A gear control method and device, vehicle and storage medium

Abstract

This invention discloses a gear control method, device, vehicle, and storage medium. The gear control method includes: acquiring the current road information and road endpoint position of the heavy truck based on an electronic horizon; acquiring the road gradient value corresponding to downhill sampling points at predetermined distances when the heavy truck is on a downhill section, based on the current road information and road endpoint position; determining whether the vehicle speed prediction enabling condition is met when the heavy truck is on a downhill section, and determining the required vehicle speed value when the heavy truck is on a downhill section based on the determination result; acquiring the predicted vehicle speed value of the heavy truck passing through the downhill sampling points when it is on a downhill section, and controlling the heavy truck to execute the target gear when it is on a downhill section based on the road gradient value, the required vehicle speed value, or the predicted vehicle speed value. This invention achieves full utilization of the vehicle's gravitational potential energy, while reducing the degree of braking energy intervention during downhill driving, reducing the probability of brake disc heat fade, and improving downhill safety.

Description

Technical Field

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

[0002] Heavy truck is short for heavy-duty truck. It is a common, traditional, and informal term for heavy-duty trucks and semi-trailer tractors, including various special-purpose vehicles seen on the road (water sprinkler trucks, fire trucks, road cleaning trucks, oil tankers, mixer trucks, etc.), dump trucks (dump trucks, all of which have lifts), freight trucks (carrying goods, including livestock), and some less common off-road vehicles.

[0003] Downhill driving of heavy trucks is one of their dangerous operating conditions, which presents the challenge of how to fully utilize downhill potential energy and the risk of downhill braking failure. Most current AMT transmission strategies use a two-parameter shift line with a real-time slope correction strategy, but this cannot effectively solve the above two problems. Summary of the Invention

[0004] This invention provides a gear control method, device, vehicle, and storage medium to solve the problems of insufficient downhill driving capability and the risk of downhill braking failure that may exist in current heavy trucks driving downhill.

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

[0006] The current road information and the end point of the road of the heavy truck are obtained based on the electronic horizon. Based on the current road information and the end point of the road, the road slope value corresponding to the downhill sampling point determined at a set distance when the heavy truck is on a downhill section is obtained.

[0007] Determine whether the speed prediction enabling condition is met when the heavy truck is on a downhill section, and determine the required speed value when the heavy truck is on a downhill section based on the result of determining whether the speed prediction enabling condition is met.

[0008] The predicted speed value of the heavy truck when it passes through the downhill sampling point is obtained, and the target gear is controlled to be executed when the heavy truck is on the downhill section according to the road slope value, the required speed value or the predicted speed value.

[0009] Optionally, the vehicle speed prediction enabling conditions include: the heavy truck is on a downhill section or the current road information contains a downhill section, and the distance between the current position of the heavy truck and the end position of the downhill section exceeds a set distance threshold, and no longitudinal control operation is detected from the heavy truck.

[0010] Optionally, the required vehicle speed value for the heavy truck when it is on a downhill section is determined based on the result of determining whether the vehicle speed prediction enabling condition is met, including:

[0011] After determining that the vehicle speed prediction enabling condition is met, the first vehicle speed value of the heavy truck when the vehicle speed prediction enabling condition is met is obtained, and the first vehicle speed value is determined as the required vehicle speed value of the heavy truck when it is on a downhill section.

[0012] If it is determined that the vehicle speed prediction enablement condition is not met, then the second vehicle speed value of the heavy truck when it is on a downhill section is taken as the required vehicle speed value of the heavy truck when it is on a downhill section.

[0013] Optionally, the gear control method further includes:

[0014] After determining that the vehicle speed prediction enable condition is met, if the heavy truck is detected to be performing a longitudinal control operation, the real-time vehicle speed value at the time the longitudinal control operation is detected is obtained, and the real-time vehicle speed value is determined as the required vehicle speed value when the heavy truck is on a downhill section.

[0015] Optionally, obtaining the predicted vehicle speed value of the heavy truck when it passes through the downhill sampling point on a downhill section includes:

[0016] Based on the road slope value corresponding to the downhill sampling point, the acceleration value of the heavy truck when it is on a downhill section is determined, and the predicted speed value of the heavy truck when it passes the downhill sampling point is determined based on the acceleration value.

[0017] Optionally, before controlling the heavy truck to execute the target gear when it is on a downhill section based on the road gradient value, the required vehicle speed value, or the predicted vehicle speed value, the method further includes:

[0018] The engine speed of the heavy truck when it enters a downhill section in the current gear is obtained.

