Method and device for shifting gears of a vehicle, vehicle and storage medium

Abstract

The application provides a vehicle gear shifting method and device, a vehicle and a storage medium. The method is applied to the technical field of vehicles and comprises the following steps: obtaining a target rotating speed of a motor that meets gear shifting requirements; if it is detected that the rotating speed of the motor is synchronized to the target rotating speed, controlling the motor to maintain the target rotating speed until a preset exit condition is met while controlling a gearbox to start performing a gear shifting action; and controlling a synchronizer to perform a rotating speed synchronization action to complete the gear shifting action. The method can effectively avoid a too large rotating speed difference between the two ends of the synchronizer when the synchronizer performs the rotating speed synchronization action, thereby avoiding the problem of vehicle breakage and noise caused by a too large rotating speed difference, improving gear shifting stability, comfort and smoothness, and improving user experience; and a smaller rotating speed difference can also shorten the time required for synchronization of the synchronizer, thereby shortening the gear shifting time as a whole and improving gear shifting efficiency.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to methods, apparatus, vehicles, and storage media for shifting gears in vehicles. Background Technology

[0002] As vehicles become more common, users' demands for driving operation and passenger comfort are also increasing. Gear shifting control is one of the commonly used driving functions, and the smoothness of the gear shifting process is also one of the main factors affecting comfort.

[0003] In related technologies, the vehicle shift control process includes: the TCU (Transmission Control Unit) sending a shift signal, and the MCU (Motor Control Unit) assisting in completing the shift. However, the above-mentioned vehicle shift control process is prone to jerking, resulting in noise during shifting, poor shift smoothness, and affecting the driving experience. Summary of the Invention

[0004] This application provides a method, apparatus, vehicle, and storage medium for shifting gears in the field of vehicles. When the synchronizer performs speed synchronization, the method can effectively avoid excessive speed difference between the two ends of the synchronizer, thereby avoiding vehicle jerking and noise problems caused by excessive speed difference, improving shifting stability and comfort, improving shifting smoothness, and enhancing the user experience. Furthermore, a smaller speed difference can also shorten the synchronization time required by the synchronizer, thereby shortening the overall shifting time and improving shifting efficiency.

[0005] In a first aspect, a method for shifting gears in a vehicle is provided, the method comprising: acquiring a target speed of the motor to meet the shifting requirements; if it is detected that the speed of the motor is synchronized with the target speed, controlling the gearbox to start performing a shifting action while controlling the motor to maintain the target speed until a preset exit condition is met; controlling the synchronizer to perform a speed synchronization action to complete the shifting action.

[0006] Based on the aforementioned technical means, this embodiment of the application can maintain a constant motor speed while controlling the gearbox to begin shifting after the motor speed reaches the target speed. This delays the exit time of the motor speed control, ensuring the motor remains controllable during shifting. Consequently, when the synchronizer performs speed synchronization, it effectively avoids excessive speed differences between the two ends of the synchronizer, thus preventing vehicle jerking and noise issues caused by excessive speed differences. This improves shifting stability and comfort, enhances shifting smoothness, and improves the user experience. Furthermore, a smaller speed difference allows the synchronizer to shorten the synchronization time, thereby reducing overall shifting time and improving shifting efficiency.

[0007] In conjunction with the first aspect, in some possible implementations, controlling the motor to maintain the target speed until a preset exit condition is met includes: detecting the actual position of the shift fork; determining whether the actual position of the shift fork has reached the target position; if the actual position has reached the target position, determining that the preset exit condition is met and exiting the speed control of the motor; otherwise, controlling the motor to continue maintaining the target speed.

[0008] With the above technical solution, since the synchronous operation of the synchronizer can be performed when the shift fork reaches the target position, the speed control of the motor will not be withdrawn at this time, and the speed difference between the two sides of the synchronizer will not be too large. Therefore, the embodiments of this application can accurately determine the timing of the withdrawal of the speed control of the motor by adjusting the position of the shift fork, thereby improving the accuracy of the speed control of the delayed motor.

