A shift synchronization control method, device, equipment and storage medium

Abstract

The application relates to the technical field of automobile control, and discloses a gear shifting synchronization control method, device, equipment and storage medium, the method comprises the following steps: acquiring a gearbox output rotating speed at a current time point, and calculating an initial engine target rotating speed by using the gearbox output rotating speed; acquiring an engine output rotating speed at the current time point, and calculating a current rotating speed difference value between the engine output rotating speed and the initial engine target rotating speed; when the absolute value of the current rotating speed difference value falls within a preset speed interval, judging whether the rotating speed difference values corresponding to a preset number of time points after the current time point all fall within the preset speed interval; if the rotating speed difference values corresponding to the preset number of time points after the current time point all fall within the preset speed interval, adjusting the initial engine target rotating speed based on a preset speed step; and regulating the engine output rotating speeds after the preset number of time points according to the adjusted engine target rotating speed. The application solves the problem of gear shifting synchronization failure caused by signal transmission delay.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile control, and in particular to a gear shifting synchronization control method, device, equipment and storage medium. BACKGROUND

[0002] There is a very important device inside the structure of the manual transmission, which is the "synchronizer". Since the output speed of the transmission and the output speed of the engine are different, the function of the synchronizer is to control the matching of the engine speed and the transmission speed by friction, so as to ensure the smoothness during gear shifting. However, more and more automatic transmission cars and electric cars have cancelled the clutch, synchronizer and other sliding friction structures, and the drive train is rigidly connected. The gear shifting synchronization process needs to be controlled by signals to adjust the speed of the driving motor. Generally, the transmission controller monitors the current speed of the transmission, and then the transmission controller sends the monitored speed to the vehicle controller, and the vehicle controller sends the monitored speed to the engine controller, and the engine controller adjusts the engine output speed according to the received speed, so as to match the engine speed and the transmission speed. Especially for new energy vehicles, the electronic control unit is more, and the electronic control system is more complex. The transmission controller and the motor controller cannot directly interact, and the vehicle controller needs to command arbitration and resend signals, which inevitably causes signal transmission delay. That is, the request sent by the transmission controller and the speed signal responded by the motor controller are not equal, which causes the transmission speed to change, but the signal to control the motor speed is still old, so the synchronization timeout error occurs. Although PID algorithm can be used to improve this delay control problem, the design logic of PID algorithm is complex, and the super parameter adjustment is difficult, which not only seriously increases the development cost, but also because the super parameter adjustment is too slow, the synchronization problem caused by signal delay cannot be stably solved, so a new gear shifting synchronization control method is needed. SUMMARY

[0003] Therefore, the present application provides a gear shifting synchronization control method, device, equipment and storage medium to solve the problem of gear shifting synchronization failure caused by signal transmission delay.

[0004] In a first aspect, the present application provides a shift synchronization control method applied to a vehicle controller, the method comprising: obtaining a gearbox output speed at a current time point, and calculating an initial engine target speed using the gearbox output speed at the current time point; obtaining an engine output speed at the current time point, and calculating a current speed difference between the engine output speed at the current time point and the initial engine target speed; when an absolute value of the current speed difference falls within a preset speed interval, determining whether speed difference values corresponding to a preset number of time points after the current time point all fall within the preset speed interval; if the speed difference values corresponding to the preset number of time points after the current time point all fall within the preset speed interval, adjusting the initial engine target speed based on a preset speed step; and regulating the engine output speed after the preset number of time points according to the adjusted engine target speed.

[0005] In an optional implementation, if the speed difference values corresponding to the preset number of time points after the current time point all fall within the preset speed interval, the adjustment of the initial engine target speed based on the preset speed step comprises: when the speed difference values at the time points indicate that the engine output speeds corresponding to the time points are greater than the initial engine target speed, and the absolute values of the speed difference values at the time points all fall within a first preset speed interval, adjusting the initial engine target speed to be smaller by the preset speed step; and when the speed difference values at the time points indicate that the engine output speeds corresponding to the time points are less than the initial engine target speed, and the absolute values of the speed difference values at the time points all fall within a second preset speed interval, adjusting the initial engine target speed to be larger by the preset speed step.

[0006] In an optional implementation, when the speed difference values at the time points indicate that the engine output speeds corresponding to the time points are greater than the initial engine target speed, and the absolute values of the speed difference values at the time points all fall within the first preset speed interval, the adjustment of the initial engine target speed to be smaller by the preset speed step comprises: when the absolute values of the speed difference values at the time points all fall within the first preset speed interval, calculating a first adjustment amount based on a product of a preset negative number and the preset speed step; and adjusting the initial engine target speed to be smaller by the first adjustment amount.

[0007] In an optional implementation, when the speed difference values at the time points indicate that the engine output speeds corresponding to the time points are less than the initial engine target speed, and the absolute values of the speed difference values at the time points all fall within the second preset speed interval, the adjustment of the initial engine target speed to be larger by the preset speed step comprises: when the absolute values of the speed difference values at the time points all fall within the second preset speed interval, calculating a second adjustment amount based on a product of a preset positive number and the preset speed step; and adjusting the initial engine target speed to be larger by the second adjustment amount.

