A method, apparatus, device and storage medium for vehicle gear control

Abstract

This invention discloses a vehicle gear control method, apparatus, device, and storage medium. The method includes: acquiring vehicle parameters of the current vehicle, wherein the vehicle parameters include: the current dual-axle gear and the status information of the dual-axle motor; determining the target dual-axle gear of the current vehicle based on the vehicle parameters; if the target dual-axle gear is different from the current dual-axle gear, controlling the current vehicle to switch from the current dual-axle gear to the target dual-axle gear according to a preset dual-axle shift sequence and the status information of the dual-axle motor. Through the technical solution of this invention, the drivability and operational reliability of the vehicle can be improved.

Description

Technical Field

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

[0002] Electrification of commercial vehicles has become a crucial tool for carbon emission reduction in the transportation sector and is currently in a period of rapid development. Electrification, connectivity, and intelligence are the core trends in commercial vehicle development. Among these, lightweight new energy electric drive systems, due to their high degree of integration, greatly free up chassis space and further improve overall efficiency, leading to their increasingly widespread application.

[0003] For drive systems employing multiple electric drive axles, compared to traditional centrally integrated drive systems, single-stage or multi-stage transmissions can be equipped, effectively solving the power interruption problem during gear shifting, including in traditional new energy drive systems. Current gear shifting schemes for multi-electric drive axle systems primarily involve acquiring vehicle control parameters, driving parameters, and environmental parameters. Based on these parameters, the target gear for each axle is determined. When the target gear differs from the current gear, the system controls the multiple axles to perform the gear shift based on the target gear.

[0004] However, the drive system of multi-electric drive axles does not yet have a good, efficient and reliable gear control scheme that can adapt to the working conditions and the failure of gear shifting. It relies more on the maturity and reliability of the gearbox hardware. If a gear shifting failure occurs during the shifting process, there is a lack of a shifting method that adapts to the working conditions under the failure state. The quality of gear control will directly affect the vehicle's economy, power, drivability and the service life of related hardware. Summary of the Invention

[0005] This invention provides a vehicle gear control method, device, equipment, and storage medium, which can solve the problems in the prior art where the gear control of the transmission of a multi-electric drive axle drive system cannot adapt to multiple operating conditions and lacks an adaptive gear shifting method for fault conditions.

[0006] According to one aspect of the present invention, a vehicle gear control method is provided, comprising:

[0007] Obtain the vehicle parameters of the current vehicle, wherein the vehicle parameters include: the current dual-axle gear position and the status information of the dual-axle motor;

[0008] The target dual-axle gear position of the current vehicle is determined based on the vehicle parameters of the current vehicle.

[0009] If the target dual-axle gear is different from the current dual-axle gear, the current vehicle is controlled to switch from the current dual-axle gear to the target dual-axle gear according to the preset dual-axle shift sequence and the status information of the dual-axle motor.

[0010] According to another aspect of the present invention, a vehicle gear control device is provided, the vehicle gear control device comprising:

[0011] The acquisition module is used to acquire the vehicle parameters of the current vehicle, wherein the vehicle parameters include: the current dual-axle gear position and the status information of the dual-axle motor;

[0012] The determining module is used to determine the target dual-axle gear of the current vehicle based on the vehicle parameters of the current vehicle;

[0013] The switching module is used to control the current vehicle to switch from the current dual-axle gear to the target dual-axle gear according to the preset dual-axle shift sequence and the status information of the dual-axle motor if the target dual-axle gear is different from the current dual-axle gear.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle gear control method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle gear control method according to any embodiment of the present invention.

[0019] This invention addresses the problem in existing technologies where gearboxes in multi-electric drive axle systems cannot adapt to various operating conditions and lack adaptive shifting methods for fault conditions. This gear control method better adapts to various operating conditions, executes shifting operations more precisely under different state information of the dual-axle motors, improves the effectiveness of gear control, and thus enhances vehicle drivability and operational reliability. This method acquires vehicle parameters, including the current dual-axle gear position and the status information of the dual-axle motors. Based on these parameters, a target dual-axle gear position is determined. If the target dual-axle gear position differs from the current dual-axle gear position, the vehicle is controlled to switch from the current dual-axle gear position to the target dual-axle gear position according to a preset dual-axle shifting sequence and the status information of the dual-axle motors.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a vehicle gear control method according to Embodiment 1 of the present invention;

[0023] Figure 2 This is a flowchart of a vehicle gear shifting process according to Embodiment 1 of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of a vehicle gear control device according to Embodiment 2 of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of an electronic device according to Embodiment 3 of the present invention. Detailed Implementation

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

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0029] Example 1

[0030] Figure 1 This is a flowchart of a vehicle gear control method according to Embodiment 1 of the present invention. This embodiment is applicable to controlling vehicle gear switching. The method can be executed by the vehicle gear control device in this embodiment, which can be implemented in software and / or hardware. Figure 1 As shown, the method specifically includes the following steps:

[0031] S110, Obtain the vehicle parameters of the current vehicle, wherein the vehicle parameters include: the current dual-axle gear position and the status information of the dual-axle motor.