[0009] In combination with the first aspect and the above implementation methods, in some possible implementation methods, controlling the motor to maintain the target speed until the preset exit condition is met includes: starting the timer from when the speed is synchronized to the target speed or when the shift fork starts to move, delaying the speed control of the motor; if the total duration of the delay control is greater than or equal to the first preset duration, it is determined that the preset exit condition is met, and the delay control of the motor is exited; otherwise, the motor is controlled to continue to maintain the target speed.

[0010] With the above technical solution, since the time required from the start of speed synchronization to the target speed or the start of the shift fork action until the synchronizer starts to perform the synchronization action is usually not long, typically on the order of millimeters, and this time usually does not deviate significantly, the embodiments of this application can accurately determine the exit time of motor speed control by monitoring the total duration of delay control, thereby improving the accuracy of delayed motor speed control. It can also provide a redundant judgment method when the shift fork position cannot be detected, avoiding long-term delayed control of the motor and improving the reliability of delayed control exit.

[0011] In combination with the first aspect and the above implementation methods, in some possible implementation methods, before determining whether the total duration of delay control is greater than or equal to the first preset duration, it further includes: if the actual position of the shift fork has not reached the target position, then after an interval of the second preset duration, determining whether the total duration of delay control is greater than or equal to the first preset duration.

[0012] With the above technical solution, since the time required from the start of the rotational speed synchronization to the target rotational speed or the start of the shift fork action until the synchronizer starts to perform the synchronization action is usually not too long, it still requires a certain amount of time. Therefore, the embodiments of this application can avoid the resource consumption caused by real-time monitoring by selecting an appropriate monitoring step size, thereby saving computing resources while accurately monitoring the exit time.

[0013] In combination with the first aspect and the above implementation methods, in some possible implementation methods, detecting the actual position of the shift fork of the gearbox includes: detecting a hub angle signal; and determining the actual position of the shift fork based on the hub angle signal.

[0014] Through the above technical solution, since the hub angle can directly reflect the actual position of the shift fork, the embodiments of this application can accurately detect the actual position of the shift fork by the hub angle, thereby improving the accuracy of the actual position detection of the shift fork.

[0015] In combination with the first aspect and the above implementation methods, in some possible implementation methods, obtaining the target speed of the motor to meet the shifting requirements includes: detecting the current vehicle speed; determining the target gear of the transmission based on the current vehicle speed; and determining the target speed of the motor to meet the shifting requirements based on the target gear.

[0016] Through the above technical solution, since different gears are applicable to different speed ranges, the vehicle speed is usually matched with the gear. Therefore, the embodiment of this application can match the current vehicle speed with the target gear. It can be seen that the different vehicle speeds in different gears result in different motor speeds required for gear shifting. Therefore, after determining the target gear, the embodiment of this application determines a suitable target speed based on the target gear, thereby improving the accuracy of the target speed determination.

[0017] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the control synchronizer performs a speed synchronization action, including: controlling the synchronization ring of the synchronizer to synchronize the speeds at both ends of the synchronizer, and controlling the engagement teeth to enter after the speeds are synchronized.

[0018] With the above technical solution, after the synchronous ring synchronizes the speeds at both ends of the synchronizer, the speed difference between the gear sleeve and the engagement gear disappears. At this time, the engagement gear can be controlled to enter, avoiding gear grinding caused by speed difference and improving the smoothness of gear shifting.

[0019] Secondly, a vehicle gear shifting device is provided, comprising: an acquisition module for acquiring a target speed of the motor to meet the gear shifting requirements; a first control module for controlling the gearbox to start performing a gear shifting action and controlling the motor to maintain the target speed until a preset exit condition is met when the motor speed is detected to be synchronized with the target speed; and a second control module for controlling the synchronizer to perform a speed synchronization action to complete the gear shifting action.

[0020] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the first control module is further configured to: detect the actual position of the shift fork; determine whether the actual position of the shift fork has reached the target position; if the actual position has not reached the target position, determine that the preset exit condition is met and exit the speed control of the motor; otherwise, control the motor to continue to maintain the target speed.

[0021] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the first control module is further configured to: start timing from when the rotational speed is synchronized to the target rotational speed or when the shift fork starts to move, delay the rotational speed control of the motor, and determine whether the total duration of the delay control is greater than or equal to a first preset duration; if the total duration of the delay control is greater than or equal to the first preset duration, it is determined that the preset exit condition is met, and the delay control of the motor is exited; otherwise, the motor is controlled to continue to maintain the target rotational speed.

