Vehicle gear shifting method, device, equipment and storage medium

Abstract

The present application relates to the technical field of electric vehicles, and discloses a vehicle gear shifting method, device, equipment and storage medium, the method comprising: when receiving a gear shifting request, detecting the torque motor speed of the vehicle; determining whether the vehicle speed corresponding to the torque motor speed is in a preset gear shifting speed range; and switching the current gear of the vehicle to the target gear corresponding to the gear shifting request according to the determination result. The present application determines whether the vehicle speed corresponding to the torque motor speed is in a preset gear shifting speed range, and switches the current gear of the vehicle based on the determination result. Compared with the prior art, the vehicle can complete gear shifting when the motor speed and the accelerator opening degree both meet certain conditions, but the actual vehicle speed is not considered, which may cause safety hazards. The above-mentioned vehicle gear shifting method combines the vehicle speed corresponding to the torque motor speed and the preset gear shifting speed range, can effectively avoid the occurrence of unstable vehicle speed during the vehicle gear shifting process, reduces safety hazards, and ensures driving safety.

Description

Technical Field

[0001] This invention relates to the field of electric vehicle technology, and in particular to a vehicle gear shifting method, apparatus, device, and storage medium. Background Technology

[0002] Due to the characteristics of electric motors, most electric vehicles have eliminated gear shifting. Currently, the gear shifting method in pure electric vehicles is that when the vehicle controller detects a change in the gear signal, it detects the motor speed and throttle opening. When the motor speed is below a certain value and the throttle opening is also below a certain value, it can control the vehicle to switch gears.

[0003] However, the above-mentioned shifting method can complete the shifting when both the motor speed and the throttle opening meet certain conditions, without taking into account the actual vehicle speed. When the actual vehicle speed is greater than the speed corresponding to the motor speed, such as when the vehicle requests to shift gears on a downhill section, the vehicle speed will be unstable during the shifting process, which poses a safety hazard.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this invention is to provide a vehicle gear shifting method, device, equipment, and storage medium, aiming to solve the technical problem that existing technologies can complete gear shifting when both motor speed and throttle opening meet certain conditions, without considering actual vehicle speed, thus posing a safety hazard.

[0006] To achieve the above objectives, the present invention provides a vehicle gear shifting method, the vehicle gear shifting method comprising:

[0007] Upon receiving a shift request, the speed of the vehicle's torque motor is detected;

[0008] Determine whether the vehicle speed corresponding to the torque motor speed is within the preset shift speed range;

[0009] Based on the judgment result, the vehicle's current gear is switched to the target gear corresponding to the gear shift request.

[0010] Optionally, detecting the torque motor speed of the vehicle upon receiving a shift request includes:

[0011] Upon receiving a shift request, determine whether the vehicle's current state is ready to shift gears;

[0012] If the vehicle is in the gear shifting preparation state, the torque motor current of the vehicle is detected.

[0013] The torque motor speed of the vehicle is determined based on the torque motor current.

[0014] Optionally, determining whether the vehicle speed corresponding to the torque motor speed is within the preset shift speed range includes:

[0015] Detect whether the absolute value of the torque motor current is lower than a preset threshold;

[0016] Based on the detection results, it is determined whether the vehicle speed corresponding to the torque motor speed is within the preset shift speed range. If it is lower than the preset threshold, it is determined that the vehicle speed corresponding to the torque motor speed is within the preset shift speed range. If it is not lower than the preset threshold, it is determined that the vehicle speed corresponding to the torque motor speed is not within the preset shift speed range.

[0017] Optionally, switching the vehicle's current gear to the target gear corresponding to the shift request based on the judgment result includes:

[0018] When the vehicle speed corresponding to the torque motor speed is within the preset shift speed range, it is detected whether the vehicle is in an effective braking state. The effective braking state is the state in which the vehicle's brake pedal opening is at the opening corresponding to the shift operation.

[0019] If the braking is in the effective state, the vehicle's current gear is switched to the target gear corresponding to the shift request.

[0020] Optionally, the step of switching the vehicle's current gear to the target gear corresponding to the shift request based on the judgment result further includes:

[0021] When the vehicle speed corresponding to the torque motor speed is not within the preset shift speed range, detect whether the current vehicle speed is lower than the preset vehicle speed threshold.

