A vehicle gear shifting method, device, vehicle, and storage medium

Abstract

This invention discloses a vehicle shifting method, device, vehicle, and storage medium. The method includes: when the vehicle is climbing a hill, acquiring the engine speed at the current gear; determining the limiting torque characteristic under the corresponding speed condition based on the current speed; determining whether the vehicle meets the upshifting conditions based on the limiting torque characteristic; if the upshifting conditions are met, determining the force situation of the vehicle in the target gear; and controlling the vehicle to shift gears based on the force situation. This embodiment, by determining the limiting torque characteristic under the corresponding speed condition based on the current speed, can control the vehicle to shift gears even when the upshifting conditions are met, provided the torque response after upshifting is insufficient to overcome resistance. This avoids the vehicle shifting cycle problem in automatic transmission vehicles when climbing hills, improving vehicle comfort and power.

Description

Technical Field

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

[0002] When an automatic transmission vehicle is climbing a hill and needs to shift up, the engine torque may momentarily fail to reach the set torque due to smoke restrictions and structural protection. This results in a slow torque response and insufficient power after upshifting, causing the transmission to downshift. After downshifting, the vehicle accelerates and then shifts up again when the power requirement is met. This cycle repeats, leading to a shifting problem in the automatic transmission vehicle.

[0003] Therefore, how to avoid the gear shifting cycle in a vehicle has become an urgent problem to be solved. Summary of the Invention

[0004] This invention provides a vehicle shifting method, device, vehicle, and storage medium to avoid the problem of shifting cycles in vehicles and improve vehicle comfort and power.

[0005] According to one aspect of the present invention, a vehicle gear shifting method is provided, comprising:

[0006] When the vehicle is climbing a hill, the engine speed in the current gear is obtained, and the limiting torque characteristics under the corresponding speed condition are determined based on the engine speed in the current gear.

[0007] Based on the aforementioned limiting torque characteristics, determine whether the current vehicle meets the upshifting conditions. If the upshifting conditions are met, determine the force situation of the vehicle in the target gear.

[0008] The vehicle is shifted according to the force conditions described.

[0009] According to another aspect of the present invention, a vehicle gear shifting device is provided, comprising:

[0010] The limiting torque characteristic determination module is used to obtain the engine speed in the current gear when the vehicle is climbing a hill, and determine the limiting torque characteristic under the corresponding speed condition based on the engine speed in the current gear.

[0011] The force acquisition module is used to determine whether the current vehicle meets the upshifting conditions based on the restricted torque characteristics, and if the upshifting conditions are met, to determine the force on the vehicle in the target gear.

[0012] The shift module is used to control the vehicle's shifting based on the force conditions.

[0013] According to another aspect of the present invention, a vehicle is provided, the vehicle comprising:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform a vehicle gear shifting method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement a vehicle gear shifting method according to any embodiment of the present invention.

[0018] The technical solution of this invention determines the limiting torque characteristics under the corresponding speed condition based on the speed of the current gear. If the torque response after upshifting is insufficient to overcome the resistance when the vehicle meets the upshifting conditions, the vehicle can be shifted. This avoids the vehicle shifting cycle problem when the automatic transmission vehicle is climbing a hill, and improves the vehicle's comfort and power.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a vehicle gear shifting method according to Embodiment 1 of the present invention;

[0022] Figure 2 This is a flowchart of another vehicle gear shifting method provided according to Embodiment 2 of the present invention;

[0023] Figure 3 This is a flowchart of another vehicle gear shifting method provided according to Embodiment 3 of the present invention;

[0024] Figure 4 This is a schematic diagram of a vehicle gear shifting device according to Embodiment 4 of the present invention;

[0025] Figure 5This is a schematic diagram of the structure of a vehicle that implements a vehicle shifting method provided in an embodiment of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims and accompanying drawings of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products or devices.

