medium, and computer program product. Background Art

[0002] With the widespread application of pure electric vehicles and hybrid vehicles. When electric vehicles need to shift gears, a motor is usually used to adjust the speed of the gearbox input shaft to achieve gear shifting. Specifically, the electronic control unit in the vehicle determines the target speed of the gearbox input shaft based on the target gear ratio and the current gearbox output shaft speed, adjusts the gearbox input shaft speed to the target speed through the motor, and completes the gear shifting action. However, when the electric vehicle is initially operated at low temperatures, due to the large rolling resistance of the motor and shaft gear bearings, the high viscosity of the lubricating oil, and the large gear meshing resistance torque, the resistance torque encountered by the motor after the speed regulation is completed at low temperatures is significantly increased compared to normal temperature, and the speed loss is significantly increased compared to normal temperature, resulting in poor speed regulation effect, difficulty in shifting, and affecting the overall performance of the electric drive system. Summary of the Invention

[0003] Based on this, it is necessary to provide a shift control method, device, computer equipment, computer-readable storage medium and computer program product that can improve the shift difficulty problem in the existing shift method.

[0004] In a first aspect, the present application provides a shift control method. The method comprises:

[0005] When a shift request is received, the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear position information, and the gearbox gear position are obtained;

[0006] When the lubricating oil temperature, time interval, motor gear information, and transmission gear meet preset conditions, a motor speed request value is determined according to the transmission gear; the motor is controlled to output a first torque that matches the motor speed request value, and the real-time motor speed during the first torque operation is obtained; when the real-time motor speed during the first torque operation reaches a first target speed, the motor is controlled to operate at zero torque;

[0007] The speed difference is obtained by subtracting the real-time motor speed during zero-torque operation from the motor speed request value; gear switching is performed based on the speed difference and the gear position of the transmission.

[0008] In one embodiment, the preset conditions are: the lubricating oil temperature is lower than a preset temperature, the time interval is greater than a preset duration, the motor gear information indicates that the gear of the first motor is non-neutral and the gear of the second motor is neutral, and the gear of the transmission is non-neutral.

[0009] In one embodiment, determining a motor speed request value according to a gearbox gear position includes:

[0010] Determine the motor speed corresponding to the gearbox gear;

[0011] The motor speed is compensated using the preset compensation speed to obtain the motor speed request value.

[0012] In one embodiment, shifting gears based on the speed difference and the transmission gear position includes:

[0013] When the absolute value of the speed difference is less than the preset speed value, the gear is switched according to the gear position of the transmission;

[0014] When the absolute value of the speed difference is greater than or equal to the preset speed value, the motor speed target value is determined according to the transmission gear position and the speed difference; the speed is adjusted based on the motor speed target value to obtain an updated speed difference; when the absolute value of the updated speed difference is less than the preset speed value, the gear is switched according to the transmission gear position.

[0015] In one embodiment, determining a target motor speed value based on a gearbox position and a speed difference includes:

[0016] Determine the motor speed corresponding to the gearbox gear;

[0017] The motor speed target value is determined based on the motor speed and the speed difference.

[0018] In one embodiment, adjusting the speed based on the motor speed target value to obtain an updated speed difference value includes:

[0019] Controlling the motor to output a second torque that matches a target motor speed value, and obtaining a real-time motor speed during the second torque operation; and controlling the motor to operate at zero torque when the real-time motor speed reaches a second target speed during the second torque operation;

[0020] The real-time motor speed during zero-torque operation is subtracted from the motor speed target value, and the difference obtained is used as the updated speed difference.

[0021] In a second aspect, the present application further provides a shift control device. The device comprises:

[0022] An acquisition module is used to obtain the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear position information, and the gear position of the transmission when a gear shift request is received;

[0023] a control module configured to determine a motor speed request value based on the transmission gear position when a lubricating oil temperature, a time interval, motor gear information, and a transmission gear position satisfy preset conditions; control the motor to output a first torque that matches the motor speed request value, and obtain a real-time motor speed during operation at the first torque; and control the motor to operate at zero torque when the real-time motor speed reaches a first target speed during operation at the first torque;

[0024] The gear shift module is used to obtain a speed difference by subtracting the real-time motor speed during zero-torque operation from the motor speed request value; and to perform gear shifting based on the speed difference and the gear position of the transmission.

[0025] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are performed:

[0026] When a shift request is received, the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear position information, and the gearbox gear position are obtained;

[0027] When the lubricating oil temperature, time interval, motor gear information, and transmission gear meet preset conditions, a motor speed request value is determined according to the transmission gear; the motor is controlled to output a first torque that matches the motor speed request value, and the real-time motor speed during the first torque operation is obtained; when the real-time motor speed during the first torque operation reaches a first target speed, the motor is controlled to operate at zero torque;

[0028] The speed difference is obtained by subtracting the real-time motor speed during zero-torque operation from the motor speed request value; gear switching is performed based on the speed difference and the gear position of the transmission.