[0019] Optionally, controlling the heavy truck to execute the target gear when it is on a downhill section based on the road gradient value, the required vehicle speed value, or the predicted vehicle speed value includes:

[0020] If the absolute value of the road gradient is less than the set gradient threshold, and the difference between the predicted vehicle speed value and the required vehicle speed value corresponding to the current gear being neutral coasting does not exceed the set speed limit, then the heavy truck is controlled to perform the target gear being neutral coasting when it is on a downhill section.

[0021] If the absolute value of the road gradient is less than a set gradient threshold and the engine speed is within a set engine speed range, then when the heavy truck is on a downhill section, the target gear is set to the current gear.

[0022] If the absolute value of the road gradient is less than a set gradient threshold and the engine speed exceeds a set engine speed range, then when the heavy truck is on a downhill section, the target gear is set to a higher gear than the current gear.

[0023] If the engine speed of the heavy truck is lower than the engine speed limit under the predicted vehicle speed value, then when the heavy truck is on a downhill section, the target gear to be executed is lower than the current gear.

[0024] If the absolute value of the road gradient is greater than a set gradient threshold, and the distance of the downhill section exceeds a set distance threshold, then the target gear for the heavy truck when it is on a downhill section is lower than the current gear.

[0025] According to another aspect of the present invention, a gear control device is provided, the gear control device comprising:

[0026] The road slope value determination module is used to obtain the current road information and the end position of the heavy truck based on the electronic horizon, and to obtain the road slope value corresponding to the downhill sampling point at a set distance when the heavy truck is on a downhill section based on the current road information and the end position of the road.

[0027] The demand speed value determination module is used to determine whether the speed prediction enabling condition is met when the heavy truck is on a downhill section, and to determine the demand speed value when the heavy truck is on a downhill section based on the result of whether the speed prediction enabling condition is met.

[0028] The target gear control module is used to acquire the predicted vehicle speed value of the heavy truck when it is on a downhill section and passes through the downhill sampling point, and control the heavy truck to execute the target gear when it is on a downhill section according to the road slope value, the required vehicle speed value or the predicted vehicle speed value.

[0029] According to another aspect of the present invention, a vehicle is provided, the vehicle comprising:

[0030] At least one processor; and,

[0031] A memory communicatively connected to the at least one processor; wherein,

[0032] 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 gear control method according to any embodiment of the present invention.

[0033] 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 the gear control method according to any embodiment of the present invention.

[0034] The technical solution of this invention obtains the current road information and the end point position of the heavy truck based on an electronic horizon. Based on the current road information and the end point position, it obtains the road gradient value corresponding to downhill sampling points at predetermined distances when the heavy truck is on a downhill section. It then determines whether the speed prediction enabling condition is met when the heavy truck is on a downhill section, and determines the required speed value for the heavy truck on the downhill section based on the result of the determination. Finally, it obtains the predicted speed value of the heavy truck passing through the downhill sampling points when it is on a downhill section, and controls the execution of the target gear when the heavy truck is on a downhill section based on the road gradient value, the required speed value, or the predicted speed value. This invention solves the problems of insufficient utilization of downhill enabling and the risk of downhill braking failure that may exist in current heavy truck downhill driving. It achieves improved utilization of the vehicle's gravitational potential energy, while reducing the degree of braking energy intervention during downhill driving, reducing the probability of brake disc heat fade, and improving downhill safety.

[0035] 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

[0036] 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.

[0037] Figure 1 This is a flowchart of a gear control method provided according to Embodiment 1 of the present invention;

[0038] Figure 2 This is a flowchart of a gear control method provided according to Embodiment 2 of the present invention;

[0039] Figure 3 This is a schematic diagram of the structure of a gear control device according to Embodiment 3 of the present invention;

[0040] Figure 4 This is a schematic diagram of the structure of a vehicle that implements the gear control method of this invention. Detailed Implementation

[0041] 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.

[0042] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0043] Example 1

[0044] Figure 1 This is a flowchart of a gear control method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where the gear selection of a heavy truck is determined under downhill driving conditions. This gear control method can be executed by a gear control device, which can be implemented in hardware and / or software. This gear control device can be configured in various types of heavy trucks. Figure 1 As shown, the gear control method includes:

[0045] S110. Obtain the current road information and the end point of the road for the heavy truck based on the electronic horizon, and obtain the road slope value corresponding to the downhill sampling point at a set distance when the heavy truck is on a downhill section based on the current road information and the end point of the road.