[0022] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the first control module is further configured to: if the actual position of the shift fork does not reach the target position, then after an interval of a second preset time, determine whether the total duration of the delay control is greater than or equal to the first preset time.

[0023] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the first control module is further configured to: detect the hub angle signal; and determine the actual position of the shift fork based on the hub angle signal.

[0024] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the acquisition module is further used to: detect the current vehicle speed; determine the target gear of the transmission based on the current vehicle speed; and determine the target speed of the motor to meet the shifting requirements based on the target gear.

[0025] In combination with the second aspect and the above implementation, in some possible implementations, the second control module is further used to: control the synchronization ring of the synchronizer to synchronize the rotational speeds at both ends of the synchronizer; and control the engagement teeth of the synchronizer to engage after the rotational speeds at both ends of the synchronizer are synchronized.

[0026] Thirdly, a vehicle is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the vehicle gear shifting method as described in the above embodiments.

[0027] Fourthly, a computer program product is provided, wherein the computer-readable storage medium stores a computer program that, when executed, implements the vehicle gear shifting method as described in the above embodiments. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the hybrid transmission structure in related technologies;

[0029] Figure 2 This is a schematic diagram of the hardware structure of a synchronizer in related technologies;

[0030] Figure 3 This is a schematic flowchart of a vehicle gear shifting method according to an embodiment of this application;

[0031] Figure 4 This is a schematic flowchart of a vehicle gear shifting method according to an embodiment of this application;

[0032] Figure 5 This is a schematic diagram of the logic control for vehicle gear shifting according to an embodiment of this application;

[0033] Figure 6 This is a schematic diagram of the structure of a vehicle gear shifting device according to an embodiment of this application;

[0034] Figure 7 This is a schematic diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0035] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0036] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0037] It should be noted that the hardware structure used in the following embodiments includes: an engine connected to a clutch, a motor connected to the rear end of the clutch, a motor connected to an input shaft and then connected to the active end of a shift fork via gears, and a hybrid gearbox that transmits torque to the wheel end through the force of the shift fork.

[0038] Specifically, such as Figure 1 As shown, a hybrid transmission includes an ICE (Internal Combustion Engine), an electric motor, an input shaft, a clutch, gears, a synchronizer, and a differential. The synchronizer's structure is as follows: Figure 2 As shown, it includes gears, engaging teeth, synchronizing rings, locking rings, locating pins, gear seats, and gear sleeves.

[0039] In related technologies, speed control is usually disengaged after the motor speed reaches the target speed. Then, the speeds at both ends are synchronized through a synchronization ring before shifting gears. Specifically, when the hybrid transmission in the vehicle is shifting gears, the TCU sends the motor speed control and target speed to the MCU. After the motor speed adjustment is completed, the TCU disengages the motor speed control and controls the shift fork to engage the gear. Then, the speeds at both ends are synchronized through a synchronizer. Shifting gears is performed after the synchronizer completes the synchronization of the speeds at both ends.

[0040] However, there is a gap between the TCU's disengagement from motor speed control and the shift fork's actual displacement. During this period, the motor is uncontrolled. The motor speed, which should correspond to the actual vehicle speed, will decrease due to natural rotation or drag torque, resulting in a significant speed difference between the motor speed and the target speed, especially noticeable as the vehicle speed increases. When the synchronizing ring in the shifting mechanism synchronizes during this time, the driven end and the driving end of the shifting mechanism will come into contact. Therefore, the driving end is equivalent to a large load on the driven end, meaning the motor is considered a load, and the larger the speed difference, the greater the load. Consequently, under a large speed difference, the power transmitted by the shift fork will cause jerking and noise in the vehicle.

[0041] To address the aforementioned issues, this application provides a vehicle gear shifting method, apparatus, vehicle, and storage medium. The vehicle gear shifting method provided in this application will be described first.

[0042] Specifically, Figure 3 This is a schematic flowchart of a vehicle gear shifting method provided in an embodiment of this application.

[0043] For example, such as Figure 3 As shown, the method for shifting gears in this vehicle includes the following steps:

[0044] Step S101: Obtain the target speed of the motor to meet the shifting requirements.