[0028] Example 1

[0029] Figure 1 This is a flowchart of a vehicle gear shifting method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations involving controlling vehicle gear shifting. The method can be executed by a vehicle gear shifting device, which can be implemented in hardware and / or software and can be configured in a vehicle. Figure 1 As shown, the method includes:

[0030] S110. When the vehicle is climbing a hill, obtain the engine speed in the current gear and determine the limiting torque characteristics under the corresponding speed condition based on the engine speed in the current gear.

[0031] One of the methods is to measure the engine speed using a speed sensor.

[0032] In this embodiment, the current gear can be the gear used by the car when climbing a hill.

[0033] In this embodiment, the limiting torque characteristic can be the engine torque determined based on engine limiting torque information, which may include, but is not limited to, smoke limitation and structural protection.

[0034] Among these features, the engine control unit can send engine-limiting torque information based on smoke opacity limits and other parameters in a customized manner.

[0035] For example, before determining the limiting torque characteristic under the corresponding speed condition based on the speed in the current gear, the process may further include: initializing the engine limiting torque characteristic curve; acquiring the engine limiting torque mode and torque under each speed condition broadcast by the transmitter control unit; and determining the engine limiting torque characteristic curve under the speed condition corresponding to the speed in each gear based on the engine limiting torque mode and torque.

[0036] The engine torque limiting characteristic curve can be a two-dimensional curve, where the horizontal axis can be the engine speed and the vertical axis can be the torque limit.

[0037] In this embodiment, initializing the engine limiting torque characteristic curve can be achieved by initializing the parameters of the engine limiting torque characteristic curve.

[0038] In this embodiment, in addition to obtaining the engine's torque limiting mode based on comprehensive calculation, it is also possible to obtain torque limiting modes caused by other external controls in a timely manner.

[0039] Specifically, the transmission control unit can initialize the engine's limiting torque characteristic curve.

[0040] In this embodiment, the engine torque limiting mode can be activated by the engine, and the engine control unit can broadcast the engine torque limiting mode and the torque set under the current operating conditions in a custom format.

[0041] In this embodiment, the transmission control unit can be a separate transmission control unit or a control unit with transmission control function integrated into other control units.

[0042] In this embodiment, the engine limiting torque characteristic curve under the speed conditions corresponding to the engine speed at each gear can be determined by the transmission control unit through self-learning of the engine limiting torque characteristics under each speed condition, based on the engine limiting torque mode and torque.

[0043] Specifically, the engine limit torque characteristic curve can be updated in real time based on the engine limit torque characteristics under the corresponding speed conditions at each gear.

[0044] S120. Based on the limiting torque characteristics, determine whether the current vehicle meets the upshifting conditions. If the upshifting conditions are met, determine the force situation of the vehicle in the target gear.

[0045] Since the vehicle's torque can be obtained based on the torque limitation characteristics, it is possible to determine whether the current vehicle meets the conditions for upshifting based on the torque.

[0046] For example, determining whether the current vehicle meets the upshift condition based on the torque limitation characteristics may include: obtaining the vehicle's negative torque, determining the current torque of the vehicle in the current gear based on the torque limitation characteristics, and determining whether the current vehicle meets the upshift condition based on the negative torque and the current torque.

[0047] In this embodiment, since each gear has a different shift point and speed ratio, the negative torque of the current vehicle can be calculated based on the shift point corresponding to the current gear. The negative torque of the vehicle is compared with the current torque of the vehicle. If the current torque of the vehicle can overcome the negative torque, the upshift condition is met and the vehicle can be upshifted. If the current torque of the vehicle cannot overcome the negative torque, the vehicle continues to drive in the current gear.

[0048] For example, when the upshifting conditions are met, obtaining the force situation of the vehicle in the target gear may include: determining the force situation of the vehicle in the target gear according to the limiting torque characteristic curve, wherein the force situation includes the clutch engagement point driving force, the downshifting point driving force and the vehicle resistance.

[0049] The target gear can be one gear higher than the current gear.

[0050] Among these features, the transmission control unit can make a preliminary judgment on the force situation of the vehicle in the target gear.

[0051] Specifically, the torque corresponding to the target gear can be found from the torque characteristic curve. The force situation of the vehicle in the target gear can be calculated based on the torque. The force situation can be the clutch engagement point driving force F1, the downshift point driving force F2, and the vehicle resistance f.