[0046] An Electronic Horizon Provider (EHorizon) is a product or service that provides vehicles with beyond-line-of-sight road traffic information. EHorizon can collect and capture road traffic information in front of or around a vehicle. This road traffic information is primarily static; therefore, EHorizon often uses maps as its data foundation. Based on map data and the vehicle's current location, it extracts the road the vehicle is currently traveling on and connecting roads. Specifically, EHorizon can acquire information beyond the sensor's perception range, such as road conditions (e.g., curvature, slope), lane information (e.g., lane line shape, lane attributes), and traffic light information (e.g., location, outline).

[0047] In this embodiment, the current road information of the heavy truck in its current driving state can be obtained through the electronic horizon. The current road information may include, but is not limited to, the current road state and the road state ahead. For example, the current road state may be any one of a flat road, a downhill section, or an uphill section, and the road state ahead may be any one or more combinations of a flat road, a downhill section, or an uphill section. This embodiment does not impose any special restrictions on the road states included in the current road information.

[0048] Furthermore, the electronic horizon can be used to obtain the road end position of the heavy truck in its current driving state, and the road gradient value between the current position of the heavy truck and the road end position can be obtained. In this embodiment, only the road gradient value of the downhill section between the current position of the heavy truck and the road end position is considered.

[0049] Based on the above, when the heavy truck is on a downhill section, at least one downhill sampling point is determined at a set distance, and the road slope value corresponding to each downhill sampling point can be obtained through an electronic horizon.

[0050] There can be one or more downhill sampling points. Based on the distance of the downhill section from the current location of the heavy truck to the end of the road, one sampling point is determined at a set distance on the downhill section. That is, multiple downhill sampling points are set when the heavy truck is on the downhill section.

[0051] The set distance for determining the interval on a downhill section can be selected and set by those skilled in the art based on the actual downhill working conditions of the heavy truck. This embodiment does not impose any restrictions on this. For example, the set distance can be 5 meters, 10 meters or any value.

[0052] S120. Determine whether the speed prediction enabling condition is met when the heavy truck is on a downhill section, and determine the required speed value when the heavy truck is on a downhill section based on the result of determining whether the speed prediction enabling condition is met.

[0053] The vehicle speed prediction enabling conditions include: the heavy truck is on a downhill section or the current road information contains a downhill section, and the distance between the current position of the heavy truck and the end position of the downhill section exceeds a set distance threshold, and no longitudinal control operation is detected from the heavy truck.

[0054] The heavy truck being on a downhill section means that the current road condition of the heavy truck is a downhill section, that is, the heavy truck is currently traveling downhill. The current road information including downhill section means that the road condition ahead of the heavy truck includes downhill section, that is, there is one or more downhill sections ahead of the heavy truck's current road.

[0055] To ensure that speed prediction is meaningful and necessary, it is necessary to ensure that the distance between the current location of the heavy truck and the end point of the downhill section exceeds a set distance threshold. The end point of the downhill section is the intersection of the downhill section and the next road segment.

[0056] In other words, if there are one or more downhill sections ahead of the current road where the heavy truck is traveling, the distance between the current position of the heavy truck and the end point of a certain downhill section must exceed a set distance threshold before the heavy truck can travel on that downhill section and determine whether the speed prediction enablement condition is met.

[0057] The vehicle speed prediction enablement condition is met if there are one or more downhill sections ahead of the current road where the heavy truck is traveling. This embodiment does not impose any restrictions on this.

[0058] The distance threshold can be set by those skilled in the art based on the actual downhill conditions of the heavy truck, and this embodiment does not impose any restrictions on it.

[0059] Longitudinal control involves controlling the accelerator and brakes of a vehicle in its direction of travel, enabling the vehicle to travel at a desired speed to maintain distance from other vehicles and facilitate emergency obstacle avoidance. In this embodiment, to ensure the accuracy of subsequent speed prediction, the speed prediction enable condition must guarantee that no longitudinal control operation is detected from the heavy truck; that is, the vehicle controller and other controllers in the heavy truck must not detect any intervention by the driver in longitudinal control.

[0060] After determining that the speed prediction enabling condition is met, the first speed value of the heavy truck when the speed prediction enabling condition is met is obtained, that is, the first speed value is the actual speed value of the heavy truck when the speed prediction enabling condition is met, and the first speed value is determined as the required speed value of the heavy truck when it is on a downhill section; after determining that the speed prediction enabling condition is not met, the second speed value of the heavy truck when it is on a downhill section is taken as the required speed value of the heavy truck when it is on a downhill section, and the second speed value is the actual speed value of the heavy truck when it is on a downhill section.