[0045] It is understandable that, since different gears correspond to different shifting requirements and different motor speeds correspond to different shifting requirements, in order to improve the smoothness of shifting, this embodiment of the application determines the target speed of the motor according to the shifting requirements when the vehicle needs to shift gears.

[0046] In this embodiment of the application, obtaining the target speed of the motor to meet the shifting requirements includes: detecting the current vehicle speed; determining the target gear of the transmission based on the current vehicle speed; and determining the target speed of the motor to meet the shifting requirements based on the target gear.

[0047] The target gear signal can be sent by the TCU and received by the MCU, indicating the gear that the transmission will enter.

[0048] It is understandable that since different gears are applicable to different speed ranges, vehicle speed is usually matched with gear. Therefore, the embodiments of this application can match the current vehicle speed with the target gear. It can be seen that the different vehicle speeds in different gears result in different motor speeds required for gear shifting. Therefore, after determining the target gear, the embodiments of this application determine the appropriate target speed based on the target gear, thereby improving the accuracy of the target speed determination.

[0049] In step S102, if the motor speed is detected to be synchronized with the target speed, the gearbox is controlled to start performing a shifting action while the motor is controlled to maintain the target speed until the preset exit condition is met.

[0050] The shifting action can include the action of the shift fork and the action of the synchronizer. When the gearbox starts to perform the shifting action, it means that the shift fork starts to move.

[0051] It is understood that, in this embodiment of the application, after the motor speed reaches the target speed, the transmission can be controlled to start shifting while maintaining the motor speed constant, i.e., delaying the exit time of the motor speed control. This keeps the motor in a controllable state during shifting, thereby effectively avoiding excessive speed difference between the two ends of the synchronizer when the synchronizer performs speed synchronization. This avoids vehicle jerking and noise problems caused by excessive speed difference, improves shifting stability and comfort, improves shifting smoothness, and enhances the user experience. Furthermore, a smaller speed difference can also shorten the synchronization time required by the synchronizer, thereby shortening the overall shifting time and improving shifting efficiency.

[0052] It should be noted that the embodiments of this application can use a variety of methods to determine whether the preset exit condition is met. For example, the actual position of the shift fork can be used to determine whether the preset exit condition is met; the total duration of the speed control of the delay motor can be used to determine whether the preset exit condition is met; the actual position of the shift fork and the total duration can be combined to determine whether the preset exit condition is met; or the actual position of the shift fork and the preset interval duration can be combined to determine whether the total duration is met, etc. No specific limitation is made. The following will describe these judgment methods in detail.

[0053] As a first possible way to determine whether the preset exit condition is met, the motor is controlled to maintain the target speed until the preset exit condition is met, including: detecting the actual position of the shift fork; determining whether the actual position of the shift fork has reached the target position; if the actual position has not reached the target position, it is determined that the preset exit condition is met and the motor speed control is exited; otherwise, the motor is controlled to continue to maintain the target speed.

[0054] The shift fork is a hardware structure that changes the speed ratio between the input and output.

[0055] It is understandable that when the shift fork reaches the target position, it indicates that the synchronization operation of the synchronizer can be performed. At this time, exiting the speed control of the motor will not cause the speed difference on both sides of the synchronizer to be too large. Therefore, the embodiments of this application can accurately determine the exit time of the speed control of the motor by adjusting the position of the shift fork, thereby improving the accuracy of the speed control of the delayed motor.

[0056] In this embodiment of the application, detecting the actual position of the gearbox shift fork includes: detecting the hub angle signal; and determining the actual position of the shift fork based on the hub angle signal.

[0057] It is understandable that, since the hub angle can directly reflect the actual position of the shift fork, the embodiments of this application can accurately detect the actual position of the shift fork by the hub angle, thereby improving the accuracy of the actual position detection of the shift fork.

[0058] As a second possible way to determine whether the preset exit condition is met, the motor is controlled to maintain the target speed until the preset exit condition is met, including: starting the timer from when the speed is synchronized to the target speed or when the shift fork starts to move, and delaying the control of the motor speed; if the total duration of the delay control is greater than or equal to the first preset duration, it is determined that the preset exit condition is met and the delay control of the motor is exited; otherwise, the motor is controlled to continue to maintain the target speed.