[0008] In an alternative implementation, the method further comprises: when the absolute value of the current speed difference value is less than the lower boundary of the preset speed interval, performing a gear shifting operation; and if, in the process of the speed difference value at the preset number of time points after the current time point, the absolute value of the speed difference value at the second target time point is less than the lower boundary of the preset speed interval, performing a gear shifting operation at the second target time point.

[0009] In an alternative implementation, the method further comprises: when the absolute value of the current speed difference value is greater than the upper boundary of the preset speed interval, adjusting the engine target speed according to the initial engine target speed so that the engine output speed at the next time point approaches the initial engine target speed.

[0010] In an alternative implementation, the method further comprises: after adjusting the engine output speed at the preset number of time points after the current time point, again calculating the speed difference value between the engine output speed at the preset number of time points and the initial engine target speed; and if the absolute value of the speed difference value at each time point still falls within the preset speed interval, adjusting the engine target speed by the preset speed step and adjusting the engine output speed according to the adjusted engine target speed.

[0011] In a second aspect, the present application provides a gear shifting synchronization control device applied to a vehicle controller, which comprises: a transmission speed acquisition module for acquiring the transmission output speed at a current time point and calculating an initial engine target speed using the transmission output speed at the current time point; an engine speed acquisition module for acquiring the engine output speed at the current time point and calculating a current speed difference value between the engine output speed at the current time point and the initial engine target speed; a speed difference value judgment module for judging whether the speed difference values corresponding to the preset number of time points after the current time point all fall within a preset speed interval when the absolute value of the current speed difference value falls within the preset speed interval; a target correction module for adjusting the initial engine target speed based on a preset speed step if the speed difference values corresponding to the preset number of time points after the current time point all fall within the preset speed interval; and a control module for adjusting the engine output speed at the preset number of time points after the current time point according to the adjusted engine target speed.

[0012] In a third aspect, the present application provides a computer device, which comprises: a memory and a processor in communication connection with each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method of the first aspect or any of the alternative implementations thereof.

[0013] In a fourth aspect, the present application provides a computer readable storage medium, having stored thereon computer instructions for causing a computer to execute the method of the first aspect or any of its possible implementation forms.

[0014] The technical solution provided by the present application has the following advantages:

[0015] The present application monitors the output speed of the gearbox and the output speed of the engine when a gear shift is needed, converts the monitored output speed of the gearbox according to the transmission speed ratio of the transmission mechanism, and obtains an initial engine target speed. If the engine output speed monitored at the current time point is equal to the initial engine target speed under ideal synchronization conditions, the gear shift operation can be directly performed. Based on this, the present embodiment calculates the speed difference between the engine output speed at the current time point and the initial engine target speed, and determines whether the absolute value of the speed difference at the current time point falls within a preset speed interval. If the absolute value of the speed difference at the current time point falls within the preset speed interval, it indicates that the engine output speed and the initial engine target speed are not small enough, and a good synchronization state has not been reached, so the gear shift operation cannot be directly performed. It also indicates that the engine output speed and the initial engine target speed are not too large, and the difference between the two should mainly be caused by signal transmission delay. It is already difficult to have a better effect on adjusting the engine output speed according to the engine target speed. Therefore, the present embodiment continues to monitor whether this situation will last for a preset number of time points. If the difference value falls within the preset speed interval for a period of time, it is confirmed that the current speed error is caused by signal transmission delay, so the engine target speed is adjusted by a preset speed step, the target value is actively intervened, an adjusted engine target speed is obtained, the new engine target speed is more stringent than the old engine target speed, for example, higher or lower than the actual target speed, so that the engine output speed after the preset number of time points is adjusted according to the new engine target speed, so that the subsequent engine output speed approaches the new engine target speed, and a more deep effect of adjusting the engine output speed is achieved, so that the engine output speed in the subsequent step and the initial old engine target speed are smaller, and it is easier to reach a synchronization state, thereby solving the problem of gear shift synchronization failure caused by signal transmission delay. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0017] Figure 1is a flowchart of a shift synchronization control method according to an embodiment of the present application;

[0018] Figure 2 is another flowchart of a shift synchronization control method according to an embodiment of the present application;

[0019] Figure 3 is a downshift scenario effect diagram of a shift synchronization control method according to an embodiment of the present application;

[0020] Figure 4 is an upshift scenario effect diagram of a shift synchronization control method according to an embodiment of the present application;

[0021] Figure 5 is a structural diagram of a shift synchronization control device according to an embodiment of the present application;

[0022] Figure 6 is a hardware structure diagram of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0024] Generally, the shift synchronization process controlled by signals needs to monitor the current speed of the gearbox, and then the gearbox controller sends the monitored speed to the vehicle controller, which sends the monitored speed to the engine controller (when the transmission mechanism exists, the current speed of the gearbox is often converted according to the speed ratio to obtain the engine target speed and then sent), and the engine controller adjusts the engine output speed according to the received speed, so as to match the engine speed and the gearbox speed. If the engine target speed and the engine output speed are quite different, the interference caused by signal transmission delay is not obvious. The engine controller will control the engine output speed to gradually approach the engine target speed, but because of the existence of signal transmission delay, the real gearbox output speed has changed slightly, and this slight change cannot be reflected on the engine target speed received by the engine controller. Therefore, when the engine output speed approaches the engine target speed to a certain extent, it is difficult for them to further approach each other, and there is a large error between the newly detected engine target speed and the regulated engine output speed, thereby causing difficulty in equalization and synchronization.