[0022] If the speed is below the preset vehicle speed threshold, then when the vehicle is in an effective braking state, the vehicle's current gear will be switched to the target gear corresponding to the gear shift request.

[0023] Optionally, after detecting whether the current speed of the vehicle is lower than a preset speed threshold, the method further includes:

[0024] If the speed is not lower than the preset speed threshold, the vehicle is prohibited from shifting gears to maintain the current gear until the current speed is reduced to the preset speed threshold.

[0025] Optionally, switching the vehicle's current gear to the target gear corresponding to the shift request includes:

[0026] Determine the target gear to be switched to based on the shift request;

[0027] The torque motor's operating mode is switched to the target operating mode corresponding to the target gear, so as to switch the vehicle's current gear to the target gear.

[0028] Furthermore, to achieve the above objectives, the present invention also provides a vehicle gear shifting device, the vehicle gear shifting device comprising:

[0029] The motor detection module is used to detect the speed of the vehicle's torque motor when a shift request is received;

[0030] The vehicle speed determination module is used to determine whether the vehicle speed corresponding to the torque motor speed is within the preset shift speed range;

[0031] The gear shifting module is used to shift the vehicle's current gear to the target gear corresponding to the shift request based on the judgment result.

[0032] Furthermore, to achieve the above objectives, the present invention also proposes a vehicle shifting device, the device comprising: a memory, a processor, and a vehicle shifting program stored in the memory and executable on the processor, the vehicle shifting program being configured to implement the steps of the vehicle shifting method as described above.

[0033] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing a vehicle shifting program, which, when executed by a processor, implements the steps of the vehicle shifting method as described above.

[0034] This invention detects the vehicle's torque motor speed upon receiving a shift request; then determines whether the vehicle speed corresponding to the torque motor speed is within a preset shift speed range; and finally, based on the determination result, switches the vehicle's current gear to the target gear corresponding to the shift request. This invention, by determining whether the vehicle speed corresponding to the torque motor speed is within the preset shift speed range and switching the vehicle's current gear based on the determination result, offers a significant advantage over existing technologies that allow gear shifts to be completed when both the motor speed and throttle opening meet certain conditions, without considering the actual vehicle speed and posing a safety hazard. This invention's vehicle shifting method combines the vehicle speed corresponding to the torque motor speed with the preset shift speed range, taking into account the actual vehicle speed. This effectively avoids unstable vehicle speeds during gear shifts, reduces safety hazards, and ensures driving safety. Attached Figure Description

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

[0036] Figure 2 This is a flowchart illustrating the first embodiment of the vehicle gear shifting method of the present invention;

[0037] Figure 3 This is a flowchart illustrating the second embodiment of the vehicle gear shifting method of the present invention;

[0038] Figure 4 This is a flowchart illustrating the third embodiment of the vehicle gear shifting method of the present invention;

[0039] Figure 5 This is a schematic diagram of the overall process of vehicle gear shifting in the third embodiment of the vehicle gear shifting method of the present invention;

[0040] Figure 6 This is a structural block diagram of the first embodiment of the vehicle gear shifting device of the present invention.

[0041] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0042] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0043] Reference Figure 1 , Figure 1 This is a schematic diagram of the vehicle gear shifting device structure in the hardware operating environment involved in the embodiments of the present invention.

[0044] like Figure 1 As shown, the vehicle shifting device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

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

[0046] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle gear shifting program.

[0047] exist Figure 1 In the vehicle shifting device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the vehicle shifting device of the present invention can be set in the vehicle shifting device, and the vehicle shifting device calls the vehicle shifting program stored in the memory 1005 through the processor 1001 and executes the vehicle shifting method provided in the embodiment of the present invention.

[0048] This invention provides a vehicle gear shifting method, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the vehicle gear shifting method of the present invention.

[0049] In this embodiment, the vehicle gear shifting method includes the following steps:

[0050] Step S10: Upon receiving a shift request, detect the speed of the vehicle's torque motor.