[0029] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0030] When a shift request is received, the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear position information, and the gearbox gear position are obtained;

[0031] When the lubricating oil temperature, time interval, motor gear information, and transmission gear meet preset conditions, a motor speed request value is determined according to the transmission gear; the motor is controlled to output a first torque that matches the motor speed request value, and the real-time motor speed during the first torque operation is obtained; when the real-time motor speed during the first torque operation reaches a first target speed, the motor is controlled to operate at zero torque;

[0032] The speed difference is obtained by subtracting the real-time motor speed during zero-torque operation from the motor speed request value; gear switching is performed based on the speed difference and the gear position of the transmission.

[0033] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

[0034] When a shift request is received, the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear position information, and the gearbox gear position are obtained;

[0035] When the lubricating oil temperature, time interval, motor gear information, and transmission gear meet preset conditions, a motor speed request value is determined according to the transmission gear; the motor is controlled to output a first torque that matches the motor speed request value, and the real-time motor speed during the first torque operation is obtained; when the real-time motor speed during the first torque operation reaches a first target speed, the motor is controlled to operate at zero torque;

[0036] The speed difference is obtained by subtracting the real-time motor speed during zero-torque operation from the motor speed request value; gear switching is performed based on the speed difference and the gear position of the transmission.

[0037] The above-mentioned shift control method, apparatus, computer device, storage medium, and computer program product obtain the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, motor gear information, and transmission gear upon receiving a shift request; determine a motor speed request value based on the transmission gear when the lubricating oil temperature, time interval, motor gear information, and transmission gear meet preset conditions; control the motor to output a first torque that matches the motor speed request value and obtain the real-time motor speed during the first torque operation; control the motor to operate at zero torque when the real-time motor speed during the first torque operation reaches a first target speed; subtract the real-time motor speed during the zero torque operation from the motor speed request value to obtain a speed difference; and perform gear switching based on the speed difference and transmission gear. The above-mentioned scheme comprehensively considers the lubricating oil temperature, time interval, motor gear information, and transmission gear. When the preset conditions are met, the motor torque output is controlled to obtain the speed difference between the real-time motor speed and the motor speed request value, and shifts gears when the motor speeds are synchronized, which is conducive to improving the problem of difficult shifting. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A diagram showing an application environment of a shift control method in one embodiment;

[0039] Figure 21 is a flow chart of a shift control method according to an embodiment;

[0040] Figure 3 1 is a schematic diagram of the overall flow of a shift control method in one embodiment;

[0041] Figure 4 A schematic diagram of motor gear shifting and speed regulation self-learning in one embodiment;

[0042] Figure 5 is a structural block diagram of a shift control device in one embodiment;

[0043] Figure 6 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0045] The shift control method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the terminal 102 communicates with the motor 104 via a network. Upon receiving a gear shift request, the terminal 102 obtains the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear information, and the transmission gear position. If the lubricating oil temperature, time interval, motor gear information, and transmission gear position meet preset conditions, the terminal 102 determines a motor speed request value based on the transmission gear position. The terminal 102 controls the motor to output a first torque that matches the motor speed request value and obtains the real-time motor speed during the first torque operation. If the real-time motor speed during the first torque operation reaches a first target speed, the terminal 102 controls the motor to operate at zero torque. The terminal 102 subtracts the real-time motor speed during the zero torque operation from the motor speed request value to obtain a speed difference. The terminal 102 performs gear shifting based on the speed difference and the transmission gear position. In some embodiments, the terminal 102 may be an electronic control unit (ECU). In other embodiments, the terminal 102 may be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices may be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, and the like. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc.

[0046] In one embodiment, Figure 2 As shown, a shift control method is provided, which is applied to Figure 1 Taking the terminal 102 in FIG. 1 as an example, the method includes the following steps:

[0047] Step 202 : upon receiving a gear shift request, obtaining the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear position information, and the gear position of the transmission.

[0048] Among them, the gear shift request is a request initiated by the vehicle operation object according to the working conditions, which is used to instruct the vehicle to switch gears. Under normal circumstances, the terminal directly switches gears when receiving the gear shift request. However, when the vehicle is initially running at low temperature, due to the large rolling resistance of the motor and the shaft gear bearings, the large viscosity of the lubricating oil and the large gear meshing resistance torque, the resistance torque of the motor after the speed regulation is completed at low temperature is significantly increased compared to normal temperature, and the speed loss is significantly increased compared to normal temperature, resulting in poor speed regulation effect and difficulty in shifting gears. Therefore, the present application proposes to obtain information such as the lubricating oil temperature of the vehicle when a gear shift request is received, so as to perform self-learning of gear shifting and speed regulation, ensure that the motor speed is synchronized with the required speed, which is conducive to ensuring successful gear shifting and improving the problem of difficulty in gear shifting.