[0025] According to the embodiment of the present application, a shift synchronization control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in a different order.

[0026] In the present embodiment, a shift synchronization control method is provided, which can be used in the computer device described above, Figure 1 is a flowchart of a shift synchronization control method according to an embodiment of the present application, which includes the following steps:

[0027] In step S101, the transmission output speed at the current time point is obtained, and the initial engine target speed is calculated using the transmission output speed at the current time point.

[0028] In step S102, the engine output speed at the current time point is obtained, and the current speed difference between the engine output speed at the current time point and the initial engine target speed is calculated.

[0029] Specifically, when a signal of a shift operation is received, the embodiment of the present application starts to collect the transmission output speed at the current time point and the engine output speed, wherein the transmission output speed refers to the speed output at the output end of the transmission, which is directly related to the wheel rotation speed. In the present embodiment, the engine includes an engine and an electric motor, and the engine output speed refers to the engine output speed or the electric motor output speed. Due to the existence of the transmission mechanism, the engine output speed needs to be the same as the driven gear speed of the transmission corresponding to the shift in order to achieve synchronization, so the transmission output speed also needs to be converted into the engine target speed according to the gear transmission ratio. The calculation method is: transmission output speed * transmission speed ratio = engine target speed. The ideal state of shift synchronization is to adjust the engine output speed to be equal to the engine target speed through control, so the embodiment of the present application first calculates the current speed difference between the engine output speed at the current time point and the initial engine target speed.

[0030] In step S103, when the absolute value of the current speed difference falls within the preset speed interval, it is determined whether the speed difference corresponding to the preset number of time points after the current time point falls within the preset speed interval.

[0031] In step S104, if the speed difference corresponding to the preset number of time points after the current time point falls within the preset speed interval, the initial engine target speed is adjusted based on the preset speed step.

[0032] Specifically, after the current speed difference value is calculated by the foregoing steps, the embodiment of the present application judges whether the absolute value of the current speed difference value falls within the predefined preset speed interval. The absolute value is used for judgment, considering that in actual application, it is not necessary to limit whether the speed difference value is calculated by subtracting the engine target speed from the engine output speed or by subtracting the engine output speed from the engine target speed.

[0033] If the absolute value of the speed difference value at the current time point falls within the preset speed interval, it indicates that the current speed difference value is not less than the lower boundary of the interval, so the engine output speed and the initial engine target speed are not different enough, and a better synchronization state is not reached, and the shifting operation cannot be directly performed. It also indicates that the current speed difference value is not greater than the upper boundary of the interval, so the engine output speed and the initial engine target speed are not different too much, and the current speed difference value should mainly be caused by signal transmission delay, and it is difficult to have a better effect by adjusting the engine output speed according to the initial engine target speed. However, this situation has strong contingency, and it is still necessary to verify whether the current speed difference value is mainly caused by signal delay, so that the embodiment continues to monitor the engine output speed at the first time point when the speed difference value falls within the preset speed interval, and calculates the speed difference value of the engine output speed and the initial engine target speed at each time point, and then continues to judge the relationship between each speed difference value and the preset speed interval, and monitors whether this situation will continue for a preset number of time points. If the situation continues for a period of time, it is verified that the current speed difference value is caused by signal transmission delay, so that the engine target speed is adjusted by the preset speed step, the target value is actively intervened, a new engine target speed is obtained, and the new engine target speed is more stringent than the old engine target speed, for example, higher or lower than the old target speed.

[0034] It should be noted that the preset number of time points can be flexibly adjusted according to user demand, and if the user pursues the efficiency of speed adjustment, the preset number of time points can be set to 0, that is, when the absolute value of the current speed difference value falls within the preset speed interval, the subsequent speed difference value is no longer verified, but the adjusted engine target speed at the current time point is directly calculated, and the engine output speed at the next time point is adjusted by using the adjusted engine target speed.

[0035] In step S105, the engine output speed after the preset number of time points is regulated according to the adjusted engine target speed.

[0036] Specifically, the engine output speed after the preset number of time points is regulated according to the adjusted engine target speed, so that the engine output speed after the preset number of time points approaches the adjusted engine target speed, thereby achieving a deeper effect of adjusting the engine output speed, in other words, compared to the original target of small adjustment or the target of large adjustment, the effect of adjusting the engine output speed is smaller or larger than the original target, so that the difference between the engine output speed after the preset number of time points and the actual monitored engine output speed is smaller, and it is easier to achieve a synchronous state, thereby solving the problem of shift synchronization failure caused by signal transmission delay through over-regulation.