[0061] Based on the above, when a heavy truck is on a downhill section, if a longitudinal control operation is detected, the actual speed of the heavy truck at the time the longitudinal control operation is detected is obtained, and this real-time speed value is determined as the required speed value for the heavy truck on the downhill section. It is understood that the detection of a longitudinal control operation can occur either after the speed prediction enabling condition is met, or it can occur at the time the speed prediction enabling condition is met. That is, if the speed prediction enabling condition is met, then the heavy truck does not meet the speed prediction enabling condition at this time.

[0062] S130. Obtain the predicted speed value of the heavy truck when it passes the downhill sampling point on a downhill section, and control the heavy truck to execute the target gear when it is on a downhill section according to the road slope value, the required speed value or the predicted speed value.

[0063] In this embodiment, it is reasonably assumed that the road section between the downhill sampling points is driven at a constant acceleration when the heavy truck is on a downhill section. Then, when passing through the downhill sampling point, the acceleration value of the heavy truck at this time can be determined based on the road slope value corresponding to the downhill sampling point, and the predicted speed value of the heavy truck passing through the downhill sampling point can be determined based on the acceleration value.

[0064] After determining the required and predicted speed values ​​for the heavy truck, and combining this with the current gear position of the heavy truck, we further analyze the heavy truck's shifting intentions when on a downhill section and determine the final target gear.

[0065] Based on the above, before controlling the heavy truck to execute the target gear when it is on a downhill section according to the road gradient value, the required vehicle speed value, or the predicted vehicle speed value, the engine speed of the heavy truck when it enters the downhill section in the current gear is obtained.

[0066] Specifically, when a heavy truck is coasting in neutral on a downhill section, the predicted speed and required speed of the heavy truck passing through the downhill sampling point are obtained. If the absolute value of the road gradient is less than a set gradient threshold, and the difference between the predicted speed and the required speed does not exceed the set speed limit, then the predicted speed of the heavy truck when coasting in neutral deviates from the driving requirements to a limited extent. Therefore, the heavy truck is controlled to continue coasting in neutral on the downhill section.

[0067] If the absolute value of the road gradient is less than the set gradient threshold, and the engine speed is within the set engine speed range (i.e., the engine speed at each vehicle speed is within the limit range when the heavy truck enters the downhill section in the current gear), then the heavy truck will continue to execute the target gear as the current gear when it is in the downhill section.

[0068] If the absolute value of the road gradient is less than the set gradient threshold and the engine speed exceeds the set engine speed range, that is, when the heavy truck enters the downhill section in the current gear, the engine speed at each vehicle speed will exceed the limit range. At this time, the lowest gear in the available gears that predicts the downhill engine speed will not exceed the limit is searched as the target gear, and the current gear is shifted to an upshift. Thus, when the heavy truck is on the downhill section, the target gear is higher than the current gear.

[0069] When a heavy truck is coasting in neutral on a downhill section, if the engine speed of the heavy truck at the predicted vehicle speed is lower than the engine speed limit, it can downshift to the highest gear at the predicted minimum vehicle speed where the engine speed meets the limit. In other words, when the heavy truck is on a downhill section, the target gear is lower than the current gear.

[0070] When the absolute value of the road gradient is greater than the set gradient threshold and the distance of the downhill section exceeds the set distance threshold, in order to avoid excessive braking and brake pad heat fade, it is necessary to make full use of the engine resistance to assist braking. At this time, a lower gear can bring a greater braking effect. That is, when the heavy truck is on a downhill section, the target gear is lower than the current gear.

[0071] Understandably, the principle for selecting a target gear lower than the current gear is: among the available gears, the gear with the lowest predicted maximum speed, and the less energy is lost during braking to the required speed, the better.

[0072] Setting a gradient threshold, setting a vehicle speed limit, setting an engine speed range, setting an engine speed limit, and setting a distance length threshold can be selected and set by those skilled in the art based on the actual downhill working conditions of the heavy truck. This embodiment does not impose any restrictions on this.

[0073] To improve vehicle power, fuel economy, and shifting smoothness, heavy trucks are usually equipped with more than a dozen gears. The number of gears in common heavy trucks is generally between 8 and 12. The available gears are those that can be switched when the heavy truck is on a downhill section. This embodiment does not impose any restrictions on this.