[0032] Specifically, the vehicle controller can acquire the current vehicle parameters, including: the current dual-axle gear position and the status information of the dual-axle motors. "Dual-axle" refers to the middle and rear axles, and "dual-axle motors" refers to the motors connected to each axle. There are four motors in a dual-axle system: two connected to the middle axle and two connected to the rear axle. The status information of the dual-axle motors indicates whether each motor is in a faulty state (normal or faulty). Other vehicle parameters may also be included, but are not limited here.

[0033] S120 determines the target dual-axle gear of the current vehicle based on the vehicle parameters of the current vehicle.

[0034] The target dual-axle gear is the gear that is adapted to the current operating conditions of the vehicle.

[0035] Specifically, the operating condition of the current vehicle is determined based on the vehicle parameters, and the target dual-axle gears that match the operating condition of the current vehicle are obtained. For example, the vehicle can be forced into neutral based on the vehicle parameters, then the target dual-axle gears of the current vehicle are all in neutral.

[0036] S130, if the target dual-axle gear is different from the current dual-axle gear, then control the current vehicle to switch from the current dual-axle gear to the target dual-axle gear according to the preset dual-axle shift sequence and the status information of the dual-axle motor.

[0037] The preset dual-axle shift sequence can be either the middle axle first and then the rear axle, or the rear axle first and then the middle axle.

[0038] Specifically, if the target dual-axle gear is different from the current dual-axle gear, the corresponding shifting strategy is executed according to the preset dual-axle shifting sequence and the status information of the dual-axle motor, controlling the current vehicle to switch from the current dual-axle gear to the target dual-axle gear.

[0039] For example, if the preset dual-axle shift sequence is middle axle first, then rear axle, and the current middle axle and rear axle gears are both forward gear 1 (D1), while the target middle axle and target rear axle gears are both forward gear 2 (D2), and the target middle axle gear is different from the current middle axle gear, and the dual-axle motor status is normal, then the vehicle is controlled to switch from the current middle axle gear to the target middle axle gear. After obtaining the target middle axle gear, if the target rear axle gear is different from the current rear axle gear, and the dual-axle motor status is normal... If the status information is normal, control the current vehicle to switch from the current rear axle gear to the target rear axle gear, thus ending the gear shift. If the target intermediate axle gear is different from the current intermediate axle gear, but at least one of the two motors corresponding to the intermediate axle has a fault status, then adjust the target intermediate axle gear to neutral. If the current intermediate axle gear successfully shifts to neutral, the target rear axle gear is different from the current rear axle gear, and the status information of the motors corresponding to the rear axle are both normal, then control the current vehicle to switch from the current rear axle gear to the target rear axle gear. The gear shifts to the target rear axle gear, entering single rear axle drive mode. If the target middle axle gear is different from the current middle axle gear, but at least one of the two motors corresponding to the middle axle has a fault status, the target middle axle gear is adjusted to neutral. However, if the current middle axle gear fails to shift to neutral, the rear axle gear control is skipped, the gear shift ends, and dual-axle limp-drive mode is entered. If the target middle axle gear is different from the current middle axle gear, but at least one of the two motors corresponding to the middle axle has a fault status, the target middle axle gear is adjusted to neutral. If the current middle axle gear successfully shifts to neutral, the gear shift ends, and dual-axle fault mode is entered. If the current rear axle gear fails to shift to neutral, the gear shift ends, and single rear axle limp-drive mode is entered.

[0040] For example, if the current middle axle and rear axle gears are in neutral, and the target dual-axle gear is forward one gear, and switching from the current middle axle gear to the target middle axle gear fails, but switching from the current rear axle gear to the target rear axle gear succeeds, then the gear shift ends and enters a single rear axle drive mode. Situations where switching fails include: the current middle axle gear not shifting to the target middle axle gear when all motor status information of the middle axle is normal; or, at least one motor status information of the middle axle is faulty, and the target middle axle gear is adjusted to neutral. If switching from the current middle axle gear to the target middle axle gear succeeds, but switching from the current rear axle gear to the target rear axle gear fails, then the gear shift ends and enters a single rear axle drive mode. If switching from the current middle axle gear to the target middle axle gear fails, and switching from the current rear axle gear to the target rear axle gear also fails, then the middle and rear axles are re-controlled to execute another forward gear, with the shifting strategy consistent with the forward one gear strategy.

[0041] Optionally, the vehicle parameters may also include: the physical position of the gear lever, the current vehicle speed, and the direction of the output shaft rotation speed;

[0042] Accordingly, determining the target dual-axle gear of the current vehicle based on the vehicle parameters includes:

[0043] The logical gear of the current vehicle is determined based on the physical position of the gear lever, the current vehicle speed, and the direction of the output shaft rotation.

[0044] The target dual-axle gear of the current vehicle is determined based on the current vehicle's logical gear position.