[0051] It should be noted that the executing entity of the method in this embodiment can be a computing service device with vehicle shifting, network communication, and program execution functions, such as a vehicle controller, mobile phone, tablet computer, personal computer, etc., or other electronic devices that achieve the same or similar functions. The following description uses the aforementioned vehicle shifting device to illustrate this embodiment and the subsequent embodiments.

[0052] Understandably, the aforementioned gear shift request can be a request triggered by the driver when a gear shift is required, and the gear shift request may carry information about the gear to be switched to.

[0053] It should be noted that the torque motor speed mentioned above is the speed of the torque motor when it is working. When the torque motor rotates, it will drive the wheels to rotate. That is, the speed of the torque motor corresponds to the vehicle speed and is positively correlated. The faster the torque motor speed, the faster the vehicle speed, and vice versa.

[0054] In its specific implementation, when the aforementioned wheel shifting device detects a shifting request triggered by the driver, it can respond to the shifting request and detect the torque motor speed of the vehicle at the current moment.

[0055] Step S20: Determine whether the vehicle speed corresponding to the torque motor speed is within the preset shift speed range.

[0056] It should be noted that during gear shifting, the actual vehicle speed depends not only on the torque motor speed but also on road conditions. For example, on a downhill slope, the actual speed may exceed the speed corresponding to the torque motor speed. Shifting gears under such conditions could pose a safety hazard. Therefore, a safe range can be set for the speed corresponding to the torque motor speed during gear shifting. Within this safe range, the deviation between the speed corresponding to the torque motor speed and the actual vehicle speed is considered low, indicating a relatively stable actual speed, thus allowing gear shifting to proceed safely. This preset gear shifting speed range serves as a safe range to ensure smoother vehicle speed during gear shifting.

[0057] In its specific implementation, the vehicle shifting device can determine whether the vehicle speed corresponding to the torque motor speed is within the preset shifting speed range. When the vehicle speed corresponding to the torque motor speed is within the preset shifting speed range, it is determined that the actual speed of the vehicle is relatively stable and the vehicle can shift gears. Conversely, if it is not within the preset shifting range, it is determined that the actual speed of the vehicle fluctuates greatly and there is a safety hazard, so the vehicle shifting gears is prohibited to ensure the safety of vehicle shifting.

[0058] Step S30: Based on the judgment result, switch the current gear of the vehicle to the target gear corresponding to the shift request.

[0059] In its implementation, if the motor speed corresponding to the torque motor's rotational speed is within the preset shift speed range, the vehicle speed is determined to be within a safe range, and shifting is permitted. Conversely, if the motor speed corresponding to the torque motor's rotational speed exceeds the preset shift speed range, the vehicle speed is determined to be outside a safe range, and shifting should be prohibited. If the driver adjusts the vehicle speed so that it falls within the preset shift speed range, shifting can then be permitted. The vehicle shifting device can extract the target gear from the shift request and, when the shift is permitted, switch the current gear to the target gear to complete the shift.

[0060] This embodiment detects the vehicle's torque motor speed upon receiving a shift request; then determines whether the vehicle speed corresponding to the torque motor speed is within a preset shift speed range; finally, based on the determination result, it switches the vehicle's current gear to the target gear corresponding to the shift request. This embodiment, by determining whether the vehicle speed corresponding to the torque motor speed is within the preset shift speed range and switching the vehicle's current gear based on the determination result, offers a significant advantage over existing technologies where shifting can be completed simply when the motor speed and throttle opening meet certain conditions, without considering the actual vehicle speed and posing a safety hazard. This embodiment's vehicle shifting method combines the vehicle speed corresponding to the torque motor speed with the preset shift speed range, taking into account the actual vehicle speed. This effectively avoids unstable vehicle speed during shifting, reduces safety hazards, and ensures driving safety.

[0061] refer to Figure 3 , Figure 3 This is a flowchart illustrating the second embodiment of the vehicle gear shifting method of the present invention.

[0062] Based on the first embodiment described above, in this embodiment, step S10 includes:

[0063] Step S101: Upon receiving a shift request, determine whether the vehicle's current state is ready to shift gears.

[0064] It should be noted that the aforementioned "ready to shift gears" state refers to a state where the vehicle's critical systems have completed self-checks and initialization. These critical systems may include the engine, electric motor, battery, and transmission system. A vehicle in the "ready to shift gears" state is ready for normal operation and can perform gear shifts.