[0074] The technical solution of this invention obtains the current road information and the end point position of the heavy truck based on an electronic horizon. Based on the current road information and the end point position, it obtains the road gradient value corresponding to downhill sampling points at predetermined distances when the heavy truck is on a downhill section. It then determines whether the speed prediction enabling condition is met when the heavy truck is on a downhill section, and determines the required speed value for the heavy truck on the downhill section based on the result of the determination. Finally, it obtains the predicted speed value of the heavy truck passing through the downhill sampling points when it is on a downhill section, and controls the execution of the target gear when the heavy truck is on a downhill section based on the road gradient value, the required speed value, or the predicted speed value. This invention solves the problems of insufficient utilization of downhill enabling and the risk of downhill braking failure that may exist in current heavy truck downhill driving. It achieves improved utilization of the vehicle's gravitational potential energy, while reducing the degree of braking energy intervention during downhill driving, reducing the probability of brake disc heat fade, and improving downhill safety.

[0075] Example 2

[0076] Figure 2 This is a flowchart of a gear control method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment provides an optional implementation method. For example... Figure 2 As shown, the gear control method includes:

[0077] S210. Obtain the current road information and the end point of the road for the heavy truck based on the electronic horizon, and obtain the road slope value corresponding to the downhill sampling point at a set distance when the heavy truck is on a downhill section based on the current road information and the end point of the road.

[0078] Based on the electronic horizon, the current road conditions and the road conditions ahead of the heavy truck are divided and road information is obtained under the current driving state.

[0079] S220. Determine whether the vehicle speed prediction enable condition is met when the heavy truck is on a downhill section. If yes, proceed to step S220; otherwise, proceed to step S230.

[0080] Considering the situation where the heavy truck is currently on a downhill section and there is a downhill section ahead of the heavy truck, and combining the distance between the current position of the heavy truck and the end point of the downhill section, the reasonableness of the speed prediction is ensured. At the same time, in order to make the speed prediction more accurate, the heavy truck is limited to not having longitudinal operation intervention, thereby determining a reasonable speed prediction enabling condition, and further judging the shifting intention based on the difference between the predicted speed and the required speed.

[0081] When the heavy truck is on a downhill section and the speed prediction enablement condition is not met, the second speed value of the heavy truck on the downhill section is taken as the required speed value of the heavy truck on the downhill section.

[0082] S230. Obtain the first speed value of the heavy truck when the speed prediction enable condition is met, and determine the first speed value as the required speed value of the heavy truck when it is on a downhill section, and execute step S240.

[0083] S240. Based on the road slope value corresponding to the downhill sampling point, determine the acceleration value of the heavy truck when it is on a downhill section, and determine the predicted speed value of the heavy truck when it passes the downhill sampling point based on the acceleration value.

[0084] To predict the speed of heavy trucks on downhill sections, the road segment is divided into more finer sections, and a longitudinal dynamics model of the vehicle is used to obtain a more accurate speed prediction. Specifically, when the speed prediction enabling condition is met, a downhill sampling point is set at every predetermined distance between the current position of the heavy truck and the end position of the downhill section. The speed at each downhill sampling point is predicted, thus obtaining the predicted speed value.

[0085] The predicted vehicle speed at each downhill sampling point is calculated using the following formula:

[0086]

[0087]

[0088] Among them, v k+1 v is the predicted vehicle speed at the current downhill sampling point; k The predicted vehicle speed value is the same as the previous downhill sampling point. When the current downhill sampling point is the first downhill sampling point, v... k This allows for the determination of the actual vehicle speed of the heavy truck when the vehicle speed prediction enable condition is met; a k θ represents the acceleration value of the heavy truck between the previous downhill sampling point and the current downhill sampling point; k T represents the road slope value at the current downhill sampling point. tq The driving torque of the engine can also be considered as the engine's resistance torque when the heavy truck is on a downhill section. When the heavy truck is on a downhill section, the T-force during neutral coasting... tq =0; i g The available gear ratios are defined as follows: i0 is the gear that, when the vehicle speed prediction enablement condition is met, the gear from which the engine does not exceed its limits after shifting is considered an available gear; i0 is the drive axle ratio, which is a fixed value; η is the transmission gear ratio. t C represents the efficiency value of the heavy-duty truck transmission system. dρ is the air drag coefficient; A is the frontal area of ​​the heavy truck; m is the mass of the heavy truck; r is the wheel radius of the heavy truck; f is the fluid drag coefficient.

[0089] S250: Obtain the engine speed of the heavy truck when it enters the downhill section in the current gear.

[0090] The engine speed of a heavy truck when entering a downhill section in the current gear is determined by the following formula:

[0091]

[0092] Where, n eng This refers to the engine speed.

[0093] S260. Based on the road gradient value, the required vehicle speed value, or the predicted vehicle speed value, control the heavy truck to execute the target gear when it is on a downhill section.