[0049] Lubricating oil temperature refers to the temperature of the lubricating oil in the vehicle. Power-on and power-off refer to the power-on and power-off of the vehicle's electronic control unit, respectively. The terminal obtains the time interval between the current power-on and the most recent power-off of the vehicle's electronic control unit. In some embodiments, the shift control method proposed in this application is applicable to the shift control of a dual-motor vehicle. The motor gear position information includes the gear position of the first motor and the gear position of the second motor. The gearbox gear position refers to the gear position of the gearbox corresponding to the motor. The gearbox gear position is used to control the motor gear switching.

[0050] Step 204: When the lubricating oil temperature, time interval, motor gear information, and transmission gear meet preset conditions, determine a motor speed request value according to the transmission gear; control the motor to output a first torque that matches the motor speed request value, and obtain the real-time motor speed during the first torque operation; and when the real-time motor speed during the first torque operation reaches a first target speed, control the motor to operate at zero torque.

[0051] Among them, the motor gear self-learning speed control is carried out when the lubricating oil temperature, time interval, motor gear information and transmission gear meet the preset conditions. If the preset conditions are not met, the gear will be switched directly according to the transmission gear.

[0052] The motor speed request is the desired motor speed. The motor speed request is determined based on the transmission gear position. To ensure the motor speed reaches the requested speed, the motor is controlled to output a first torque that matches the requested speed. Under the action of the first torque, the motor speed continuously increases.

[0053] First torque operation refers to the vehicle operating with the motor outputting a first torque. The terminal obtains the real-time motor speed during the first torque operation and, when the real-time motor speed reaches a first target speed during the first torque operation, controls the motor to operate at zero torque. In some embodiments, the first target speed is determined based on a requested motor speed value and a first deviation value. For example, the difference between the requested motor speed value and the first deviation value is used as the first target speed. Zero torque refers to zero motor torque.

[0054] Step 206 : Subtract the real-time motor speed during zero-torque operation from the motor speed request value to obtain a speed difference; and perform gear switching based on the speed difference and the gear position of the transmission.

[0055] Zero-torque operation refers to the vehicle operating with the motor outputting zero torque. The terminal obtains the real-time motor speed during zero-torque operation. The speed difference is calculated by subtracting the real-time motor speed during zero-torque operation from the requested motor speed. Gear shifting is performed based on this speed difference and the transmission gear position.

[0056] In the above-mentioned shift control method, upon receiving a shift request, the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear information, and the transmission gear are obtained; when the lubricating oil temperature, time interval, motor gear information, and transmission gear meet preset conditions, the motor speed request value is determined based on the transmission gear; the motor is controlled to output a first torque that matches the motor speed request value, and the real-time motor speed during the first torque operation is obtained; when the real-time motor speed during the first torque operation reaches a first target speed, the motor is controlled to operate at zero torque; the real-time motor speed during the zero torque operation is subtracted from the motor speed request value to obtain a speed difference; and gear switching is performed based on the speed difference and the transmission gear. The above-mentioned scheme comprehensively considers the lubricating oil temperature, time interval, motor gear information, and transmission gear. When the preset conditions are met, the speed difference between the real-time motor speed and the motor speed request value is obtained by controlling the output of the motor torque, and shifting is performed when the motor speeds are synchronized, which is conducive to improving the problem of difficult shifting.

[0057] In one embodiment, the preset conditions are: the lubricating oil temperature is lower than the preset temperature, the time interval is greater than the preset duration, the motor gear information indicates that the gear of the first motor is non-neutral and the gear of the second motor is neutral, and the gear of the transmission is non-neutral.

[0058] Among them, the motor gears generally include neutral, 1st gear, 2nd gear, 3rd gear and 4th gear. The motor gear is in any of the 1st gear, 2nd gear, 3rd gear or 4th gear, which is non-neutral. The gear position of the first motor is non-neutral and the gear position of the second motor is neutral, that is, the first motor is in operation and the second motor is in neutral. In order to improve the operating efficiency of the vehicle, the shift control method mainly controls the second motor to switch from neutral to any non-neutral gear when the lubricating oil temperature is lower than the preset temperature, the time interval is greater than the preset time length, the motor gear information indicates that the gear position of the first motor is non-neutral and the gear position of the second motor is neutral, and the gear position of the transmission is non-neutral.

[0059] In this embodiment, by setting preset conditions for the gear shift control, a corresponding gear shift control method is adopted when the preset conditions are met, which is beneficial to ensure that the gear of the second motor can be switched under low temperature, cold start, the gear of the transmission is in gear, the first motor of the dual motor is running, and the second motor is in neutral, thereby improving the problem of difficulty in shifting motor gears and increasing the success rate of shifting gears.