[0045] The output shaft rotation direction is the same as the output shaft rotation direction of the gearbox.

[0046] Specifically, the logical gear of the current vehicle is determined based on the physical position of the gear lever, the current vehicle speed, and the direction of the output shaft rotation. For example, if the physical position of the gear lever is in forward gear, and the current vehicle speed is less than the forward gear switching threshold or the output shaft rotation direction is forward, then the logical gear of the current vehicle is forward gear; if the physical position of the gear lever is in reverse gear, and the current vehicle speed is less than the reverse gear switching threshold or the output shaft rotation direction is backward, then the logical gear of the current vehicle is reverse gear; if the physical position of the gear lever is in neutral, then the logical gear of the current vehicle is determined to be neutral.

[0047] Specifically, the current vehicle's logical gear position is determined as the target dual-axle gear position. It should be noted that the target middle axle gear position and the target rear axle gear position in the target dual-axle gear position should be the same gear position.

[0048] Optionally, the vehicle parameters may also include: load information and gradient information;

[0049] Accordingly, determining the target dual-axle gear of the current vehicle based on the current vehicle's logical gear position includes:

[0050] If the current vehicle's logical gear is forward, then the target load rating of the current vehicle is determined based on the load information.

[0051] The target slope level of the current vehicle is determined based on the target load level of the current vehicle and the slope information;

[0052] The target load level of the current vehicle is determined based on the target slope level of the current vehicle.

[0053] The initial dual-axle gear of the current vehicle is determined based on the target load level of the current vehicle.

[0054] The target dual-axle gear of the current vehicle is determined based on the current vehicle speed, preset upshift speed threshold, preset downshift speed threshold, and the initial dual-axle gear of the current vehicle in the vehicle parameters.

[0055] The load rating, slope rating, and load level can be preset according to actual conditions. For example, the load rating can be divided into 3 levels: L1(0, Load1), L2(Load1, Load2), L3(Load2, 100). Under the L1 load rating, the slope rating can be divided into 2 levels: L1S1(-50, S11), L1S2(S11, 50). Under the L2 load rating, the slope rating can be divided into 3 levels: L2S1(-50, S21), L2S2(S21, S22), L2S3(S22, 50). Under the L3 load rating, the slope rating can be... The gradient is divided into 4 levels: L3S1[0,S31], L3S2(S31,S32], L3S3(S32,50), and L3S0(-50,-1) for heavy-load downhill conditions; the load is divided into 3 levels: LS1 (including: L1S1, L2S1, L3S0), LS2 (including: L1S2, L2S2, L3S1, L3S2), and LS3 (including: L2S3, L3S3). The target load level is the current load level obtained by the vehicle based on the load information, and the target gradient level is the gradient level obtained after determining the target load level based on the gradient information.

[0056] Specifically, if the current vehicle's logical gear is forward, the target load level of the current vehicle is determined based on the load information in the vehicle parameters. After determining the target load level, the vehicle's slope information is obtained, and then the target slope level under the target load level is determined. Finally, the target load level of the current vehicle is determined based on the target slope level.

[0057] Specifically, the initial dual-axle gear of the current vehicle is determined according to the target load level of the current vehicle. If the target load level is LS2 or LS3, the initial dual-axle gear is forward first gear (D1 gear). If the target load level is LS1, the initial dual-axle gear is forward second gear (D2 gear).

[0058] Specifically, the target dual-axle gear for the current vehicle is determined based on the current vehicle speed, preset upshift speed threshold, preset downshift speed threshold, and the initial dual-axle gear position of the current vehicle. For example, if the initial dual-axle gear position is forward one gear and the current vehicle speed is less than the preset upshift speed threshold, then the initial dual-axle gear position is determined as the target dual-axle gear position. If the initial dual-axle gear position is forward one gear and the current vehicle speed is greater than or equal to the preset upshift speed threshold, then forward two gears are determined as the target dual-axle gear position. For example, if the vehicle's initial dual-axle gear is forward second gear and the current speed is greater than or equal to a preset upshift speed threshold, then the vehicle's initial dual-axle gear is determined as the target dual-axle gear. If the vehicle's initial dual-axle gear is forward second gear and the current speed is less than a preset upshift speed threshold but greater than or equal to a preset downshift speed threshold, based on the forced downshift requirement, it is determined whether to perform a downshift. If a downshift is required, then forward first gear is determined as the target dual-axle gear; otherwise, the vehicle's initial dual-axle gear is determined as the target dual-axle gear. If the vehicle's initial dual-axle gear is forward second gear and the current speed is less than a preset downshift speed threshold, then forward first gear is determined as the target dual-axle gear.

[0059] The target load level of the current vehicle is determined by using its load and gradient information. Then, the initial dual-axle gear of the current vehicle is determined based on the target load level. Finally, the target dual-axle gear of the current vehicle is determined based on the current vehicle speed, preset upshift speed threshold, preset downshift speed threshold, and the initial dual-axle gear of the current vehicle. This method can accurately obtain the operating conditions of the current vehicle, thereby improving the accuracy of determining the target dual-axle gear of the current vehicle.