[0094] If the absolute value of the road gradient is less than the set gradient threshold, and the difference between the predicted vehicle speed and the required vehicle speed corresponding to the current gear being neutral coasting does not exceed the set speed limit, then the heavy truck is controlled to perform the target gear being neutral coasting when it is on a downhill section.

[0095] If the absolute value of the road gradient is less than a set gradient threshold and the engine speed is within a set engine speed range, then when the heavy truck is on a downhill section, the target gear is set to the current gear.

[0096] If the absolute value of the road gradient is less than a set gradient threshold and the engine speed exceeds a set engine speed range, then when the heavy truck is on a downhill section, the target gear is set to a higher gear than the current gear.

[0097] If the engine speed of the heavy truck is lower than the engine speed limit under the predicted vehicle speed value, then when the heavy truck is on a downhill section, the target gear to be executed is lower than the current gear.

[0098] If the absolute value of the road gradient is greater than a set gradient threshold, and the distance of the downhill section exceeds a set distance threshold, then the target gear for the heavy truck when it is on a downhill section is lower than the current gear.

[0099] The technical solution of this invention, by predicting the difference between the vehicle speed and the required vehicle speed, reflects the degree to which the vehicle speed deviates from the driving requirements during the downhill process, and uses this as the main basis for shifting intentions. This makes the gear selection during the downhill process more in line with the driver's needs, and ensures that the full utilization of the gravitational potential energy of the heavy truck is improved while minimizing deviations from the driving intentions. At the same time, by predicting the condition of minimum braking energy, i.e., predicting the vehicle speed on the downhill section, the degree of braking energy intervention during the downhill process is reduced, the probability of brake disc heat fade is reduced, and downhill safety is improved.

[0100] Example 3

[0101] Figure 3 This is a schematic diagram of a gear control device provided in Embodiment 3 of the present invention. Figure 3 As shown, the gear control device includes:

[0102] The road slope value determination module 310 is used to perform the following: obtain the current road information and the end position of the heavy truck based on the electronic horizon; and obtain the road slope value corresponding to the downhill sampling point at a set distance when the heavy truck is on a downhill section based on the current road information and the end position of the road.

[0103] The demand speed value determination module 320 is used to determine whether the speed prediction enabling condition is met when the heavy truck is on a downhill section, and to determine the demand speed value when the heavy truck is on a downhill section based on the result of determining whether the speed prediction enabling condition is met.

[0104] The target gear control module 330 is used to acquire the predicted vehicle speed value of the heavy truck when it is on a downhill section and passes through the downhill sampling point, and control the heavy truck to execute the target gear when it is on a downhill section according to the road slope value, the required vehicle speed value or the predicted vehicle speed value.

[0105] Optionally, the vehicle speed prediction enabling conditions include: the heavy truck is on a downhill section or the current road information contains a downhill section, and the distance between the current position of the heavy truck and the end position of the downhill section exceeds a set distance threshold, and no longitudinal control operation is detected from the heavy truck.

[0106] Optionally, the required vehicle speed for the heavy truck on a downhill section is determined based on the result of whether the speed prediction enabling condition is met, specifically for:

[0107] After determining that the vehicle speed prediction enabling condition is met, the first vehicle speed value of the heavy truck when the vehicle speed prediction enabling condition is met is obtained, and the first vehicle speed value is determined as the required vehicle speed value of the heavy truck when it is on a downhill section.

[0108] If it is determined that the vehicle speed prediction enablement condition is not met, then the second vehicle speed value of the heavy truck when it is on a downhill section is taken as the required vehicle speed value of the heavy truck when it is on a downhill section.

[0109] Optionally, the gear control device further includes:

[0110] The real-time vehicle speed value acquisition module is used to, after determining that the vehicle speed prediction enable condition is met, if the heavy truck is detected to be performing a longitudinal control operation, acquire the real-time vehicle speed value when the heavy truck is detected to be performing a longitudinal control operation, and determine the real-time vehicle speed value as the required vehicle speed value when the heavy truck is on a downhill section.

[0111] Optionally, the predicted vehicle speed value of the heavy truck passing through the downhill sampling point when it is on a downhill section is obtained, specifically for:

[0112] Based on the road slope value corresponding to the downhill sampling point, the acceleration value of the heavy truck when it is on a downhill section is determined, and the predicted speed value of the heavy truck when it passes the downhill sampling point is determined based on the acceleration value.

[0113] Optionally, the gear control device may also include:

[0114] The engine speed acquisition module is used to acquire the engine speed of the heavy truck when it enters a downhill section in the current gear.