[0052] S130. Control the vehicle's gear shifting according to the force applied.

[0053] Depending on the force applied, the system can control whether to allow or prohibit gear shifting.

[0054] For example, shifting a vehicle based on force conditions may include comparing the vehicle resistance with the clutch engagement point driving force and the downshift point driving force, and shifting the vehicle based on the comparison results.

[0055] For example, comparing the vehicle resistance with the clutch engagement point driving force and the downshift point driving force respectively, and shifting the vehicle based on the comparison results may include: determining whether the clutch engagement point driving force is greater than the vehicle resistance; if so, determining whether the downshift point driving force is greater than the vehicle resistance; and prohibiting shifting the vehicle if the vehicle resistance is greater than the downshift point driving force.

[0056] In this embodiment, the transmission control unit can determine whether the driving force F1 at the clutch engagement point of the target gear is greater than or equal to the resistance f; if not, the process ends; if so, it determines whether the driving force at the downshift point is greater than the vehicle resistance. If the vehicle resistance is greater than the driving force at the downshift point, shifting is prohibited.

[0057] In this embodiment, by comparing the driving force at the downshift point and the vehicle resistance, it can be ensured that the vehicle achieves force balance before the downshift point, and the speed will not drop continuously to the downshift point speed, while also avoiding shifting cycles.

[0058] For example, preventing gear shifting may include: sending a prohibition signal to the vehicle's transmission, and prohibiting upshifting operations by the vehicle's transmission based on the prohibition signal.

[0059] In this embodiment, the transmission control unit can send a prohibition signal to the vehicle transmission. By prohibiting upshifting based on the prohibition signal, the transmission can avoid shifting cycles.

[0060] This invention, by determining the limiting torque characteristics under the corresponding speed condition based on the speed of the current gear, can control the vehicle's gear shifting if the torque response after shifting up is insufficient to overcome resistance, even when the vehicle meets the upshifting conditions. This avoids gear shifting cycles and improves vehicle comfort and power.

[0061] Example 2

[0062] Figure 2 This is a flowchart illustrating another vehicle gear shifting method provided in Embodiment 2 of the present invention. This embodiment is a specific limitation of the above embodiments. Figure 2 As shown, the method includes:

[0063] S210, The transmission control unit initializes the engine limiting torque characteristics.

[0064] S220, Engine activates engine torque limiting mode, engine control unit broadcasts the current torque mode and set torque in a custom format.

[0065] S230, the transmission control unit learns the engine limiting torque characteristics under various speed conditions.

[0066] This invention, through the transmission control unit's self-learning of the engine's limiting torque characteristics under various speed conditions, can control the vehicle's gear shifting if the torque response after upshifting is insufficient to overcome resistance, even when the vehicle meets the upshifting conditions. This avoids the gear shifting cycle problem that occurs when automatic transmission vehicles are climbing hills, thereby improving vehicle comfort and power.

[0067] Example 3

[0068] Figure 3 This is a flowchart illustrating another vehicle gear shifting method provided in Embodiment 3 of the present invention. This embodiment is a specific limitation of the above embodiments. Figure 3 As shown, the method includes:

[0069] S310. When the vehicle is in the current gear, determine whether the conditions for shifting up are met based on the current operating conditions.

[0070] S320. When the upshifting conditions are met, the transmission control unit pre-determines the force situation of the vehicle in the target gear and determines the driving force F1 at the clutch engagement point, the driving force F2 at the downshift point, and the vehicle resistance f in the target gear based on the engine's limiting torque characteristics.

[0071] S330: Determine whether the driving force F1 at the clutch engagement point of the target gear is greater than or equal to the vehicle resistance f of the target gear. If yes, execute S360; otherwise, execute S340.

[0072] S340: Determine whether the driving force F2 at the downshift point is greater than the vehicle resistance f at the target gear. If yes, execute S360; otherwise, execute S350.

[0073] S350, the transmission control unit outputs a signal prohibiting upshifting.

[0074] S360, process complete.