[0065] In its implementation, the aforementioned vehicle shifting device, upon receiving a shift request, can detect whether the vehicle's current state is one where the vehicle's critical systems have completed self-checks and initialization, thus ensuring the vehicle supports shifting and can drive. Conversely, if the vehicle's current state is not in the aforementioned shift-ready state upon receiving a shift request, then shifting is prohibited, and the vehicle's current gear is maintained.

[0066] Step S102: If the vehicle is in the gear shifting preparation state, the torque motor current of the vehicle is detected.

[0067] It should be noted that the torque motor current mentioned above can be the current that controls the output of the torque motor. The torque motor speed can be calculated based on this torque motor current. Accordingly, the larger the torque motor current, the faster the torque motor speed and the faster the vehicle speed, which is not conducive to shifting gears. Conversely, the smaller the torque motor current, the slower the torque motor speed and the slower the vehicle speed, which is conducive to shifting gears. Therefore, the torque motor speed can be determined by detecting the torque motor current, without the need to directly collect the torque motor speed data, which effectively improves the efficiency of torque motor speed determination and thus improves the efficiency of vehicle gear shifting.

[0068] In a specific implementation, when the vehicle shifting device detects that the vehicle is in the shifting state of the aforementioned indicators, it can determine that the vehicle supports shifting at this time. It can then detect the torque motor current of the vehicle to determine the torque motor speed, and then determine the vehicle speed corresponding to the torque motor speed.

[0069] Step S103: Determine the torque motor speed of the vehicle based on the torque motor current.

[0070] In practical implementation, the torque motor can calculate the vehicle's torque motor speed based on the detected torque motor current when the vehicle is in a gear shifting state. Since directly detecting the torque motor speed will have errors and may require additional facilities, calculating the torque motor speed through torque current can effectively improve the accuracy and efficiency of torque motor speed determination.

[0071] In this embodiment, step S20 includes:

[0072] Step S201: Detect whether the absolute value of the torque motor current is lower than a preset threshold.

[0073] It should be noted that the aforementioned preset threshold is the current threshold corresponding to vehicle speeds exceeding the preset shift speed range. Since the torque motor current and torque motor speed are positively correlated, when the absolute value of the torque motor current is lower than this preset threshold, it can be determined that the vehicle speed corresponding to the torque motor speed is within the preset shift speed range. Conversely, when the absolute value of the motor current is higher than this preset threshold, it can be determined that the vehicle speed corresponding to the torque motor speed exceeds the preset shift speed range. Furthermore, because the torque motor current has different directions and can be positive or negative, taking the absolute value avoids the influence of different current directions, thereby improving detection accuracy.

[0074] In its implementation, the aforementioned vehicle shifting device can determine whether the vehicle speed is within the preset shifting speed range by detecting whether the absolute value of the torque motor current is lower than a preset threshold. Since the torque motor current is relatively stable, the accuracy of the judgment can be effectively improved.

[0075] Step S202: Based on the detection results, determine whether the vehicle speed corresponding to the torque motor speed is within the preset shift speed range. If it is lower than the preset threshold, then the vehicle speed corresponding to the torque motor speed is determined to be within the preset shift speed range. If it is not lower than the preset threshold, then the vehicle speed corresponding to the torque motor speed is determined to be outside the preset shift speed range.

[0076] In a specific implementation, the vehicle shifting device can determine whether the vehicle speed corresponding to the torque motor speed is within the preset shifting speed range by detecting the torque motor current. That is, if the absolute value of the torque motor current is lower than the preset threshold, it can be determined that the vehicle speed corresponding to the torque motor speed is within the preset shifting speed range. Conversely, if the absolute value of the torque motor current is higher than the preset threshold, it can be determined that the vehicle speed corresponding to the torque motor speed exceeds the preset shifting speed range.