[0115] Optionally, the target gear is selected when the heavy truck is on a downhill section based on the road gradient value, the required vehicle speed value, or the predicted vehicle speed value. Specifically, this is used for:

[0116] If the absolute value of the road gradient is less than the set gradient threshold, and the difference between the predicted vehicle speed value and the required vehicle speed value corresponding to the current gear being neutral coasting does not exceed the set speed limit, then the heavy truck is controlled to perform the target gear being neutral coasting when it is on a downhill section.

[0117] If the absolute value of the road gradient is less than a set gradient threshold and the engine speed is within a set engine speed range, then when the heavy truck is on a downhill section, the target gear is set to the current gear.

[0118] If the absolute value of the road gradient is less than a set gradient threshold and the engine speed exceeds a set engine speed range, then when the heavy truck is on a downhill section, the target gear is set to a higher gear than the current gear.

[0119] If the engine speed of the heavy truck is lower than the engine speed limit under the predicted vehicle speed value, then when the heavy truck is on a downhill section, the target gear to be executed is lower than the current gear.

[0120] If the absolute value of the road gradient is greater than a set gradient threshold, and the distance of the downhill section exceeds a set distance threshold, then the target gear for the heavy truck when it is on a downhill section is lower than the current gear.

[0121] The gear control device provided in the embodiments of the present invention can execute the gear control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the gear control method.

[0122] Example 4

[0123] Figure 4 A schematic diagram of a vehicle 410, which can be used to implement embodiments of the present invention, is shown. The vehicle includes various forms of digital computers, such as laptops, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The vehicle may also include various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0124] like Figure 4 As shown, vehicle 410 includes at least one processor 411 and a memory, such as read-only memory (ROM 412) or random access memory (RAM 413), communicatively connected to the at least one processor 411. The memory stores computer programs executable by the at least one processor. The processor 411 can perform various appropriate actions and processes based on the computer program stored in the read-only memory (ROM 412) or the computer program loaded from storage unit 418 into the random access memory (RAM 413). The RAM 413 can also store various programs and data required for the operation of vehicle 410. The processor 411, ROM 412, and RAM 413 are interconnected via bus 414. An I / O (input / output) interface 415 is also connected to bus 414.

[0125] Multiple components in vehicle 410 are connected to I / O interface 415, including: input unit 416, such as keyboard, mouse, etc.; output unit 417, such as various types of displays, speakers, etc.; storage unit 418, such as disk, optical disk, etc.; and communication unit 419, such as network card, modem, wireless transceiver, etc. Communication unit 419 allows vehicle 410 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0126] Processor 411 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 411 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 411 performs the various methods and processes described above, such as gear control methods.

[0127] In some embodiments, the gear control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 418. In some embodiments, part or all of the computer program may be loaded and / or installed on vehicle 410 via ROM 412 and / or communication unit 419. When the computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the gear control method described above may be performed. Alternatively, in other embodiments, processor 411 may be configured to perform the gear control method by any other suitable means (e.g., by means of firmware).

[0128] 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), payload-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.

[0129] 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.

[0130] 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.

[0131] 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).

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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 gear control method, characterized in that, include: The current road information and the end point of the road of the heavy truck are obtained based on the electronic horizon. Based on the current road information and the end point of the road, the road slope value corresponding to the downhill sampling point determined at a set distance when the heavy truck is on a downhill section is obtained. Determine whether the speed prediction enabling condition is met when the heavy truck is on a downhill section, and determine the required speed value when the heavy truck is on a downhill section based on the result of determining whether the speed prediction enabling condition is met. The predicted speed value of the heavy truck when it passes the downhill sampling point is obtained when it is on a downhill section, and the target gear is controlled to be executed when the heavy truck is on a downhill section according to the road gradient value, the required speed value or the predicted speed value. Before controlling the heavy truck to execute the target gear when it is on a downhill section based on the road gradient value, the required vehicle speed value, or the predicted vehicle speed value, the method further includes: obtaining the engine speed when the heavy truck enters the downhill section by executing the current gear. Controlling the heavy truck to execute a target gear when it is on a downhill section based on the road gradient value, the required vehicle speed value, or the predicted vehicle speed value includes: if the absolute value of the road gradient value is less than a set gradient threshold, and the difference between the predicted vehicle speed value and the required vehicle speed value corresponding to the current gear being neutral coasting does not exceed a set speed limit, then controlling the heavy truck to execute the target gear as neutral coasting when it is on a downhill section; if the absolute value of the road gradient value is less than a set gradient threshold, and the engine speed is within a set engine speed range, then controlling the heavy truck to execute the target gear as neutral coasting when it is on a downhill section. For example, when the absolute value of the road gradient is less than a set gradient threshold and the engine speed exceeds a set engine speed range, the target gear for the heavy truck when it is on a downhill section is higher than the current gear; when the engine speed of the heavy truck using the predicted vehicle speed is lower than the engine speed limit, the target gear for the heavy truck when it is on a downhill section is lower than the current gear; when the absolute value of the road gradient is greater than a set gradient threshold and the distance of the downhill section exceeds a set distance threshold, the target gear for the heavy truck when it is on a downhill section is lower than the current gear.