[0075] This invention allows for gear shifting control when the vehicle meets the upshifting conditions but the torque response after upshifting is insufficient to overcome resistance. This avoids the gear shifting cycle problem in automatic transmission vehicles when climbing hills, thereby improving vehicle comfort and power.

[0076] Example 4

[0077] Figure 4 This is a schematic diagram of a vehicle gear shifting device provided in Embodiment 4 of the present invention. Figure 4 As shown, the device includes: a torque characteristic determination module 410, a force condition acquisition module 420, and a gear shifting module 430;

[0078] Among them, the limiting torque characteristic determination module 410 is used to obtain the engine speed in the current gear when the vehicle is climbing a hill, and determine the limiting torque characteristic under the corresponding speed condition based on the engine speed in the current gear.

[0079] The force acquisition module 420 is used to determine whether the current vehicle meets the upshifting conditions based on the restricted torque characteristics, and if the upshifting conditions are met, to determine the force on the vehicle in the target gear.

[0080] The shift module 430 is used to control the shifting of the vehicle according to the force conditions.

[0081] Optionally, the above-mentioned device further includes:

[0082] An initialization module is used to initialize the engine limiting torque characteristic curve before determining the limiting torque characteristic under the corresponding speed condition based on the speed under the current gear.

[0083] The acquisition module is used to acquire the engine torque limiting mode and torque under various speed conditions broadcast by the transmitter control unit;

[0084] The engine limiting torque characteristic curve acquisition module is used to determine the engine limiting torque characteristic curve under the speed conditions corresponding to the speed in each gear, based on the engine limiting torque mode and torque.

[0085] Optionally, the force acquisition module 420 includes:

[0086] The negative torque acquisition unit is used to acquire the vehicle's negative torque, determine the current torque of the vehicle in the current gear based on the torque limit characteristics, and determine whether the vehicle meets the upshifting conditions based on the negative torque and the current torque.

[0087] Optionally, the force acquisition module 420 is specifically used for:

[0088] The force conditions of the vehicle in the target gear are determined based on the limited torque characteristic curve, wherein the force conditions include the clutch engagement point driving force, the downshift point driving force, and the vehicle resistance.

[0089] Optionally, the shift module 430 includes:

[0090] The comparison unit is used to compare the vehicle resistance with the clutch engagement point driving force and the downshift point driving force, respectively, and to shift gears based on the comparison results.

[0091] Optionally, the comparison unit is specifically used for:

[0092] Determine whether the driving force at the clutch engagement point is greater than the vehicle resistance. If so, determine whether the driving force at the downshift point is greater than the vehicle resistance. If the vehicle resistance is greater than the driving force at the downshift point, shifting is prohibited.

[0093] Optionally, the comparison unit includes:

[0094] The upshift prohibition subunit is used to send an upshift prohibition signal to the vehicle transmission, thereby prohibiting upshifting operations based on the upshift prohibition signal.

[0095] The vehicle shifting device provided in this embodiment of the invention can execute a vehicle shifting method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0096] Example 5

[0097] Figure 5 A schematic diagram of the structure of a vehicle 10 that can be used to implement an embodiment of the present invention is shown.

[0098] like Figure 5 As shown, vehicle 10 includes at least one processor 11 and a memory, such as read-only memory (ROM) 12 and random access memory (RAM) 13, communicatively connected to at least one processor 11. The memory stores computer programs executable by at least one processor. Processor 11 can perform various appropriate actions and processes based on the computer program stored in ROM 12 or loaded from storage unit 18 into RAM 13. RAM 13 can also store various programs and data required for the operation of vehicle 10. Processor 11, ROM 12, and RAM 13 are interconnected via bus 14. Input / output (I / O) interface 15 is also connected to bus 14.

[0099] Multiple components in vehicle 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows vehicle 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0100] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a vehicle gear shifting method.

[0101] In some embodiments, a vehicle shifting method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on vehicle 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle shifting method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform a vehicle shifting method by any other suitable means (e.g., by means of firmware).