[0037] In some optional embodiments, the step S104 comprises:

[0038] Step a1, when the speed difference value of each time point indicates that the engine output speed corresponding to each time point is greater than the initial engine target speed, and the absolute value of the speed difference value of each time point falls within the first preset speed interval, the initial engine target speed is adjusted to be smaller by a preset speed step;

[0039] Step a2, when the speed difference value of each time point indicates that the engine output speed corresponding to each time point is less than the initial engine target speed, and the absolute value of the speed difference value of each time point falls within the second preset speed interval, the initial engine target speed is adjusted to be larger by a preset speed step.

[0040] Specifically, the embodiment of the present application subdivides two shift synchronization means for shift up and shift down scenarios. First, it is necessary to distinguish whether the engine output speed of the preset number of time points is greater than the engine target speed or less than the engine target speed. If the engine output speed of each time point is greater than the engine target speed, the engine output speed needs to be adjusted to be smaller under normal circumstances, so as to approach the engine target speed. Otherwise, the engine output speed needs to be adjusted to be larger under normal circumstances, so as to approach the engine target speed.

[0041] Thus, under the condition that the engine output speed is greater than the initial engine target speed, if the absolute value of the speed difference between the two is within the first preset speed interval in continuous time, it indicates that the engine output speed has become smaller due to the existence of signal transmission delay. Based on this, the embodiment of the present application adjusts the initial engine target speed to be smaller first, and uses the adjusted engine target speed as a new reference, forcing the engine output speed and the adjusted engine target speed to approach each other, so as to make the engine output speed smaller, thereby overcoming the error caused by signal delay by using this part of the over-regulation, and gradually making the engine output speed equal to the initial engine target speed.

[0042] Similarly, under the condition that the engine output speed is less than the initial engine target speed, if the absolute value of the speed difference between the two is within the second preset speed interval (in this embodiment, the second preset speed interval and the first preset speed interval can be set as intervals of the same size or intervals of different sizes, which needs to be determined according to the characteristics of the engine) in continuous time, it indicates that the engine output speed has been difficult to become larger due to the existence of signal transmission delay. Based on this, the embodiment of the application adjusts the initial engine target speed to be larger first, and uses the engine target speed obtained after the adjustment as a new reference, and forces the engine output speed and the adjusted engine target speed to approach, so as to make the engine output speed become larger, thereby using the overshoot to overcome the error caused by the signal delay, and generating the effect that the engine output speed gradually equals the initial engine target speed.

[0043] In some optional embodiments, the step a1 comprises:

[0044] The step a11 comprises: when the absolute value of the speed difference at each time point is within the first preset speed interval, calculating a first adjustment amount based on the product of a preset negative number and a preset speed step length.

[0045] The step a12 comprises: adjusting the initial engine target speed to be smaller by the first adjustment amount.

[0046] Specifically, when the engine target speed needs to be adjusted to be smaller, the embodiment of the application calculates a first adjustment amount that needs to be adjusted to be smaller based on the product of a preset negative number and a preset speed step length. Since the calculated first adjustment amount is negative, the adjusted engine target speed can be obtained by performing summation operation on the first adjustment amount and the initial engine target speed, thereby realizing a simple and fast target speed adjustment method. Compared with the PID adjustment method, the method provided by the embodiment of the application has lower complexity, simple control logic, simple calibration and verification process, directly monitors the synchronous speed difference, and then dynamically corrects the motor speed request based on the passive approximation principle. The method has higher accuracy and reliability, and is more reliable and accurate than active or predictive control. The method has higher stability, adopts passive step dynamic correction control, and will not cause system shock caused by frequent and rapid dynamic correction. The method has higher universality, and can cover different power platforms.

[0047] In some optional embodiments, the step a2 comprises:

[0048] The step a21 comprises: when the absolute value of the speed difference at each time point is within the second preset speed interval, calculating a second adjustment amount based on the product of a preset positive number and a preset speed step length.

[0049] The step a22 comprises: adjusting the initial engine target speed to be larger by the second adjustment amount.

[0050] Specifically, the principle of the engine target rotating speed adjustment method provided by the embodiment of the present application is the same as that of the steps a11-a12, except that the preset negative number is replaced by a preset positive number for the speed-up adjustment. The principle description can refer to the related description of the steps a11-a12, which will not be repeated here.

[0051] In some optional embodiments, the shift synchronization control method provided by the embodiment of the present application further includes the following steps:

[0052] Step b1, when the absolute value of the current rotating speed difference value is less than the lower boundary of the preset speed interval, performing the shift operation.

[0053] Step b2, if the absolute value of the rotating speed difference value at the second target time point appears in the process of the rotating speed difference value at the preset number of time points after the current time point, the shift operation is performed at the second target time point.