[0060] In one embodiment, determining a motor speed request value according to a gearbox gear position includes: determining a motor speed corresponding to the gearbox gear position; and compensating the motor speed using a preset compensation speed to obtain a motor speed request value.

[0061] Each transmission gear position corresponds to a motor speed. In some embodiments, the terminal stores the correspondence between transmission gear positions and motor speeds in a preset mapping table. The preset mapping table is queried to determine the motor speed corresponding to the transmission gear position. The preset compensation speed refers to a compensation value set based on historical data experience to compensate for the motor speed. In some embodiments, the compensation process can be performed by adding the preset compensation speed to the motor speed, with the sum resulting being the requested motor speed value.

[0062] In this embodiment, the motor speed corresponding to the gear position of the transmission is determined, and the motor speed is compensated using a preset compensation speed to obtain a motor speed request value. The motor speed request value is obtained based on the motor speed compensation corresponding to the gear position of the transmission. Each gear position corresponds to a different motor speed request value, which is conducive to compensating the motor speed based on actual conditions and improving the success rate of gear shifting.

[0063] In one embodiment, gear switching is performed based on the speed difference and the transmission gear position, including: when the absolute value of the speed difference is less than a preset speed value, performing gear switching according to the transmission gear position; when the absolute value of the speed difference is greater than or equal to the preset speed value, determining a motor speed target value according to the transmission gear position and the speed difference; adjusting the speed based on the motor speed target value to obtain an updated speed difference; and when the absolute value of the updated speed difference is less than the preset speed value, performing gear switching according to the transmission gear position.

[0064] Among them, the absolute value of the speed difference is less than the preset speed value, indicating that after the control of the first torque and zero torque, the motor speed is relatively close to the motor speed request value. In this case, the gear shifting success rate is high.

[0065] The absolute value of the speed difference is greater than or equal to the preset speed value, indicating that after the control of the first torque and zero torque, the motor speed changes greatly and is significantly different from the motor speed request value. In this case, there is a certain probability of shift failure when shifting.

[0066] If the absolute value of the speed difference is greater than or equal to a preset speed value, a motor speed self-learning method is used to ensure that the motor speed is synchronized with the requested speed value, thereby improving the success rate of gear shifting. Specifically, a motor speed target value is determined based on the transmission gear position and the speed difference. The speed is then adjusted based on the motor speed target value to obtain an updated speed difference value. If the absolute value of the updated speed difference is less than the preset speed value, a gear shift is performed based on the transmission gear position.

[0067] Shifting gears according to the gear position of the transmission refers to controlling the shift actuator to shift gears according to the gear position of the transmission.

[0068] In this embodiment, when the absolute value of the speed difference is less than the preset speed value, the gear is directly switched, and when the absolute value of the speed difference is greater than or equal to the preset speed value, the motor speed is self-learned and adjusted, and when the absolute value of the updated speed difference is less than the preset speed value, the gear is switched again. This ensures that when the motor switches gears, the motor speed is synchronized with the motor speed target value, thereby improving the success rate of gear shifting and improving the problem of difficulty in motor gear shifting.

[0069] In one embodiment, determining the motor speed target value according to the gear position of the transmission and the speed difference includes: determining the motor speed corresponding to the gear position of the transmission; and determining the motor speed target value according to the motor speed and the speed difference.

[0070] Each transmission gear position corresponds to a motor speed. In some embodiments, the terminal stores the correspondence between transmission gear positions and motor speeds in a preset mapping table. The preset mapping table is queried to determine the motor speed corresponding to the transmission gear position. The motor speed and the speed difference are summed, and the result is used as the target motor speed.

[0071] In this embodiment, when the speed difference is large, the motor speed target value is obtained by the speed difference and the motor speed. This adjustment of the motor speed is conducive to the synchronization of the motor speed and the motor speed target value, thereby improving the success rate of gear shifting.

[0072] In one embodiment, the speed is adjusted based on the motor speed target value to obtain an updated speed difference, including: controlling the motor to output a second torque that matches the motor speed target value, and obtaining the real-time motor speed during the second torque operation process; when the real-time motor speed during the second torque operation process reaches the second target speed, controlling the motor to operate at zero torque; and subtracting the real-time motor speed during the zero torque operation process from the motor speed target value, and using the difference obtained as the updated speed difference.

[0073] In order for the motor speed to reach the motor speed target value, the motor is controlled to output a second torque that matches the motor speed target value. Under the action of the second torque, the motor speed continuously increases.

[0074] Second torque operation refers to the vehicle operating with the motor outputting a second torque. The terminal obtains the real-time motor torque during the second torque operation process. When the real-time motor speed during the second torque operation process reaches the second target speed, the terminal controls the motor to operate at zero torque; the real-time motor speed during the zero torque operation process is subtracted from the motor speed target value, and the difference obtained is used as the updated speed difference. In some embodiments, the second target speed is obtained based on the motor speed target value and a second deviation value. For example, the difference between the motor speed target value and the second deviation value is used as the second target speed.