[0077] This embodiment, upon receiving a shift request, determines whether the vehicle's current state is in a shift-ready state. If it is, it detects the torque motor current; determines the torque motor speed based on the torque motor current; checks whether the absolute value of the torque motor current is lower than a preset threshold; and determines whether the vehicle speed corresponding to the torque motor speed is within a preset shift speed range based on the detection result. Specifically, if the speed is lower than the preset threshold, it is determined that the vehicle speed corresponding to the torque motor speed is within the preset shift speed range; otherwise, it is determined that the vehicle speed is not within the preset shift speed range. This embodiment improves the accuracy of determining the vehicle speed corresponding to the torque motor speed by detecting the torque motor current and determining whether the vehicle speed corresponding to the torque motor speed is within the preset shift speed range based on whether the absolute value of the torque motor current is lower than the preset threshold, thereby improving the accuracy of vehicle shifting.

[0078] refer to Figure 4 , Figure 4 This is a flowchart illustrating the third embodiment of the vehicle gear shifting method of the present invention.

[0079] Based on the second embodiment described above, in this embodiment, step S30 includes:

[0080] Step S301: When the vehicle speed corresponding to the torque motor speed is within the preset shift speed range, detect whether the vehicle is in an effective braking state. The effective braking state is the state in which the vehicle's brake pedal opening is at the opening corresponding to the shift operation.

[0081] It should be noted that the above-mentioned effective braking state can be the state of the vehicle when the brake pedal is depressed and the brake pedal opening changes to the opening corresponding to the gear shift operation.

[0082] In its implementation, when the vehicle shifting device detects that the vehicle speed corresponding to the torque motor's rotational speed is within the preset shifting speed range, it determines that the vehicle's actual speed is within a stable and safe range, allowing the vehicle to shift gears. Since the brake pedal opening needs to be switched to the corresponding opening during gear shifting, it is necessary to detect whether the vehicle is already in an effective braking state.

[0083] Step S302: If the braking is in the effective state, the current gear of the vehicle is switched to the target gear corresponding to the shift request.

[0084] In practice, when the aforementioned vehicle shifting device detects that the brake pedal is in an effective braking state with an opening corresponding to the shifting operation, it can complete the shift by switching the working mode of the torque motor to the mode corresponding to the target gear and switching the torque of the torque motor to the torque corresponding to the target gear.

[0085] Furthermore, in this embodiment, switching the vehicle's current gear to the target gear corresponding to the shift request includes:

[0086] The target gear to be switched to is determined based on the shift request.

[0087] In a specific implementation, the vehicle shifting device can extract the gear information that the driver needs to shift from the shift request, and determine the target gear to be switched from the gear information.

[0088] The torque motor's operating mode is switched to the target operating mode corresponding to the target gear, so as to switch the vehicle's current gear to the target gear.

[0089] In its implementation, the aforementioned vehicle gear shifting device controls the operating mode of the torque motor, switching it to the target operating mode corresponding to the target gear. This allows the torque motor to shift the vehicle's gear to the target gear, maintaining the motor's speed at the target gear's rotational speed, thus completing the gear shift and moving the vehicle from its current gear to the target gear. Because gear shifting is achieved by controlling the motor's output speed, rather than the transmission itself, it effectively reduces the number and weight of automotive parts, lowering production and maintenance costs.

[0090] Furthermore, in this embodiment, step S30 further includes:

[0091] Step S311: When the vehicle speed corresponding to the torque motor speed is not within the preset shift speed range, detect whether the current vehicle speed is lower than the preset vehicle speed threshold.

[0092] It should be noted that if the vehicle speed corresponding to the torque motor speed exceeds the preset shift speed range and is in an unstable range, shifting is not impossible. If the current vehicle speed is not high, shifting safety can still be ensured. Therefore, this embodiment is proposed to avoid situations where the vehicle speed corresponding to the torque motor speed exceeds the preset shift speed range but is still within a safe range, yet shifting is impossible, thereby improving the driving experience.

[0093] Understandably, the aforementioned preset speed threshold is the threshold at which the vehicle's actual speed is at a stable speed. That is, if the vehicle's current speed is at the preset speed threshold, it can be determined that the current speed fluctuation is small, and the safety risk of shifting gears is low, so shifting gears is permissible. Conversely, if the vehicle's current speed exceeds the preset speed threshold, it can be determined that the current speed fluctuation is large, and shifting gears at this time will result in an accident.