[0054] Specifically, in the embodiment, if the controller receives the shift signal and calculates that the absolute value of the current rotating speed difference value is less than the lower boundary of the preset speed interval, it indicates that the matching degree of the gearbox output rotating speed and the engine output rotating speed at the current time is already high, and the two are in a synchronized state by default, so that the speed is not adjusted, and the shift operation is directly performed. In addition, in the process of verifying whether the current rotating speed difference value is mainly caused by signal delay to fall within the preset speed interval, as soon as it is detected that the absolute value of the rotating speed difference value at a certain time point (the second target time point) is less than the lower boundary of the preset speed interval, the instantaneous synchronization state at the time point is immediately grasped, and the shift operation is completed, thereby significantly improving the shift efficiency and shift accuracy.

[0055] In some optional embodiments, the shift synchronization control method provided by the embodiment of the present application further includes the following steps:

[0056] Step c1, when the absolute value of the current rotating speed difference value is greater than the upper boundary of the preset speed interval, the engine output rotating speed at the next time point is regulated according to the initial engine target rotating speed, so that the engine output rotating speed at the next time point approaches the initial engine target rotating speed.

[0057] Specifically, in the embodiment, if the controller receives the shift signal and calculates that the absolute value of the current rotating speed difference value is greater than the upper boundary of the preset speed interval, it indicates that the matching degree of the gearbox output rotating speed and the engine output rotating speed at the current time is too large, and the rotating speed mismatch caused by signal transmission delay can be temporarily ignored, so that the engine output rotating speed at the next time point is regulated according to the initial engine target rotating speed, so that the engine output rotating speed at the next time point approaches the initial engine target rotating speed, thereby achieving the effect of rapid synchronization.

[0058] In some optional embodiments, the shift synchronization control method provided by the present invention further includes:

[0059] Step S106: After step S105, calculate the speed difference between the engine output speed at a preset number of time points and the initial engine target speed again.

[0060] Step S107: If the absolute value of the speed difference at each time point still falls within the preset speed range, the engine target speed after the previous adjustment is adjusted by superimposing the preset speed step size, and the engine output speed is readjusted according to the engine target speed after this adjustment.

[0061] Specifically, in this embodiment, after adjusting the engine output speed based on the adjusted target engine speed, it is necessary to re-determine whether the speed difference between the new engine output speed and the initial target engine speed meets the synchronization requirement (i.e., less than the lower boundary of the preset speed range). If the synchronization requirement is met, the gear shift operation can be performed directly. If the synchronization requirement is not met, the engine output speed needs to be further changed. The technical means to achieve this in this embodiment is to further adjust the engine output speed by adding a preset speed step size to the previously adjusted target engine speed. In other words, the target that the engine output speed needs to approach is further increased or decreased to obtain more overshoot, thereby compensating for the control error caused by signal delay. Through the technical solution provided by this embodiment, by multiple overshoot controls, the engine output speed is gradually passively approached to the initial unadjusted engine target speed, which can significantly improve the accuracy and efficiency of gear shift synchronization.

[0062] To facilitate a clear understanding of the solutions provided in the embodiments of the present invention, a specific application scenario embodiment is provided below to illustrate the solutions provided in the embodiments of the present invention:

[0063] ①For example Figure 2 The diagram shown is a flowchart of an embodiment of this application. At the beginning of the synchronization phase during the gear shifting process, the initial target engine speed is calculated based on the gearbox output speed. The specific logic is: gearbox output speed * transmission ratio = initial target engine speed.

[0064] ② Calculate the speed difference. The specific logic is: initial target engine speed - engine output speed = speed difference;

[0065] ③ Judgment based on speed difference:

[0066] Assume the preset speed range is [a~b] (for ease of description, assume the first preset speed range and the second preset speed range are equal).

[0067] 1) If |speed difference value| < a, at this time it is determined that the synchronization is completed, the next action of the shift process is directly executed, and the counter is reset to 0 and the timers 1 and 2 are set to 0 (the timer is used to count a preset number of time points, and the counter is used to add a preset speed step, and each addition of the counter is a repetition of the adjustment, and the count value added each time is the aforementioned preset positive number or preset negative number);

[0068] 2) If a < |speed difference value| < b, at this time it is considered that the speed difference between the engine output speed and the engine target speed is caused by signal transmission delay, and timer 1 is started to count, timer 2 is set to 0, and when timer 1 ≥ a preset number of time points, it is indicated that the speed difference between the engine output speed and the engine target speed is stable and difficult to eliminate for a period of time, so the speed difference between the engine output speed and the engine target speed is determined to be caused by signal transmission delay, at this time timer 1 is reset to 0, and the counter is added by a preset positive number +1 or a preset negative number -1 (whether the preset positive number or the preset negative number is selected depends on the size relationship between the engine output speed and the engine target speed);

[0069] 3) If b < |speed difference value|, at this time timer 1 and timer 2 are set to 0, and the counter remains the previous value unchanged, indicating that the engine output speed and the engine target speed are too different, and there is no need to intervene in the engine target speed, and the engine output speed is controlled according to the initial engine target speed for synchronization.