[0059] The first preset duration can be specifically defined, for example, the first preset duration can be 150ms, 155ms or 160ms, etc., without specific limitations.

[0060] It is understandable that the time required from the start of speed synchronization to the target speed or the start of the shift fork action until the synchronizer begins to perform the synchronization action is usually not long, such as 150ms, 155ms or 160ms, which is usually on the millimeter level. Moreover, this time usually does not have a large deviation. Therefore, the embodiments of this application can accurately determine the exit time of the motor speed control by monitoring the total duration of the delay control, thereby improving the accuracy of the speed control of the delayed motor.

[0061] As a third possible way to determine whether the preset exit condition is met, the motor is controlled to maintain the target speed until the preset exit condition is met. This includes: determining whether the preset exit condition is met based on the actual position of the shift fork and the total duration of the delayed motor speed control. If the preset exit condition is met based on the actual position of the shift fork, the motor speed control is exited. If the preset exit condition is not met based on the actual position of the shift fork, the motor speed control can also be exited if the preset exit condition is met based on the total duration.

[0062] It is understood that, as in the above embodiments, the actual position of the shift fork can be obtained by detecting the hub angle, that is, the actual position of the shift fork is obtained by detection. Since the detection may be at risk of failure, the embodiments of this application can combine the actual position of the shift fork and the total duration to jointly determine whether the preset exit condition is met. This provides a redundant judgment method when the position of the shift fork cannot be detected, avoids long-term delayed control of the motor, and improves the reliability of delayed control exit.

[0063] As a fourth possible way to determine whether the preset exit condition is met, before determining whether the total duration of the delay control is greater than or equal to the first preset duration, it also includes: if the actual position of the fork has not reached the target position, then after an interval of the second preset duration, determining whether the total duration of the delay control is greater than or equal to the first preset duration.

[0064] The second preset duration can be specifically defined, such as 10ms or 11ms, without any specific limitation.

[0065] It is understood that the embodiments of this application can not only immediately determine whether the preset exit condition is met based on the total time when it is determined that the preset exit condition is not met based on the actual position of the shift fork, but also determine whether the preset exit condition is met based on the total time after a second preset time interval, such as 10ms or 11ms. If the preset exit condition is not met, the determination of whether the preset exit condition is not met based on the actual position of the shift fork will continue, and the above operation will be repeated.

[0066] Since the time required from the start of speed synchronization to the target speed or the start of the shift fork action until the synchronizer starts to perform the synchronization action is usually not very long, it still requires a certain amount of time, such as 150ms, 155ms or 160ms. Therefore, the embodiments of this application can avoid the resource consumption caused by real-time monitoring by selecting an appropriate monitoring step size, that is, a second preset time, such as 10ms or 11ms, thereby saving computing resources while accurately monitoring the exit time.

[0067] Step S103: Control the synchronizer to perform speed synchronization action to complete the gear shifting action.

[0068] It is understood that through the above steps, the embodiments of this application have effectively avoided excessive speed difference between the two ends of the synchronizer. Therefore, when controlling the synchronizer to perform speed synchronization, the vehicle jerking and noise problems caused by excessive speed difference can be avoided, improving shifting stability and comfort, improving shifting smoothness, and improving user experience. In addition, a smaller speed difference can also shorten the synchronization time required by the synchronizer, thereby shortening the overall shifting time and improving shifting efficiency.

[0069] In this embodiment of the application, controlling the synchronizer to perform speed synchronization includes: controlling the synchronization ring of the synchronizer to synchronize the speeds at both ends of the synchronizer, and controlling the engagement teeth to enter after the speeds are synchronized.

[0070] Understandably, after the synchronizer ring synchronizes the speeds at both ends of the synchronizer, the speed difference between the gear sleeve and the engagement gear disappears. At this point, the engagement gear can be controlled to enter, avoiding gear grinding due to speed difference and improving the smoothness of gear shifting.

[0071] The method for shifting gears in a vehicle according to this application will be described below through a specific embodiment, such as... Figure 5 As shown, it includes the following steps:

[0072] Step S1: The TCU determines the target gear of the transmission based on the current position and determines the target speed of the motor to meet the shifting requirements based on the target gear.