[0060] Optionally, the forward gears include: forward gear one and forward gear two;

[0061] Accordingly, the target dual-axle gear of the current vehicle is determined based on the current vehicle speed, preset upshift speed threshold, preset downshift speed threshold, and the initial dual-axle gear of the current vehicle, including:

[0062] If the initial dual-axle gear of the current vehicle is forward gear and the current vehicle speed is less than the preset upshift speed threshold, then the target dual-axle gear of the current vehicle is determined to be forward gear.

[0063] If the initial dual-axle gear of the current vehicle is forward first gear, and the current vehicle speed is greater than or equal to the preset upshift speed threshold, then the target dual-axle gear of the current vehicle is determined to be forward second gear.

[0064] If the initial dual-axle gear of the current vehicle is forward second gear, and the current vehicle speed is greater than or equal to the preset upshift speed threshold, then the target dual-axle gear of the current vehicle is determined to be forward second gear.

[0065] If the initial dual-axle gear of the current vehicle is forward second gear, the current vehicle speed is less than the preset upshift speed threshold, the current vehicle speed is greater than or equal to the preset downshift speed threshold, and the accelerator pedal opening is greater than the preset opening threshold, then the target dual-axle gear of the current vehicle is determined to be forward first gear.

[0066] If the initial dual-axle gear of the current vehicle is forward second gear, and the current vehicle speed is less than the preset downshift speed threshold, then the target dual-axle gear of the current vehicle is determined to be forward first gear.

[0067] Among the vehicle parameters is the accelerator pedal opening.

[0068] Specifically, if the initial dual-axle gear of the current vehicle is D1, and the current vehicle speed is less than the preset upshift speed threshold VehShf_1to2_Spd, then D1 is determined as the target dual-axle gear for the current vehicle; if the initial dual-axle gear of the current vehicle is D1, and the current vehicle speed is greater than or equal to VehShf_1to2_Spd, then D2 is determined as the target dual-axle gear for the current vehicle; if the initial dual-axle gear of the current vehicle is D2, and the current vehicle speed is greater than or equal to VehShf_1to2_Spd, then D2 is determined as the target dual-axle gear for the current vehicle; if the initial dual-axle gear of the current vehicle is D2, If the current vehicle speed is less than VehShf_1to2_Spd, and the current vehicle speed is greater than or equal to the preset downshift speed threshold VehShf_2to1_Spd, determine if the accelerator pedal opening is greater than the preset opening threshold. If the accelerator pedal opening is greater than the preset opening threshold, then D1 gear is determined as the target dual-axle gear for the current vehicle. If the accelerator pedal opening is less than or equal to the preset opening threshold, then D2 gear is still determined as the target dual-axle gear for the current vehicle. If the initial dual-axle gear for the current vehicle is D2 gear, and the current vehicle speed is less than VehShf_2to1_Spd, then D1 gear is determined as the target dual-axle gear for the current vehicle.

[0069] By adjusting the current vehicle speed, preset upshift speed threshold, preset downshift speed threshold, and the initial dual-axle gear of the current vehicle in the current vehicle parameters, the target dual-axle gear of the current vehicle can be determined more accurately to meet different operating conditions of the vehicle.

[0070] Optionally, the preset dual-axle shift sequence is first the middle axle and then the rear axle, the target dual-axle gears include: the target middle axle gear and the target rear axle gear, and the current dual-axle gears include: the current middle axle gear and the current rear axle gear;

[0071] Accordingly, if the target dual-axle gear is different from the current dual-axle gear, the current vehicle is controlled to switch from the current dual-axle gear to the target dual-axle gear according to the preset dual-axle shift sequence and the status information of the dual-axle motor, including:

[0072] If the target axle gear of the current vehicle is different from the current axle gear and the current vehicle's transmission control unit allows shifting, then the current vehicle is controlled to switch from the current axle gear to the target axle gear based on the status information of the dual axle motors.

[0073] If the target axle gear of the current vehicle is the same as the current axle gear, the target rear axle gear of the current vehicle is different from the current rear axle gear, and the transmission control unit of the current vehicle allows shifting, or if the operation of the current vehicle shifting from the current axle gear to the target axle gear has ended, then the current vehicle is controlled to shift from the current rear axle gear to the target rear axle gear based on the status information of the dual axle motors.

[0074] The target dual-axle gears include: the target middle axle gear and the target rear axle gear, which are the same. The current dual-axle gears include: the current middle axle gear and the current rear axle gear, which can be the same or different.

[0075] Specifically, it determines whether the target axle gear of the current vehicle is the same as the current axle gear, that is, it determines the shifting requirement of the axle. If the target axle gear of the current vehicle is different from the current axle gear, and the transmission control unit (TCU) of the current vehicle allows shifting, then the current vehicle is controlled to switch from the current axle gear to the target axle gear according to the status information of the dual axle motors.