[0094] In specific implementation, when the vehicle shifting device detects that the vehicle speed corresponding to the torque motor speed is not within the preset shifting speed range, i.e., exceeds the preset shifting speed range, it determines that the current vehicle speed is unstable. If shifting gears at this time, there will be a safety hazard. Therefore, it is necessary to further detect whether the current vehicle speed is lower than the vehicle speed threshold in order to further detect whether the current vehicle speed is in a dangerous range with large fluctuations and instability.

[0095] Step S312: If the speed is lower than the preset vehicle speed threshold, then when the vehicle is in an effective braking state, switch the vehicle's current gear to the target gear corresponding to the gear shift request.

[0096] In a specific implementation, when the vehicle shifting device detects that the current vehicle speed is lower than the preset vehicle speed threshold, it determines that the vehicle speed corresponding to the torque motor speed is lower than the preset shifting speed range, but the current vehicle speed is still within a stable range, so shifting is allowed. When the vehicle is detected to be in the above-mentioned effective braking state, the vehicle's current gear can be switched to the above-mentioned target gear.

[0097] Furthermore, in this embodiment, after detecting whether the current speed of the vehicle is lower than a preset speed threshold, the method further includes:

[0098] If the speed is not lower than the preset speed threshold, the vehicle is prohibited from shifting gears to maintain the current gear until the current speed is reduced to the preset speed threshold.

[0099] In specific implementation, when the vehicle shifting device detects that the current vehicle speed is not lower than the preset vehicle speed threshold, that is, the current vehicle speed is outside the stable range, shifting gears would pose a significant safety hazard, so it prohibits the vehicle from shifting gears and maintains the current gear to avoid safety accidents. Correspondingly, when the current vehicle speed drops below the preset vehicle speed threshold, the vehicle can be controlled to shift gears while the braking is effective.

[0100] For ease of understanding, please refer to Figure 5 This explanation does not limit the scope of this solution. Figure 5 This is a schematic diagram of the overall process of vehicle gear shifting in the third embodiment of the vehicle gear shifting method of the present invention. Figure 5In this system, after the driver performs a gear shift, the system checks if the vehicle is READY, i.e., whether it is in a gear shifting-ready state. If not, it determines that the vehicle does not support gear shifting at this time and maintains the original gear. If so, it checks the target gear from the gear shift request and then checks if the torque motor current relay is below a preset threshold. If it is below the preset threshold, it further checks if the vehicle is in an effective braking state. If the vehicle is in an effective braking state, it controls the motor to operate in the working mode and torque corresponding to the target gear. Conversely, if the torque motor current relay is not below the preset threshold, it checks if the vehicle is in an effective braking state and if the vehicle speed is below a preset speed threshold. If these conditions are met, i.e., if the vehicle is in an effective braking state and the vehicle speed is below the preset speed threshold, it controls the motor to operate in the working mode and torque corresponding to the target gear. Conversely, if these conditions are not met, i.e., if the braking is not effective or the vehicle speed is not below the preset speed threshold, it maintains the original gear. Therefore, it can be concluded that when the driver makes a gear shift request, the high-voltage system, in a non-ready-to-shift state, does not respond to the gear shift request and maintains the original gear.

[0101] In this embodiment, when the vehicle speed corresponding to the torque motor speed is within the preset shift speed range, it detects whether the vehicle is in an effective braking state. If the vehicle is in an effective braking state, the current gear is switched to the target gear corresponding to the shift request. When the vehicle speed corresponding to the torque motor speed is not within the preset shift speed range, it detects whether the current vehicle speed is lower than a preset speed threshold. If it is lower than the preset speed threshold, and the vehicle is in an effective braking state, the current gear is switched to the target gear corresponding to the shift request. In this embodiment, when the vehicle is in a shift-ready state, if the absolute value of the torque motor current is less than a preset threshold, the shift can be achieved if the braking is effective. If the absolute value of the torque motor current exceeds the preset threshold, it is less than the threshold used to determine whether the braking is effective and whether the vehicle speed is lower than the preset speed threshold, thereby achieving the shift operation. Compared to existing technologies that rely on throttle opening signals and motor speed, this embodiment uses vehicle-wide judgment conditions (i.e., the aforementioned preparation for shifting, effective braking, torque motor speed corresponding to vehicle speed, absolute value of torque motor current, and current vehicle speed) during gear shifting to ensure that the vehicle shifts gears under more stable speed conditions, thus guaranteeing driving safety.