[0073] Step S2: The TCU sends the motor speed control request and target speed to the MCU;

[0074] Step S3: The MCU controls the motor speed to synchronize with the target speed according to the speed control request. At this time, while controlling the gearbox to start the shifting action, the timing starts from when the speed is synchronized with the target speed or when the shift fork starts to move, thus delaying the motor speed control.

[0075] Step S4: Detect the actual position of the shift fork and determine whether the actual position of the shift fork has reached the target position. If the actual position has reached the target position, proceed to step S6; otherwise, proceed to step S5.

[0076] Step S5: After delaying the motor speed control for 10ms, determine whether the total delay control time is greater than or equal to 150ms. If the result is no, return to step S4 and repeat the operation until the result is yes. If the result is yes, proceed to step S6.

[0077] Step S6: Exit motor speed control, control synchronizer engagement teeth to engage, shift gears complete, and end process.

[0078] In summary, according to the above embodiments, after the motor speed reaches the target speed, the gearbox can be controlled to start shifting while maintaining the motor speed constant, i.e., delaying the exit time of motor speed control. This keeps the motor in a controllable state during shifting, effectively preventing excessive speed difference between the two ends of the synchronizer when the synchronizer performs speed synchronization. This avoids vehicle jerking and noise problems caused by excessive speed difference, improving shifting stability and comfort, smoothness, and user experience. Furthermore, a smaller speed difference allows the synchronizer to shorten the synchronization time, reducing overall shifting time and improving shifting efficiency. Additionally, it provides a redundant judgment method when the shift fork position cannot be detected, avoiding prolonged delayed control of the motor and improving the reliability of delayed control exit.

[0079] Figure 6 This is a schematic diagram of a vehicle gear shifting device provided in an embodiment of this application.

[0080] For example, such as Figure 6 As shown, the vehicle gear shifting device 10 may include: an acquisition module 100, a first control module 200, and a second control module 300.

[0081] The acquisition module 100 is used to acquire the target speed of the motor to meet the shifting requirements.

[0082] The first control module 200 is used to control the gearbox to start performing a shifting action and control the motor to maintain the target speed until the preset exit condition is met if the motor speed is detected to be synchronized with the target speed.

[0083] The second control module 300 is used to control the synchronizer to perform speed synchronization action and complete the gear shifting action.

[0084] In this embodiment, the first control module 200 is further configured to: detect the actual position of the shift fork; determine whether the actual position of the shift fork has reached the target position; if the actual position has not reached the target position, determine that the preset exit condition is met and exit the motor speed control; otherwise, control the motor to continue to maintain the target speed.

[0085] In this embodiment of the application, the first control module 200 is further configured to: start timing from when the speed is synchronized to the target speed or when the shift fork starts to move, delay the speed control of the motor, and determine whether the total duration of the delay control is greater than or equal to the first preset duration; if the total duration of the delay control is greater than or equal to the first preset duration, it is determined that the preset exit condition is met and the delay control of the motor is exited; otherwise, the motor is controlled to continue to maintain the target speed.

[0086] In this embodiment of the application, the first control module 200 is further configured to: if the actual position of the shift fork does not reach the target position, then after an interval of a second preset time, determine whether the total duration of the delay control is greater than or equal to the first preset time.

[0087] In this embodiment, the first control module 200 is further configured to: detect the hub angle signal; and determine the actual position of the shift fork based on the hub angle signal.

[0088] In this embodiment of the application, the acquisition module 100 is further used to: detect the current vehicle speed; determine the target gear of the transmission based on the current vehicle speed; and determine the target speed of the motor to meet the shifting requirements based on the target gear.

[0089] In this embodiment of the application, the second control module 300 is further configured to: control the synchronization ring of the synchronizer to synchronize the rotational speeds at both ends of the synchronizer; and control the engagement teeth of the synchronizer to enter after the rotational speeds at both ends of the synchronizer are synchronized.

[0090] It should be noted that the foregoing explanation of the vehicle shifting method embodiment also applies to the vehicle shifting device of this embodiment, and will not be repeated here.