[0070] IV. The first adjustment amount or the second adjustment amount is calculated based on the counter value * preset speed step value in step 2) above;

[0071] V. The adjusted engine target speed is calculated based on the first adjustment amount or the second adjustment amount, and is used to control the driving motor to control the speed.

[0072] Based on the above process, in a specific application scenario, the preset speed interval is [100 rpm ~ 300 rpm], the preset speed step is 150 rpm, and it is assumed that a time point is 10 ms, the preset number of time points is defined as 100 ms, and the initial value of the counter is 0, as shown in the following figure: Figure 3 which is a flowchart of a speed reduction adjustment shift synchronization scenario:

[0073] ① In the synchronization start stage, the calculated speed difference value is greater than 300 rpm, and the engine output speed is controlled by the engine controller to approach the initial unadjusted engine target speed;

[0074] ② After a period of time, due to CAN delay or dynamic response issues of the motor controller MCU, the absolute value of the speed difference tends to stabilize and falls within the range of 100rpm to 300rpm. At this time, timer 1 starts timing and counts the duration of the absolute value of the speed difference within the range of 100rpm to 300rpm. When it reaches 100ms, the counter accumulates -1 (because the engine target speed is less than the engine output speed, the engine output speed needs to be reduced, so a preset negative number -1 is used for superposition correction), that is, the counter value becomes -1. The adjusted engine target speed = the initial engine target speed -150rpm. The adjusted engine target speed is used as a speed request to control the motor to reduce the speed.

[0075] ③ When the speed difference stabilizes again and remains within the range of 100rpm to 300rpm, timer 1 starts counting again. When it reaches 100ms, the counter accumulates -1, that is, the counter value becomes -2. The adjusted engine target speed = the initial engine target speed - 2 * 150rpm = the initial engine target speed - 300rpm. The adjusted engine target speed is used as a speed request to control the motor to reduce the speed.

[0076] ④ At this point, the engine target speed responds to the speed request and is close to the initial engine target speed. Subsequently, the absolute value of the speed difference is within 100 rpm, and synchronization is completed. The counter and timer are both set to 0.

[0077] ⑤ Once synchronization is complete, execute the gear shift action.

[0078] Similarly, such as Figure 4 The diagram shown is a flowchart of a shift synchronization scenario for acceleration adjustment:

[0079] ① During the initial synchronization phase, if the absolute value of the calculated speed difference is greater than 300 rpm, the engine controller will automatically control the engine output speed to approach the initial unadjusted engine target speed.

[0080] ② After a period of time, due to CAN delay or dynamic response issues of the motor controller MCU, the absolute value of the speed difference tends to stabilize and is within the range of 100rpm to 300rpm. At this time, timer 2 starts timing and counts the duration of the absolute value of the speed difference within the range of 100rpm to 300rpm. When it reaches 100ms, the counter increments by 1 (because the engine target speed is greater than the engine output speed, the engine output speed needs to be increased, so a preset negative number +1 is used for superposition correction), that is, the counter value becomes +1. The adjusted engine target speed = the initial engine target speed + 150rpm. The adjusted engine target speed is used as a speed request to control the motor to reduce the speed.

[0081] ③ the speed difference value tends to be stable again and the speed difference value is still in the range of 100rpm-300rpm, at this time the timer 2 starts to re-count again, when it reaches 100ms, the counter accumulates +1, that is, the counter value becomes +2, the adjusted engine target speed = initial engine target speed+2*150rpm = initial engine target speed+300rpm, the adjusted engine target speed is used as the speed request to control the motor to increase the speed;

[0082] ④ at this time, the engine target speed responds to the speed request and is close to the initial engine target speed, then the absolute value of the speed difference value is within 100rpm, the synchronization is completed, the counter and the timer are set to 0;

[0083] ⑤ determine that the synchronization is completed, and perform a gear shifting action.

[0084] In the embodiment, a gear shifting synchronization control device is also provided, which is used to realize the above-mentioned embodiments and preferred embodiments, and has been described above. As used below, the term "module" can be a combination of software and / or hardware that realizes a predetermined function. Although the device described in the following embodiments is preferably realized in software, realization in hardware, or a combination of software and hardware is also possible and is contemplated.

[0085] The embodiment provides a gear shifting synchronization control device, as shown in Figure 5 applied to a vehicle controller, the device comprises:

[0086] The gearbox speed acquisition module 501 is configured to acquire the gearbox output speed at the current time point, and calculate the initial engine target speed by using the gearbox output speed at the current time point.

[0087] The engine speed acquisition module 502 is configured to acquire the engine output speed at the current time point, and calculate the current speed difference value between the engine output speed at the current time point and the initial engine target speed.

[0088] The speed difference value judgment module 503 is configured to judge whether the speed difference values corresponding to the preset number of time points after the current time point all fall within the preset speed interval when the absolute value of the current speed difference value falls within the preset speed interval.