2. The gear control method according to claim 1, characterized in that, The vehicle speed prediction enabling conditions include: the heavy truck is on a downhill section or the current road information contains a downhill section, and the distance between the current position of the heavy truck and the end position of the downhill section exceeds a set distance threshold, and no longitudinal control operation is detected from the heavy truck.

3. The gear control method according to claim 2, characterized in that, The required vehicle speed for the heavy truck on a downhill section is determined based on whether the speed prediction enabling conditions are met, including: After determining that the vehicle speed prediction enabling condition is met, the first vehicle speed value of the heavy truck when the vehicle speed prediction enabling condition is met is obtained, and the first vehicle speed value is determined as the required vehicle speed value of the heavy truck when it is on a downhill section. If it is determined that the vehicle speed prediction enablement condition is not met, then the second vehicle speed value of the heavy truck when it is on a downhill section is taken as the required vehicle speed value of the heavy truck when it is on a downhill section.

4. The gear control method according to claim 3, characterized in that, The gear control method further includes: After determining that the vehicle speed prediction enable condition is met, if the heavy truck is detected to be performing a longitudinal control operation, the real-time vehicle speed value at the time the longitudinal control operation is detected is obtained, and the real-time vehicle speed value is determined as the required vehicle speed value when the heavy truck is on a downhill section.

5. The gear control method according to claim 1, characterized in that, Obtaining the predicted vehicle speed value of the heavy truck when it passes through the downhill sampling point on a downhill section includes: Based on the road slope value corresponding to the downhill sampling point, the acceleration value of the heavy truck when it is on a downhill section is determined, and the predicted speed value of the heavy truck when it passes the downhill sampling point is determined based on the acceleration value.

6. A gear control device, characterized in that, include: The road slope value determination module is used to obtain the current road information and the end position of the heavy truck based on the electronic horizon, and to obtain the road slope value corresponding to the downhill sampling point at a set distance when the heavy truck is on a downhill section based on the current road information and the end position of the road. The demand speed value determination module is used to determine whether the speed prediction enabling condition is met when the heavy truck is on a downhill section, and to determine the demand speed value when the heavy truck is on a downhill section based on the result of whether the speed prediction enabling condition is met. The target gear control module is used to acquire the predicted vehicle speed value of the heavy truck when it passes the downhill sampling point on a downhill section, and control the heavy truck to execute the target gear when it is on a downhill section according to the road slope value, the required vehicle speed value or the predicted vehicle speed value. The engine speed acquisition module is used to acquire the engine speed of the heavy truck when it is in the current gear and enters the downhill section. The system controls the heavy truck to execute a target gear when it is on a downhill section based on the road gradient value, the required vehicle speed value, or the predicted vehicle speed value. Specifically, it controls the heavy truck to execute a target gear of neutral coasting when it is on a downhill section if: the absolute value of the road gradient value is less than a set gradient threshold, and the difference between the predicted vehicle speed value and the required vehicle speed value corresponding to the current gear being neutral coasting does not exceed a set speed limit; if the absolute value of the road gradient value is less than a set gradient threshold, and the engine speed is within a set engine speed range, then the heavy truck is controlled to execute a target gear of the current gear when it is on a downhill section; if the absolute value of the road gradient value is less than a set gradient threshold, and the engine speed exceeds a set engine speed range, then the heavy truck is controlled to execute a target gear higher than the current gear when it is on a downhill section. If the engine speed of the heavy truck is lower than the engine speed limit under the predicted vehicle speed value, then the target gear for the heavy truck when it is on a downhill section is lower than the current gear; if the absolute value of the road gradient is greater than the set gradient threshold, and the distance of the downhill section exceeds the set distance threshold, then the target gear for the heavy truck when it is on a downhill section is lower than the current gear.

7. 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 gear control method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the gear control method according to any one of claims 1-5.

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