[0076] Specifically, if the target gear on the middle axle of the current vehicle is the same as the current gear on the middle axle, then the middle axle does not need to shift gears. At this time, it is determined whether the target gear on the rear axle of the current vehicle is the same as the current gear on the rear axle. If the target gear on the rear axle of the current vehicle is different from the current gear on the rear axle, and the transmission control unit of the current vehicle allows shifting, then the current vehicle is controlled to switch from the current rear axle gear to the target rear axle gear based on the status information of the dual axle motors. Alternatively, if the operation of switching the current vehicle from the current middle axle gear to the target middle axle gear has ended, then the current vehicle is controlled to switch from the current rear axle gear to the target rear axle gear based on the status information of the dual axle motors. It should be noted that if the status information of all motors corresponding to the current vehicle's middle axle is normal, switching from the current middle axle gear to the target middle axle gear will result in either a successful or unsuccessful switch (the middle axle gear obtained within a preset time after the switch operation will remain the original middle axle gear). If at least one motor corresponding to the current vehicle's middle axle is in a faulty state, the target middle axle gear will be adjusted to neutral. Switching from the current middle axle gear to neutral will also result in either a successful or unsuccessful switch. Regardless of whether the switch is successful or unsuccessful, the operation of switching from the current middle axle gear to the target middle axle gear is completed.

[0077] By pre-setting the dual-axle shift sequence, it first determines whether the middle axle needs to shift gears. After the middle axle finishes shifting gears, it then determines whether the rear axle needs to shift gears. The shifting operation is performed on the middle and rear axles according to the pre-set dual-axle shift sequence and shifting needs, which can ensure the accuracy and safety of shifting.

[0078] Optionally, the dual-bridge motor includes: a first motor and a second motor on the middle bridge and a third motor on the rear bridge;

[0079] Accordingly, based on the status information of the dual-axle motors, the current vehicle is controlled to switch from the current middle axle gear to the target middle axle gear, including:

[0080] If the status information of both axle motors is normal, then control the current vehicle to switch from the current middle axle gear to the target middle axle gear;

[0081] If the status information of the first motor of the middle bridge is faulty, and / or the status information of the second motor of the middle bridge is faulty, then the target middle bridge gear is adjusted to neutral.

[0082] If the status information of the third motor of the rear axle is faulty, then adjust the target middle axle gear to neutral.

[0083] Control the current vehicle to shift from the current middle axle gear to neutral. If the shift is successful, the operation of shifting the current vehicle from the current middle axle gear to the target middle axle gear ends.

[0084] If the switching fails, the current dual-axle gear of the vehicle will be maintained.

[0085] Among them, the first motor and the second motor of the middle axle can be Em1 and Em2 respectively, and the third motor of the rear axle is Em3. The Em1 motor of the middle axle is connected to the shift box, the Em2 motor of the middle axle is connected to the single reduction gearbox, and the Em3 motor of the rear axle is connected to the single reduction gearbox.

[0086] Specifically, if the status information of both axle motors is normal (meaning the first and second motors of the middle axle and the corresponding motor of the rear axle are all normal), then the target middle axle gear is the final middle axle gear. The vehicle controller controls the current vehicle to switch from the current middle axle gear to the target middle axle gear. If the target middle axle gear is detected after a preset time, the switch is successful. If the original middle axle gear is detected, the switch fails, and an attempt is made to shift to neutral after the failed switch to the target middle axle gear. If the target middle axle gear is already in neutral, the vehicle directly switches from the current middle axle gear to neutral.

[0087] Specifically, if the status information of the first motor and / or the second motor of the middle axle is in a fault state, the target middle axle gear should be in neutral, so the target middle axle gear is adjusted to neutral. Alternatively, if the status information of the third motor of the rear axle is in a fault state, the target middle axle gear is adjusted to neutral, and the current vehicle is controlled to switch from the current middle axle gear to neutral. If the middle axle gear is detected to be in neutral after a preset time, the switch is successful, and the operation of the current vehicle switching from the current middle axle gear to the target middle axle gear ends. If the switch fails, the current dual axle gear of the current vehicle is maintained, and the operation of the current vehicle switching from the current middle axle gear to the target middle axle gear also ends.

[0088] Optionally, the dual-bridge motor further includes: a fourth motor on the rear axle;

[0089] Accordingly, based on the status information of the dual-axle motors, the current vehicle is controlled to switch from the current rear axle gear to the target rear axle gear, including:

[0090] If the status information of both axle motors is normal, then control the current vehicle to switch from the current rear axle gear to the target rear axle gear;

[0091] If the status information of the third motor of the rear axle is faulty, and / or the status information of the fourth motor of the rear axle is faulty, then the target rear axle gear is adjusted to neutral.

[0092] If the status information of the second motor of the middle axle is faulty, then adjust the target rear axle gear to neutral.