[0102] Furthermore, embodiments of the present invention also propose a storage medium storing a vehicle shifting program, wherein when the vehicle shifting program is executed by a processor, it implements the steps of the vehicle shifting method described above.

[0103] Reference Figure 6 , Figure 6 This is a structural block diagram of the first embodiment of the vehicle gear shifting device of the present invention.

[0104] like Figure 6 As shown, the vehicle gear shifting device proposed in this embodiment of the invention includes:

[0105] The motor detection module 501 is used to detect the speed of the vehicle's torque motor when a shift request is received.

[0106] The vehicle speed determination module 502 is used to determine whether the vehicle speed corresponding to the torque motor speed is within the preset shift speed range.

[0107] The gear shifting module 503 is used to shift the current gear of the vehicle to the target gear corresponding to the shift request based on the judgment result.

[0108] This embodiment detects the vehicle's torque motor speed upon receiving a shift request; then determines whether the vehicle speed corresponding to the torque motor speed is within a preset shift speed range; finally, based on the determination result, it switches the vehicle's current gear to the target gear corresponding to the shift request. This embodiment, by determining whether the vehicle speed corresponding to the torque motor speed is within the preset shift speed range and switching the vehicle's current gear based on the determination result, offers a significant advantage over existing technologies where shifting can be completed simply when the motor speed and throttle opening meet certain conditions, without considering the actual vehicle speed and posing a safety hazard. This embodiment's vehicle shifting method combines the vehicle speed corresponding to the torque motor speed with the preset shift speed range, taking into account the actual vehicle speed. This effectively avoids unstable vehicle speed during shifting, reduces safety hazards, and ensures driving safety.

[0109] Based on the first embodiment of the vehicle shifting device of the present invention described above, a second embodiment of the vehicle shifting device of the present invention is proposed.

[0110] In this embodiment, the motor detection module 501 is further configured to determine whether the current state of the vehicle is in a gear shifting state when a gear shifting request is received; if it is in the gear shifting state, the torque motor current of the vehicle is detected; and the torque motor speed of the vehicle is determined based on the torque motor current.

[0111] In one implementation, the vehicle speed determination module 502 is further configured to detect whether the absolute value of the torque motor current is lower than a preset threshold; and to determine whether the vehicle speed corresponding to the torque motor speed is within a preset shift speed range based on the detection result. If the speed is lower than the preset threshold, the vehicle speed corresponding to the torque motor speed is determined to be within the preset shift speed range; if the speed is not lower than the preset threshold, the vehicle speed corresponding to the torque motor speed is determined to be outside the preset shift speed range.

[0112] Based on the second embodiment of the vehicle shifting device of the present invention, a third embodiment of the vehicle shifting device of the present invention is proposed.

[0113] In this embodiment, the gear shifting module 503 is further configured to detect whether the vehicle is in a braking effective state when the vehicle speed corresponding to the torque motor speed is within the preset shift speed range. The braking effective state is the state in which the vehicle's brake pedal opening is at the opening corresponding to the shift operation. If the vehicle is in the braking effective state, the current gear of the vehicle is switched to the target gear corresponding to the shift request.

[0114] In one implementation, the gear shifting module 503 is further configured to detect whether the current vehicle speed is lower than a preset vehicle speed threshold when the vehicle speed corresponding to the torque motor speed is not within the preset shift speed range; if it is lower than the preset vehicle speed threshold, then when the vehicle is in an effective braking state, the current gear of the vehicle is switched to the target gear corresponding to the shift request.

[0115] In one implementation, the gear shifting module 503 is further configured to prevent the vehicle from shifting gears if the speed is not lower than the preset vehicle speed threshold, so as to maintain the current gear until the current vehicle speed is reduced to the preset vehicle speed threshold.

[0116] In one implementation, the gear shifting module 503 is further configured to determine the target gear to be shifted according to the shift request; and switch the operating mode of the torque motor to the target operating mode corresponding to the target gear, so as to shift the current gear of the vehicle to the target gear.