[0102] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0103] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0104] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0105] To provide interaction with the user, the systems and technologies described herein can be implemented in a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the vehicle. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0106] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0107] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0108] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0109] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle gear shifting method, characterized in that, include: When the vehicle is climbing a hill, the engine speed in the current gear is obtained, and the limiting torque characteristics under the corresponding speed condition are determined based on the engine speed in the current gear. Based on the aforementioned limiting torque characteristics, determine whether the current vehicle meets the upshifting conditions. If the upshifting conditions are met, determine the force situation of the vehicle in the target gear. The vehicle is shifted according to the force conditions described. Before determining the limiting torque characteristics under the corresponding speed condition based on the speed in the current gear, the method further includes: Initialize the engine's torque limiting characteristic curve; Acquire the engine torque limiting mode and torque under various speed conditions broadcast by the transmitter control unit; Based on the engine torque limiting mode and torque, determine the engine torque limiting characteristic curve under the speed conditions corresponding to the speed in each gear; The process of obtaining the force situation of the vehicle in the target gear when the upshifting conditions are met includes: The force conditions of the vehicle in the target gear are determined based on the limiting torque characteristic curve, wherein the force conditions include the clutch engagement point driving force, the downshift point driving force, and the vehicle resistance. The method of controlling vehicle gear shifting based on force conditions includes: The vehicle resistance is compared with the clutch engagement point driving force and the downshift point driving force, and the vehicle is shifted based on the comparison results. The step of comparing the vehicle resistance with the clutch engagement point driving force and the downshift point driving force, and shifting gears based on the comparison results, includes: Determine whether the driving force at the clutch engagement point is greater than the vehicle resistance. If so, determine whether the driving force at the downshift point is greater than the vehicle resistance. If the vehicle resistance is greater than the driving force at the downshift point, shifting is prohibited.

2. The method according to claim 1, characterized in that, Determining whether the current vehicle meets the upshifting conditions based on the limited torque characteristics includes: Obtain the vehicle's negative torque, determine the current torque corresponding to the vehicle in the current gear based on the torque limit characteristics, and determine whether the vehicle meets the upshifting conditions based on the negative torque and the current torque.

3. The method according to claim 1, characterized in that, The prohibition of shifting gears includes: A signal prohibiting upshifting is sent to the vehicle's transmission, which then prohibits upshifting based on the signal.

4. A vehicle gear shifting device, characterized in that, include: The limiting torque characteristic determination module is used to obtain the engine speed in the current gear when the vehicle is climbing a hill, and determine the limiting torque characteristic under the corresponding speed condition based on the engine speed in the current gear. The force acquisition module is used to determine whether the current vehicle meets the upshifting conditions based on the restricted torque characteristics, and if the upshifting conditions are met, to determine the force on the vehicle in the target gear. The shift module is used to control the vehicle's shifting based on the force conditions. The device further includes: An initialization module is used to initialize the engine limiting torque characteristic curve before determining the limiting torque characteristic under the corresponding speed condition based on the speed under the current gear. The acquisition module is used to acquire the engine torque limiting mode and torque under various speed conditions broadcast by the transmitter control unit; The engine limiting torque characteristic curve acquisition module is used to determine the engine limiting torque characteristic curve under the speed conditions corresponding to the speed of each gear based on the engine limiting torque mode and torque. The force acquisition module is specifically used for: The force conditions of the vehicle in the target gear are determined based on the limiting torque characteristic curve, wherein the force conditions include the clutch engagement point driving force, the downshift point driving force, and the vehicle resistance. The shift module includes: The comparison unit is used to compare the vehicle resistance with the clutch engagement point driving force and the downshift point driving force, respectively, and to perform gear shifting based on the comparison results; The comparison unit is specifically used for: Determine whether the driving force at the clutch engagement point is greater than the vehicle resistance. If so, determine whether the driving force at the downshift point is greater than the vehicle resistance. If the vehicle resistance is greater than the driving force at the downshift point, shifting is prohibited.

5. A vehicle, characterized in that, The vehicles include: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle shifting method according to any one of claims 1-3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the vehicle shifting method according to any one of claims 1-3.

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