[0075] In this embodiment, during the process of speed adjustment based on the motor speed target value, since the motor speed target value is determined based on the speed difference, torque control is performed based on the target speed target value, which is beneficial to the synchronization of the motor speed and the motor speed target value, improves the gear shifting success rate, and improves the gear shifting difficulty problem.

[0076] To explain the shift control method and its effects in detail, a most detailed embodiment is given below:

[0077] For the gear shift control scenario of dual motor system. Figure 3The figure shows the overall flow chart of the shift control method. The system determines whether it is necessary to perform motor shift speed regulation self-learning. If it is necessary to perform motor shift speed regulation self-learning, and the first motor is not in neutral, when a shift request is received when the second motor is in neutral, the motor shift speed regulation self-learning is performed. Specifically, it is first determined whether the speed difference of the motor after torque control exceeds the preset speed value. If it does not exceed, the shift fork is controlled to engage the gear and the shift is completed. If it exceeds, the speed regulation learning of the second motor is re-performed, and the speed compensation value is added. After the real-time motor speed reaches the motor target speed value, the speed regulation mode is exited and the zero torque mode is entered. When the updated speed difference is less than the preset speed value, the shift fork is controlled to engage the gear and the shift is completed.

[0078] Specifically, when the terminal receives a shift request, it obtains the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear information, and the gear position of the transmission. When the lubricating oil temperature is lower than the preset temperature, the time interval is greater than the preset duration, the motor gear information indicates that the gear position of the first motor is non-neutral and the gear position of the second motor is neutral, and the gear position of the transmission is non-neutral, the terminal determines the motor speed corresponding to the gear position of the transmission, and uses the preset compensation speed to compensate the motor speed to obtain the motor speed request value. For example, the motor speed is added to the preset compensation speed to obtain the motor speed request value. Taking the preset compensation speed as 300 rpm as an example, the motor speed request value can be 3000 rpm. Among them, if Figure 4 The figure shows a schematic diagram of the motor shift speed self-learning process. The motor shift speed self-learning conditions are that the lubricating oil temperature is less than a preset temperature and the time interval is greater than a preset duration. If the motor shift speed self-learning conditions are not met, the motor shift speed self-learning process is terminated. For example, the preset temperature is 0 degrees Celsius, and the preset duration is 12 hours.

[0079] The motor is controlled to output a first torque that matches the requested motor speed value, and the real-time motor speed during the first torque operation is obtained. When the real-time motor speed during the first torque operation reaches a first target speed, the motor is controlled to operate at zero torque. Exemplarily, the first target speed is the difference between the requested motor speed value and the first deviation value. For example, if the first deviation value is 30 rpm, the first target speed is 2970 rpm.

[0080] The motor enters zero torque mode and maintains it for a specified time, which is the average time from the completion of motor speed regulation to the shift fork pushing the coupling gear sleeve into engagement, e.g., 0.25 seconds. The real-time motor speed is monitored during this time period. The real-time motor speed during zero torque operation is subtracted from the requested motor speed to obtain a speed difference. If the absolute value of the speed difference is less than a preset speed value, the gear is switched according to the gear position of the transmission. For example, the preset speed value can be 100 rpm. This means that the motor speed decreases slowly, allowing the gear to be engaged immediately, driving the shift actuator to engage the gear.

[0081] If the absolute value of the speed difference is greater than or equal to the preset speed value, the motor speed corresponding to the gear position is determined, and the motor speed target value is determined based on the motor speed and the speed difference. This means that the motor speed is falling rapidly and the motor speed needs to be re-regulated. The motor speed target value is reset as the motor's requested speed.

[0082] The motor is controlled to output a second torque that matches the motor speed target value, and the real-time motor speed during the second torque operation is obtained; when the real-time motor speed during the second torque operation reaches the second target speed, the motor is controlled to operate at zero torque, and the real-time motor speed during the zero torque operation is subtracted from the motor speed target value, and the difference obtained is used as the updated speed difference. When the absolute value of the updated speed difference is less than the preset speed value, the gear is switched according to the gear position of the transmission. That is, after the motor speed is adjusted again, the shift actuator is driven to engage the gear. Since the shift actuator has a certain delay in response and it takes a certain amount of time, i.e., 0.25s, for the coupling sleeve to move into gear, the motor speed drops to near the corresponding motor target speed value. Under good synchronization conditions, successful gear engagement can be ensured.