[0117] The specific implementation of the vehicle shifting device of the present invention can be referred to the above-described method embodiments, and will not be repeated here.

[0118] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0119] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0120] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0121] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A vehicle gear shifting method, characterized in that, The vehicle gear shifting method includes: Upon receiving a shift request, the speed of the vehicle's torque motor is detected; Determine whether the vehicle speed corresponding to the torque motor speed is within the preset shift speed range; Based on the judgment result, the vehicle's current gear is switched to the target gear corresponding to the gear shift request; The step of switching the vehicle's current gear to the target gear corresponding to the shift request based on the judgment result further includes: When the vehicle speed corresponding to the torque motor speed is not within the preset shift speed range, detect whether the current vehicle speed is lower than the preset vehicle speed threshold. If the speed is below the preset vehicle speed threshold, then when the vehicle is in an effective braking state, the vehicle's current gear will be switched to the target gear corresponding to the shift request. The effective braking state is the state in which the vehicle's brake pedal opening is at the opening corresponding to the shift operation.

2. The vehicle gear shifting method as described in claim 1, characterized in that, Upon receiving a shift request, detecting the vehicle's torque motor speed includes: Upon receiving a shift request, determine whether the vehicle's current state is ready to shift gears; If the vehicle is in the gear shifting preparation state, the torque motor current of the vehicle is detected. The torque motor speed of the vehicle is determined based on the torque motor current.

3. The vehicle gear shifting method as described in claim 2, characterized in that, The step of determining whether the vehicle speed corresponding to the torque motor speed is within the preset shift speed range includes: Detect whether the absolute value of the torque motor current is lower than a preset threshold; Based on the detection results, it is determined whether the vehicle speed corresponding to the torque motor speed is within the preset shift speed range. If it is lower than the preset threshold, it is determined that the vehicle speed corresponding to the torque motor speed is within the preset shift speed range. If it is not lower than the preset threshold, it is determined that the vehicle speed corresponding to the torque motor speed is not within the preset shift speed range.

4. The vehicle gear shifting method as described in claim 3, characterized in that, The step of switching the vehicle's current gear to the target gear corresponding to the shift request based on the judgment result includes: When the vehicle speed corresponding to the torque motor speed is within the preset shift speed range, it is detected whether the vehicle is in an effective braking state. If the braking is in the effective state, the vehicle's current gear is switched to the target gear corresponding to the shift request.

5. The vehicle gear shifting method as described in claim 1, characterized in that, After detecting whether the current speed of the vehicle is lower than a preset speed threshold, the method further includes: If the speed is not lower than the preset speed threshold, the vehicle is prohibited from shifting gears to maintain the current gear until the current speed is reduced to the preset speed threshold.

6. The vehicle gear shifting method as described in claim 1 or 4, characterized in that, The step of switching the vehicle's current gear to the target gear corresponding to the shift request includes: Determine the target gear to be switched to based on the shift request; The torque motor's operating mode is switched to the target operating mode corresponding to the target gear, so as to switch the vehicle's current gear to the target gear.

7. A vehicle gear shifting device, characterized in that, The vehicle shifting device includes: The motor detection module is used to detect the speed of the vehicle's torque motor when a shift request is received; The vehicle speed determination module is used to determine whether the vehicle speed corresponding to the torque motor speed is within the preset shift speed range; The gear shifting module is used to shift the current gear of the vehicle to the target gear corresponding to the shift request based on the judgment result. The gear shifting module is further configured to detect whether the current vehicle speed is lower than a preset vehicle speed threshold when the vehicle speed corresponding to the torque motor speed is not within the preset shift speed range; if it is lower than the preset vehicle speed threshold, then when the vehicle is in an effective braking state, the current gear of the vehicle is shifted to the target gear corresponding to the shift request.

8. A vehicle gear shifting device, characterized in that, The device includes: a memory, a processor, and a vehicle shifting program stored in the memory and executable on the processor, the vehicle shifting program being configured to implement the steps of the vehicle shifting method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores a vehicle shifting program, which, when executed by a processor, implements the steps of the vehicle shifting method as described in any one of claims 1 to 6.

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