[0089] The target correction module 504 is configured to adjust the initial engine target speed based on the preset speed step length if the speed difference values corresponding to the preset number of time points after the current time point all fall within the preset speed interval.

[0090] The control module 505 is configured to control the engine output speed after the preset number of time points according to the adjusted engine target speed.

[0091] In some alternative embodiments, the target correction module 504 comprises:

[0092] a speed-down correction unit configured to, when the speed difference at each time point indicates that the engine output speed at the corresponding time point is greater than the initial engine target speed, and the absolute value of the speed difference at each time point falls within a first preset speed interval, adjust the initial engine target speed downward by a preset speed step;

[0093] a speed-up correction unit configured to, when the speed difference at each time point indicates that the engine output speed at the corresponding time point is less than the initial engine target speed, and the absolute value of the speed difference at each time point falls within a second preset speed interval, adjust the initial engine target speed upward by a preset speed step.

[0094] In some alternative embodiments, the speed-down correction unit comprises:

[0095] a first adjustment amount unit configured to, when the absolute value of the speed difference at each time point all falls within the first preset speed interval, calculate a first adjustment amount based on the product of a preset negative number and the preset speed step;

[0096] a first adjustment unit configured to adjust the initial engine target speed downward by the first adjustment amount.

[0097] In some alternative embodiments, the speed-up correction unit comprises:

[0098] a second adjustment amount unit configured to, when the absolute value of the speed difference at each time point all falls within the second preset speed interval, calculate a second adjustment amount based on the product of a preset positive number and the preset speed step;

[0099] a second adjustment unit configured to adjust the initial engine target speed upward by the second adjustment amount.

[0100] In some alternative embodiments, the shift synchronization control device further comprises:

[0101] a first shift module configured to, when the absolute value of the current speed difference is less than the lower boundary of the preset speed interval, perform a shift operation;

[0102] a second shift module configured to, if the absolute value of the speed difference at the second target time point is less than the lower boundary of the preset speed interval during the calculation of the speed difference at the preset number of time points after the current time point, perform a shift operation at the second target time point.

[0103] In some alternative embodiments, the shift synchronization control device further comprises:

[0104] The original synchronization module is configured to, when the absolute value of the current speed difference value is greater than the upper boundary of the preset speed interval, regulate the engine output speed at the next time point according to the initial engine target speed, so that the engine output speed at the next time point approximates to the initial engine target speed.

[0105] In some optional embodiments, the shift synchronization control device further comprises:

[0106] The repeated detection module is configured to, after regulating the engine output speed at the preset number of time points according to the adjusted engine target speed, calculate again the speed difference value between the engine output speed at the preset number of time points and the initial engine target speed.

[0107] The repeated regulation module is configured to, if the absolute value of the speed difference value at each time point still falls within the preset speed interval, superimpose the preset speed step on the engine target speed adjusted last time, and regulate the engine output speed again according to the engine target speed adjusted this time.

[0108] Further function descriptions of the above-mentioned modules and units are the same as those of the corresponding embodiments, and will not be described here.

[0109] The shift synchronization control device in the embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory executing one or more software or fixed programs, and / or other devices that can provide the above functions.

[0110] The embodiment of the present application also provides a computer device having the above-mentioned Figure 5 shift synchronization control device.

[0111] Please refer to Figure 6 , Figure 6 is a structural schematic diagram of a computer device provided by an optional embodiment of the present application, as Figure 6As shown, the computer device includes one or more processors 10, memory 20, and interfaces 30 for external devices such as a keyboard and a mouse and peripheral devices such as disk devices or other storage devices. One or more busses 10 can be used to implement the interface between the various circuits and components of the computer device. It will be appreciated that the bus 10 can be implemented using any one or more of a variety of bus structures, such as a Peripheral Component Interconnect (PCI) bus, a Bluetooth bus, an Industry Standard Architecture (ISA) bus, an Enhanced ISA bus, an Accelerated Graphics Port (AGP) bus, a Video Electronics Standards Association (VESA) local bus, a Micro Channel Architecture (MCA) bus, a Universal Serial Bus (USB), and the like. Figure 6 The processor 10 is used in the embodiments as an example.

[0112] The processor 10 can be a central processing unit, a network processor, or a combination thereof. The processor 10 can further include a hardware chip. The hardware chip can be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device can be a complex programmable logic device, a field programmable logic device, a general array logic, or any combination thereof.

[0113] The memory 20 stores instructions that can be executed by the at least one processor 10, so that the at least one processor 10 can perform the method shown in the above embodiments.

[0114] The memory 20 can include a program region and a data region. The program region can store an operating system and application programs required by at least one function. The data region can store data created by the use of the computer device, and the like. In addition, the memory 20 can include a high-speed random access memory, and can further include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some alternative embodiments, the memory 20 can optionally include a memory that is remotely arranged with respect to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0115] The memory 20 can include a volatile memory, such as a random access memory, and can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid state disk. The memory 20 can further include a combination of the above-mentioned kinds of memories.