[0083] The above-mentioned shift control method obtains the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear information, and the transmission gear upon receiving a shift request; determines the motor speed request value based on the transmission gear when the lubricating oil temperature, time interval, motor gear information, and transmission gear meet preset conditions; controls the motor to output a first torque that matches the motor speed request value, and obtains the real-time motor speed during the first torque operation; controls the motor to operate at zero torque when the real-time motor speed during the first torque operation reaches a first target speed; subtracts the real-time motor speed during the zero torque operation from the motor speed request value to obtain a speed difference; and switches gears based on the speed difference and the transmission gear. The above scheme comprehensively considers the lubricating oil temperature, time interval, motor gear information, and transmission gear. When the preset conditions are met, the speed difference between the real-time motor speed and the motor speed request value is obtained by controlling the output of the motor torque, and shifts gears when the motor speeds are synchronized, which is conducive to improving the problem of difficult shifting.

[0084] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0085] Based on the same inventive concept, embodiments of the present application also provide a shift control device for implementing the aforementioned shift control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more of the shift control device embodiments provided below can be found in the aforementioned limitations of the shift control method and will not be further elaborated here.

[0086] In one embodiment, Figure 5 As shown, a shift control device 100 is provided, comprising: an acquisition module 120, a control module 140 and a shift module 160, wherein:

[0087] The acquisition module 120 is used to obtain the vehicle's lubricating oil temperature, the time interval between the current power-on and the last power-off, the motor gear position information, and the gear position of the transmission when a gear shift request is received;

[0088] The control module 140 is configured to determine a motor speed request value based on the transmission gear position when the lubricating oil temperature, time interval, motor gear position information, and transmission gear position meet preset conditions; control the motor to output a first torque that matches the motor speed request value, and obtain the real-time motor speed during the first torque operation; and control the motor to operate at zero torque when the real-time motor speed reaches a first target speed during the first torque operation;

[0089] The gear shift module 160 is used to obtain a speed difference by subtracting the real-time motor speed during zero-torque operation from the motor speed request value; and to perform gear shifting based on the speed difference and the gear position of the transmission.

[0090] The above-mentioned shift control device obtains the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear information, and the transmission gear upon receiving a shift request; determines a motor speed request value based on the transmission gear when the lubricating oil temperature, time interval, motor gear information, and transmission gear meet preset conditions; controls the motor to output a first torque that matches the motor speed request value and obtains the real-time motor speed during the first torque operation; controls the motor to operate at zero torque when the real-time motor speed during the first torque operation reaches a first target speed; subtracts the real-time motor speed during the zero torque operation from the motor speed request value to obtain a speed difference; and performs gear switching based on the speed difference and the transmission gear. The above scheme comprehensively considers the lubricating oil temperature, time interval, motor gear information, and transmission gear. When the preset conditions are met, the speed difference between the real-time motor speed and the motor speed request value is obtained by controlling the output of the motor torque, and shifts gears when the motor speeds are synchronized, which is conducive to improving the problem of difficult shifting.

[0091] In one embodiment, the preset conditions in the control module 140 are: the lubricating oil temperature is lower than the preset temperature, the time interval is greater than the preset duration, the motor gear information indicates that the gear of the first motor is non-neutral and the gear of the second motor is neutral, and the gear of the transmission is non-neutral.

[0092] In one embodiment, the motor speed request value is determined according to the gearbox gear, and the control module 140 is further used to: determine the motor speed corresponding to the gearbox gear; and compensate the motor speed using a preset compensation speed to obtain the motor speed request value.

[0093] In one embodiment, gear switching is performed based on the speed difference and the transmission gear position, and the shift module 160 is further used to: when the absolute value of the speed difference is less than a preset speed value, perform gear switching according to the transmission gear position; when the absolute value of the speed difference is greater than or equal to the preset speed value, determine the motor speed target value according to the transmission gear position and the speed difference; adjust the speed based on the motor speed target value to obtain an updated speed difference; when the absolute value of the updated speed difference is less than the preset speed value, perform gear switching according to the transmission gear position.

[0094] In one embodiment, the motor speed target value is determined according to the gear position of the transmission and the speed difference. The shift module 160 is further used to: determine the motor speed corresponding to the gear position of the transmission; and determine the motor speed target value according to the motor speed and the speed difference.

[0095] In one embodiment, the speed is adjusted based on the motor speed target value to obtain an updated speed difference. The shift module 160 is also used to: control the motor to output a second torque that matches the motor speed target value, and obtain the real-time motor speed during the second torque operation process; when the real-time motor speed during the second torque operation process reaches the second target speed, control the motor to operate at zero torque; and subtract the real-time motor speed during the zero torque operation process from the motor speed target value, and the difference obtained is used as the updated speed difference.

[0096] Each module in the aforementioned shift control device may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a computer device memory in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0097] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 6As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a shift control method is implemented.