[0093] Control the current vehicle to switch from the current rear axle gear to neutral. If the switch is successful, both axles will be in neutral and the target axle gear will be reverse or forward. If the current vehicle's middle axle is successfully engaged in neutral, then control the current vehicle to switch from the current axle gear to the preset new target axle gear.

[0094] The fourth motor on the rear axle can be Em4, and the Em4 motor on the rear axle is connected to the gearbox.

[0095] Specifically, if the status information of both axle motors is normal (meaning the first and second motors of the middle axle, as well as the third and fourth motors of the rear axle are all in normal condition), then the target rear axle gear is the final rear axle gear. The vehicle controller controls the current vehicle to switch from the current rear axle gear to the target rear axle gear. If the target middle axle gear is detected after a preset time, the switch is successful. If the original middle axle gear is detected, the switch fails. After failing to switch to the target rear axle gear, an attempt is made to shift into neutral.

[0096] Specifically, if the status information of the third and / or fourth rear axle motors is faulty, the target rear axle gear should be neutral. Therefore, the target rear axle gear is adjusted to neutral. Alternatively, if the status information of the second motor of the middle axle is faulty, the target rear axle gear is adjusted to neutral, controlling the current vehicle to switch from the current rear axle gear to neutral. If the rear axle gear is detected to be neutral after a preset time, the switch is successful. This switch occurs when the current dual-axle gear is neutral, the target dual-axle gear is not neutral (reverse or forward), and the current vehicle... If the middle axle is successfully engaged in neutral, meaning that both the middle and rear axles of the vehicle are currently in neutral, then the vehicle will attempt to shift gears from the current dual-axle gears to a preset new target dual-axle gear. This preset target dual-axle gear can be pre-set. For example, if the target dual-axle gear is D1, and the vehicle starts in neutral, after the gear shift operation, if both the middle and rear axles are still in neutral, then the vehicle will attempt to shift from neutral to the preset new target dual-axle gear, which is D2.

[0097] It should be noted that after failing to engage neutral on the rear axle, the original rear axle gear should be maintained. At this time, a preset dual-axle gear coordination strategy can be attempted. The preset dual-axle gear coordination strategy aims to keep the gears of the middle axle and the rear axle consistent, or to keep either the middle axle or the rear axle in neutral. For example, if at least one motor on the middle axle is faulty, while all motors on the rear axle are functioning normally, the rear axle gear will be adjusted to match the front axle gear. If at least one motor on the rear axle is faulty, while all motors on the middle axle are functioning normally, the middle axle gear will be adjusted to match the rear axle gear.

[0098] In a specific example Figure 2 This is a flowchart of a vehicle gear shifting process according to Embodiment 1 of the present invention, as follows: Figure 2As shown, the system obtains the target dual-axle gear and the current dual-axle gear of the vehicle, and switches gears according to the preset dual-axle shift sequence. If the target middle axle gear is different from the current middle axle gear, and the TCU (Transmission Control Unit) allows shifting, it obtains the status information of the first and second motors of the middle axle and the status information of the third motor of the rear axle. If the status information of the first and / or second motors of the middle axle is faulty, or if the status information of the third motor of the rear axle is faulty, the target middle axle gear is adjusted to neutral, and the vehicle shifts from the current middle axle gear. Shift to neutral. If neutral is engaged successfully, determine if the rear axle needs to shift gears. If neutral is engaged successfully, maintain the current dual-axle gears and skip the rear axle switching operation. If the target middle axle gear is the same as the current middle axle gear or the TCU does not allow shifting, determine if the rear axle needs to shift gears. If the status information of the first and second middle axle motors and the third rear axle motor are in normal condition, switch from the current middle axle gear to the target middle axle gear. If the switch is successful, determine if the rear axle needs to shift gears. If the switch fails, switch from the current middle axle gear to neutral. If the target rear axle gear is different from the current rear axle gear, and the TCU allows shifting, then the status information of the third and fourth rear axle motors and the second motor of the middle axle are obtained. If the status information of the third and / or fourth rear axle motors is faulty, or if the status information of the second motor of the middle axle is faulty, then the target rear axle gear is adjusted to neutral, and the shift is made from the current rear axle gear to neutral. If shifting to neutral is successful, then it is determined whether both the middle axle and the rear axle are currently in neutral but have failed to engage (i.e., failed to engage the target dual-axle gear). If shifting to neutral fails, then the preset dual-axle gear coordination strategy is executed. If the target rear axle gear is the same as the current rear axle gear or the TCU does not allow shifting, then the current dual-axle gear is maintained. If the status information of the third rear axle motor, the fourth rear axle motor, and the second motor of the middle axle are in normal condition, then the shift is made from the current rear axle gear to the target rear axle gear. If the shift is successful, then the shift is successful; if the shift fails, then the shift is made from the current rear axle gear to neutral. If both the middle and rear axles are currently in neutral but gear engagement fails, an attempt is made to switch the current dual-axle gears to a preset new target dual-axle gear. If the attempt succeeds, the gear shift is complete; if the attempt fails, the current dual-axle gears are maintained. If the target middle axle gear is the same as the current middle axle gear or the TCU does not allow shifting, and the target rear axle gear is the same as the current rear axle gear or the TCU does not allow shifting, then the current middle axle gear and the current rear axle gear may be different, and a preset dual-axle gear coordination strategy is executed. If the current middle axle gear and the current rear axle gear are the same, the current dual-axle gears are maintained. If the preset dual-axle gear coordination strategy is executed, the coordinated gears are maintained; if coordination fails, coordination can be retried.