[0116] The computer device further includes a communication interface 30 for communication with other devices or communication networks.

[0117] The embodiments of the present application further provide a computer readable storage medium, and the method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or be implemented as computer codes stored in a remote storage medium or a non-transitory machine readable storage medium and downloaded through a network and stored in a local storage medium, so that the method described herein can be processed by such software on a storage medium using a general purpose computer, a special purpose processor, or programmable or special hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid state disk, etc. Further, the storage medium can also include a combination of the above-mentioned types of memories. It can be understood that the computer, the processor, the microprocessor controller, or the programmable hardware includes a storage component that can store or receive software or computer codes, when the software or computer codes are accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0118] Although the embodiments of the present application are described in conjunction with the accompanying drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A method for synchronous gear shifting, characterized in that, Applied to a vehicle controller, the method includes: Obtain the transmission output speed at the current time point, and use the transmission output speed at the current time point to calculate the initial target engine speed; Obtain the engine output speed at the current time point, and calculate the current speed difference between the engine output speed at the current time point and the initial engine target speed; When the absolute value of the current speed difference falls within the preset speed range, it is determined whether the speed differences corresponding to a preset number of time points after the current time point all fall within the preset speed range. If the speed difference corresponding to a preset number of time points after the current time point all fall within the preset speed range, then the initial engine target speed is adjusted based on the preset speed step size. The engine output speed is adjusted according to the preset number of time points after the adjusted engine target speed.

2. The method according to claim 1, characterized in that, If the speed difference values ​​corresponding to a preset number of time points after the current time point all fall within the preset speed range, then the initial engine target speed is adjusted based on a preset speed step size, including: When the speed difference at each time point indicates that the engine output speed at each time point is greater than the initial engine target speed, and the absolute value of the speed difference at each time point falls within the first preset speed range, the initial engine target speed is adjusted to a smaller value by using a preset speed step. When the speed difference at each time point indicates that the engine output speed at each time point is less than the initial engine target speed, and the absolute value of the speed difference at each time point falls within the second preset speed range, the initial engine target speed is adjusted to be larger by means of the preset speed step.

3. The method according to claim 2, characterized in that, When the speed difference at each time point indicates that the engine output speed at each time point is greater than the initial engine target speed, and the absolute value of the speed difference at each time point falls within the first preset speed range, the initial engine target speed is adjusted to a smaller value using a preset speed step, including: When the absolute value of the speed difference at each time point falls within the first preset speed range, the first adjustment amount is calculated based on the product of the preset negative number and the preset speed step size. The initial target engine speed is adjusted to a smaller value using the first adjustment amount.

4. The method according to claim 3, characterized in that, When the speed difference at each time point indicates that the engine output speed at each time point is less than the initial engine target speed, and the absolute value of the speed difference at each time point falls within the second preset speed range, the initial engine target speed is adjusted upwards using the preset speed step size, including: When the absolute value of the speed difference at each time point falls within the second preset speed range, the second adjustment amount is calculated based on the product of the preset positive number and the preset speed step size. The initial target engine speed is increased by the second adjustment amount.

5. The method according to claim 1 or 4, characterized in that, The method further includes: When the absolute value of the current speed difference is less than the lower boundary of the preset speed range, a gear shift operation is performed; If, during the calculation of the speed difference at a preset number of time points after the current time point, the absolute value of the speed difference at the second target time point is less than the lower boundary of the preset speed range, then a gear shift operation is performed at the second target time point.

6. The method according to claim 5, characterized in that, The method further includes: When the absolute value of the current speed difference is greater than the upper boundary of the preset speed range, the engine output speed at the next time point is adjusted according to the initial engine target speed so that the engine output speed at the next time point approaches the initial engine target speed.

7. The method according to claim 6, characterized in that, The method further includes: After adjusting the engine output speed according to the preset number of time points based on the adjusted engine target speed, the engine output speed at the preset number of time points and the initial engine target speed are calculated again. If the absolute value of the speed difference at each time point still falls within the preset speed range, the engine target speed after the last adjustment is adjusted by superimposing the preset speed step size, and the engine output speed is readjusted according to the engine target speed after this adjustment.

8. A gear shift synchronization control device, characterized in that, The device, applied to a vehicle controller, includes: The transmission speed acquisition module is used to acquire the transmission output speed at the current time point and calculate the initial engine target speed using the transmission output speed at the current time point; The engine speed acquisition module is used to acquire the engine output speed at the current time point and calculate the current speed difference between the engine output speed at the current time point and the initial engine target speed. The speed difference judgment module is used to determine whether the speed differences corresponding to a preset number of time points after the current time point all fall within the preset speed range when the absolute value of the current speed difference falls within the preset speed range. The target correction module is used to adjust the initial engine target speed based on a preset speed step size if the speed difference corresponding to a preset number of time points after the current time point all fall within the preset speed range. The control module is used to adjust the engine output speed after the preset number of time points according to the adjusted engine target speed.

9. A computer device, characterized in that, include: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the method of any one of claims 1 to 7.

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