[0098] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0099] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0100] When a gear shift request is received, the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear information and the transmission gear are obtained; when the lubricating oil temperature, the time interval, the motor gear information and the transmission gear meet the preset conditions, the motor speed request value is determined according to the transmission gear; the motor is controlled to output a first torque that matches the motor speed request value, and the real-time motor speed during the first torque operation is obtained; when the real-time motor speed during the first torque operation reaches the first target speed, the motor is controlled to operate at zero torque; the real-time motor speed during the zero torque operation is subtracted from the motor speed request value to obtain a speed difference; and gear switching is performed based on the speed difference and the transmission gear.

[0101] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0102] The preset conditions are: the lubricating oil temperature is lower than the preset temperature, the time interval is greater than the preset duration, the motor gear information indicates that the gear of the first motor is not neutral and the gear of the second motor is neutral, and the gear of the transmission is not neutral.

[0103] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0104] Determine the motor speed corresponding to the gear position of the transmission; compensate the motor speed using a preset compensation speed to obtain a motor speed request value.

[0105] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0106] When the absolute value of the speed difference is less than the preset speed value, the gear is switched according to the gear position of the transmission; when the absolute value of the speed difference is greater than or equal to the preset speed value, the motor speed target value is determined according to the gear position of the transmission and the speed difference; the speed is adjusted based on the motor speed target value to obtain an updated speed difference; when the absolute value of the updated speed difference is less than the preset speed value, the gear is switched according to the gear position of the transmission.

[0107] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0108] Determine the motor speed corresponding to the gear position of the transmission; determine the motor speed target value based on the motor speed and the speed difference.

[0109] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0110] The motor is controlled to output a second torque that matches the motor speed target value, and the real-time motor speed during the second torque operation is obtained; when the real-time motor speed during the second torque operation reaches the second target speed, the motor is controlled to operate at zero torque; the real-time motor speed during the zero torque operation is subtracted from the motor speed target value, and the difference obtained is used as the updated speed difference.

[0111] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0112] When a gear shift request is received, the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear information and the transmission gear are obtained; when the lubricating oil temperature, the time interval, the motor gear information and the transmission gear meet the preset conditions, the motor speed request value is determined according to the transmission gear; the motor is controlled to output a first torque that matches the motor speed request value, and the real-time motor speed during the first torque operation is obtained; when the real-time motor speed during the first torque operation reaches the first target speed, the motor is controlled to operate at zero torque; the real-time motor speed during the zero torque operation is subtracted from the motor speed request value to obtain a speed difference; and gear switching is performed based on the speed difference and the transmission gear.

[0113] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0114] The preset conditions are: the lubricating oil temperature is lower than the preset temperature, the time interval is greater than the preset duration, the motor gear information indicates that the gear of the first motor is not neutral and the gear of the second motor is neutral, and the gear of the transmission is not neutral.

[0115] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0116] Determine the motor speed corresponding to the gear position of the transmission; compensate the motor speed using a preset compensation speed to obtain a motor speed request value.

[0117] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0118] When the absolute value of the speed difference is less than the preset speed value, the gear is switched according to the gear position of the transmission; when the absolute value of the speed difference is greater than or equal to the preset speed value, the motor speed target value is determined according to the gear position of the transmission and the speed difference; the speed is adjusted based on the motor speed target value to obtain an updated speed difference; when the absolute value of the updated speed difference is less than the preset speed value, the gear is switched according to the gear position of the transmission.

[0119] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0120] Determine the motor speed corresponding to the gear position of the transmission; determine the motor speed target value based on the motor speed and the speed difference.

[0121] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0122] The motor is controlled to output a second torque that matches the motor speed target value, and the real-time motor speed during the second torque operation is obtained; when the real-time motor speed during the second torque operation reaches the second target speed, the motor is controlled to operate at zero torque; the real-time motor speed during the zero torque operation is subtracted from the motor speed target value, and the difference obtained is used as the updated speed difference.

[0123] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0124] When a gear shift request is received, the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear information and the transmission gear are obtained; when the lubricating oil temperature, the time interval, the motor gear information and the transmission gear meet the preset conditions, the motor speed request value is determined according to the transmission gear; the motor is controlled to output a first torque that matches the motor speed request value, and the real-time motor speed during the first torque operation is obtained; when the real-time motor speed during the first torque operation reaches the first target speed, the motor is controlled to operate at zero torque; the real-time motor speed during the zero torque operation is subtracted from the motor speed request value to obtain a speed difference; and gear switching is performed based on the speed difference and the transmission gear.

[0125] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0126] The preset conditions are: the lubricating oil temperature is lower than the preset temperature, the time interval is greater than the preset duration, the motor gear information indicates that the gear of the first motor is not neutral and the gear of the second motor is neutral, and the gear of the transmission is not neutral.

[0127] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0128] Determine the motor speed corresponding to the gear position of the transmission; compensate the motor speed using a preset compensation speed to obtain a motor speed request value.