[0099] The technical solution of this embodiment obtains the vehicle parameters of the current vehicle, including the current dual-axle gear position and the status information of the dual-axle motor; determines the target dual-axle gear position of the current vehicle based on the vehicle parameters; if the target dual-axle gear position is different from the current dual-axle gear position, the current vehicle is controlled to switch from the current dual-axle gear position to the target dual-axle gear position according to the preset dual-axle shift sequence and the status information of the dual-axle motor. This solves the problem in the prior art that the gear control of the transmission of the multi-electric drive axle drive system cannot adapt to multiple working conditions and lacks a shifting method for adaptive working conditions under fault conditions. This gear control method can better adapt to multiple working conditions, execute shifting operations more accurately under different status information of the dual-axle motor, improve the effectiveness of gear control, and thus improve the drivability and reliability of vehicle operation.

[0100] Example 2

[0101] Figure 3 This is a schematic diagram of a vehicle gear control device according to Embodiment 2 of the present invention. This embodiment is applicable to controlling vehicle gear shifting. The device can be implemented using software and / or hardware, and can be integrated into any device that provides vehicle gear control functionality, such as… Figure 3 As shown, the vehicle gear control device specifically includes: acquisition module 210 and switching module 230.

[0102] The acquisition module 210 is used to acquire the vehicle parameters of the current vehicle, wherein the vehicle parameters include: the current dual-axle gear and the status information of the dual-axle motor;

[0103] The determining module 220 is used to determine the target dual-axle gear of the current vehicle based on the vehicle parameters of the current vehicle;

[0104] The switching module 230 is used to control the current vehicle to switch from the current dual-axle gear to the target dual-axle gear according to the preset dual-axle shifting sequence and the status information of the dual-axle motor if the target dual-axle gear is different from the current dual-axle gear.

[0105] Optionally, the vehicle parameters may also include: the physical position of the gear lever, the current vehicle speed, and the direction of the output shaft rotation speed;

[0106] Accordingly, the determining module is specifically used for:

[0107] The logical gear of the current vehicle is determined based on the physical position of the gear lever, the current vehicle speed, and the direction of the output shaft rotation.

[0108] The target dual-axle gear of the current vehicle is determined based on the current vehicle's logical gear position.

[0109] Optionally, the vehicle parameters may also include: load information and gradient information;

[0110] Accordingly, the determining module is specifically used for:

[0111] If the current vehicle's logical gear is forward, then the target load rating of the current vehicle is determined based on the load information.

[0112] The target slope level of the current vehicle is determined based on the target load level of the current vehicle and the slope information;

[0113] The target load level of the current vehicle is determined based on the target slope level of the current vehicle.

[0114] The initial dual-axle gear of the current vehicle is determined based on the target load level of the current vehicle.

[0115] The target dual-axle gear of the current vehicle is determined based on the current vehicle speed, preset upshift speed threshold, preset downshift speed threshold, and the initial dual-axle gear of the current vehicle in the vehicle parameters.

[0116] Optionally, the forward gears include: forward gear one and forward gear two;

[0117] Accordingly, the determining module is specifically used for:

[0118] If the initial dual-axle gear of the current vehicle is forward gear and the current vehicle speed is less than the preset upshift speed threshold, then the target dual-axle gear of the current vehicle is determined to be forward gear.

[0119] If the initial dual-axle gear of the current vehicle is forward first gear, and the current vehicle speed is greater than or equal to the preset upshift speed threshold, then the target dual-axle gear of the current vehicle is determined to be forward second gear.

[0120] If the initial dual-axle gear of the current vehicle is forward second gear, and the current vehicle speed is greater than or equal to the preset upshift speed threshold, then the target dual-axle gear of the current vehicle is determined to be forward second gear.

[0121] If the initial dual-axle gear of the current vehicle is forward second gear, the current vehicle speed is less than the preset upshift speed threshold, the current vehicle speed is greater than or equal to the preset downshift speed threshold, and the accelerator pedal opening is greater than the preset opening threshold, then the target dual-axle gear of the current vehicle is determined to be forward first gear.

[0122] If the initial dual-axle gear of the current vehicle is forward second gear, and the current vehicle speed is less than the preset downshift speed threshold, then the target dual-axle gear of the current vehicle is determined to be forward first gear.