[0091] The vehicle gear shifting device according to the embodiments of this application can maintain a constant motor speed while controlling the gearbox to start shifting after the motor speed reaches the target speed. This delays the exit time of motor speed control, keeping the motor in a controllable state during gear shifting. This effectively avoids excessive speed differences between the synchronizer ends when the synchronizer performs speed synchronization, thus preventing vehicle jerking and noise problems caused by large speed differences. This improves shifting stability and comfort, enhances shifting smoothness, and improves the user experience. Furthermore, a smaller speed difference allows the synchronizer to shorten the synchronization time, reducing overall shifting time and improving shifting efficiency. Additionally, it provides a redundant judgment method when the shift fork position cannot be detected, avoiding prolonged delayed control of the motor and improving the reliability of delayed control exit.

[0092] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0093] The memory 701, the processor 702, and the computer program stored on the memory 701 and executable on the processor 702.

[0094] When the processor 702 executes the program, it implements the vehicle gear shifting method provided in the above embodiments.

[0095] Furthermore, the vehicle also includes:

[0096] Communication interface 703 is used for communication between memory 701 and processor 702.

[0097] The memory 701 is used to store computer programs that can run on the processor 702.

[0098] The memory 701 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0099] If the memory 701, processor 702, and communication interface 703 are implemented independently, then the communication interface 703, memory 701, and processor 702 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0100] Optionally, in a specific implementation, if the memory 701, processor 702, and communication interface 703 are integrated on a single chip, then the memory 701, processor 702, and communication interface 703 can communicate with each other through an internal interface.

[0101] The processor 702 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.

[0102] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described vehicle gear shifting method.

[0103] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0104] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0105] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for shifting gears in a vehicle, characterized in that, The method includes: Obtain the target speed of the motor to meet the shifting requirements; If the motor speed is detected to be synchronized with the target speed, the gearbox is controlled to start performing a shift action while the motor is controlled to maintain the target speed until the preset exit condition is met; The control of the motor to maintain the target speed until a preset exit condition is met includes: Detect the actual position of the shift fork and determine whether the actual position of the shift fork has reached the target position; The timing begins when the rotational speed is synchronized to the target rotational speed or when the shift fork begins to move, thus delaying the motor's rotational speed control. Based on the actual position of the shift fork and the total duration of the delay control, determine whether the preset exit condition is met; If the preset exit condition is met based on the actual position of the shift fork, or if the preset exit condition is met based on the total duration of the delay control being greater than or equal to the first preset duration, then the speed control of the motor is exited. Before determining whether the total duration of delay control is greater than or equal to the first preset duration, the process also includes: If the preset exit condition is not met based on the actual position of the shift fork, then after a second preset time interval, it is determined whether the total duration of the delay control is greater than or equal to the first preset time; otherwise, the motor is controlled to continue maintaining the target speed. The synchronizer is controlled to perform speed synchronization, thus completing the gear shifting action.

2. The method according to claim 1, characterized in that, The detection of the actual position of the shift fork of the gearbox includes: Detect the hub angle signal; The actual position of the shift fork is determined based on the hub angle signal.

3. The method according to claim 1, characterized in that, The process of obtaining the target speed of the motor to meet the shifting requirements includes: Detect the vehicle's current speed; The target gear of the transmission is determined based on the current vehicle speed; The target speed of the motor to meet the shifting requirements is determined based on the target gear.

4. The method according to claim 1, characterized in that, The control synchronizer performs speed synchronization actions, including: The synchronization loop of the synchronizer is controlled to synchronize the rotational speeds at both ends of the synchronizer; After the rotational speeds at both ends of the synchronizer are synchronized, the engaging teeth of the synchronizer are controlled to enter.

5. A vehicle gear shifting device, characterized in that, To implement the vehicle gear shifting method as described in any one of claims 1-4, the apparatus comprises: The acquisition module is used to acquire the target speed of the motor to meet the shifting requirements; The first control module is used to control the gearbox to start performing a shifting action and control the motor to maintain the target speed until a preset exit condition is met if it is detected that the speed of the motor is synchronized with the target speed. The second control module is used to control the synchronizer to perform speed synchronization and complete the gear shifting action.

6. A vehicle, characterized in that, The vehicle includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the vehicle shifting method as described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the vehicle gear shifting method as described in any one of claims 1-4.

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