[0129] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0130] When the absolute value of the speed difference is less than the preset speed value, the gear is switched according to the gear position of the transmission; when the absolute value of the speed difference is greater than or equal to the preset speed value, the motor speed target value is determined according to the gear position of the transmission and the speed difference; the speed is adjusted based on the motor speed target value to obtain an updated speed difference; when the absolute value of the updated speed difference is less than the preset speed value, the gear is switched according to the gear position of the transmission.

[0131] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0132] Determine the motor speed corresponding to the gear position of the transmission; determine the motor speed target value based on the motor speed and the speed difference.

[0133] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0134] The motor is controlled to output a second torque that matches the motor speed target value, and the real-time motor speed during the second torque operation is obtained; when the real-time motor speed during the second torque operation reaches the second target speed, the motor is controlled to operate at zero torque; the real-time motor speed during the zero torque operation is subtracted from the motor speed target value, and the difference obtained is used as the updated speed difference.

[0135] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions.

[0136] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0137] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0138] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A shift control method, characterized in that: The method comprises: When a shift request is received, the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear position information, and the gear position of the transmission are obtained; When the lubricating oil temperature, the time interval, the motor gear information, and the transmission gear meet preset conditions, determining a motor speed request value according to the transmission gear; controlling the motor to output a first torque that matches the motor speed request value, and obtaining a real-time motor speed during the first torque operation; and controlling the motor to operate at zero torque when the real-time motor speed during the first torque operation reaches a first target speed; Subtracting the real-time motor speed during zero-torque operation from the motor speed request value to obtain a speed difference; and performing gear switching based on the speed difference and the gear position of the transmission; The preset conditions are: the lubricating oil temperature is lower than a preset temperature, the time interval is greater than a preset duration, the motor gear information indicates that the gear position of the first motor is non-neutral and the gear position of the second motor is neutral, and the gear position of the transmission is non-neutral; The performing gear switching based on the speed difference and the gear position of the transmission includes: When the absolute value of the speed difference is less than a preset speed value, the gear is switched according to the gear position of the transmission; When the absolute value of the speed difference is greater than or equal to a preset speed value, a motor speed target value is determined according to the transmission gear position and the speed difference; the speed is adjusted based on the motor speed target value to obtain an updated speed difference value; and when the absolute value of the updated speed difference is less than the preset speed value, gear switching is performed according to the transmission gear position.

2. The method according to claim 1, characterized in that Determining the motor speed request value according to the gearbox gear position includes: Determine the motor speed corresponding to the gear position of the gearbox; The motor speed is compensated using a preset compensation speed to obtain a motor speed request value.

3. The method according to claim 1, characterized in that The step of determining a target motor speed value according to the gearbox position and the speed difference comprises: Determine the motor speed corresponding to the gear position of the gearbox; A motor speed target value is determined according to the motor speed and the speed difference.

4. The method according to claim 1, wherein The adjusting the speed based on the motor speed target value to obtain an updated speed difference includes: controlling the motor to output a second torque that matches the motor speed target value, and obtaining the real-time motor speed during the second torque operation; and controlling the motor to operate at zero torque when the real-time motor speed during the second torque operation reaches the second target speed; The real-time motor speed during zero-torque operation is subtracted from the motor speed target value, and the obtained difference is used as the updated speed difference.

5. A gear shift control device, characterized in that: The device comprises: An acquisition module is used to obtain the vehicle's lubricating oil temperature, the time interval between the current power-on and the most recent power-off, the motor gear position information, and the gear position of the transmission when a gear shift request is received; a control module configured to, when the lubricating oil temperature, the time interval, the motor gear information, and the transmission gear meet preset conditions, determine a motor speed request value based on the transmission gear; control the motor to output a first torque matching the motor speed request value, and obtain a real-time motor speed during operation with the first torque; and control the motor to operate at zero torque when the real-time motor speed during operation with the first torque reaches a first target speed; the preset conditions being: the lubricating oil temperature is less than a preset temperature, the time interval is greater than a preset duration, the motor gear information indicates that the gear of the first motor is non-neutral and the gear of the second motor is neutral, and the transmission gear is non-neutral; a shift module configured to obtain a speed difference by subtracting the real-time motor speed during zero-torque operation from the motor speed request value; and to perform gear shifting based on the speed difference and the gear position of the transmission; The shift module is further configured to, when the absolute value of the speed difference is less than a preset speed value, perform gear switching according to the transmission gear; when the absolute value of the speed difference is greater than or equal to the preset speed value, determine a motor speed target value according to the transmission gear and the speed difference; adjust the speed based on the motor speed target value to obtain an updated speed difference; and, when the absolute value of the updated speed difference is less than the preset speed value, perform gear switching according to the transmission gear.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

8. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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