[0123] Optionally, the preset dual-axle shift sequence is first the middle axle and then the rear axle, the target dual-axle gears include: the target middle axle gear and the target rear axle gear, and the current dual-axle gears include: the current middle axle gear and the current rear axle gear;

[0124] Accordingly, the switching module is specifically used for:

[0125] If the target axle gear of the current vehicle is different from the current axle gear and the current vehicle's transmission control unit allows shifting, then the current vehicle is controlled to switch from the current axle gear to the target axle gear based on the status information of the dual axle motors.

[0126] If the target axle gear of the current vehicle is the same as the current axle gear, the target rear axle gear of the current vehicle is different from the current rear axle gear, and the transmission control unit of the current vehicle allows shifting, or if the operation of the current vehicle shifting from the current axle gear to the target axle gear has ended, then the current vehicle is controlled to shift from the current rear axle gear to the target rear axle gear based on the status information of the dual axle motors.

[0127] Optionally, the dual-bridge motor includes: a first motor and a second motor on the middle bridge and a third motor on the rear bridge;

[0128] Accordingly, the switching module is specifically used for:

[0129] If the status information of both axle motors is normal, then control the current vehicle to switch from the current middle axle gear to the target middle axle gear;

[0130] If the status information of the first motor of the middle bridge is faulty, and / or the status information of the second motor of the middle bridge is faulty, then the target middle bridge gear is adjusted to neutral.

[0131] If the status information of the third motor of the rear axle is faulty, then adjust the target middle axle gear to neutral.

[0132] Control the current vehicle to shift from the current middle axle gear to neutral. If the shift is successful, the operation of shifting the current vehicle from the current middle axle gear to the target middle axle gear ends.

[0133] If the switching fails, the current dual-axle gear of the vehicle will be maintained.

[0134] Optionally, the dual-bridge motor further includes: a fourth motor on the rear axle;

[0135] Accordingly, the switching module is specifically used for:

[0136] If the status information of both axle motors is normal, then control the current vehicle to switch from the current rear axle gear to the target rear axle gear;

[0137] If the status information of the third motor of the rear axle is faulty, and / or the status information of the fourth motor of the rear axle is faulty, then the target rear axle gear is adjusted to neutral.

[0138] If the status information of the second motor of the middle axle is faulty, then adjust the target rear axle gear to neutral.

[0139] Control the current vehicle to switch from the current rear axle gear to neutral. If the switch is successful, both axles will be in neutral and the target axle gear will be reverse or forward. If the current vehicle's middle axle is successfully engaged in neutral, then control the current vehicle to switch from the current axle gear to the preset new target axle gear.

[0140] The above-mentioned products can perform the methods provided in any embodiment of the present invention, and have the corresponding functional modules and beneficial effects of performing the methods.

[0141] Example 3

[0142] Figure 4 This is a schematic diagram of an electronic device according to Embodiment 3 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0143] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0144] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0145] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle gear control methods.

[0146] In some embodiments, the vehicle gear control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle gear control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle gear control method by any other suitable means (e.g., by means of firmware).

[0147] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0148] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0149] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0150] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0151] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0152] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0153] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0154] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle gear control method, characterized in that, include: Obtain the vehicle parameters of the current vehicle, wherein the vehicle parameters include: the current dual-axle gear position and the status information of the dual-axle motor; The target dual-axle gear position of the current vehicle is determined based on the vehicle parameters of the current vehicle. If the target dual-axle gear is different from the current dual-axle gear, the vehicle is controlled to switch from the current dual-axle gear to the target dual-axle gear according to the preset dual-axle shift sequence and the status information of the dual-axle motors. The preset dual-axle shift sequence is first the middle axle and then the rear axle. The target dual-axle gear includes the target middle axle gear and the target rear axle gear. The current dual-axle gear includes the current middle axle gear and the current rear axle gear. If the target dual-axle gear is different from the current dual-axle gear, then control the current vehicle to switch from the current dual-axle gear to the target dual-axle gear according to the preset dual-axle shift sequence and the status information of the dual-axle motor, including: if the target middle axle gear of the current vehicle is different from the current middle axle gear and the transmission control unit of the current vehicle allows shifting, then control the current vehicle to switch from the current middle axle gear to the target middle axle gear according to the status information of the dual-axle motor; The dual-bridge motor includes: a middle bridge first motor and a middle bridge second motor and a rear bridge third motor; The step of controlling the current vehicle to switch from the current middle axle gear to the target middle axle gear based on the status information of the dual axle motors includes: If the status information of both axle motors is normal, then control the current vehicle to switch from the current middle axle gear to the target middle axle gear; If the status information of the first motor of the middle bridge is faulty, and / or the status information of the second motor of the middle bridge is faulty, then the target middle bridge gear is adjusted to neutral. If the status information of the third motor of the rear axle is faulty, then adjust the target middle axle gear to neutral. Control the current vehicle to shift from the current middle axle gear to neutral. If the shift is successful, the operation of shifting the current vehicle from the current middle axle gear to the target middle axle gear ends. If the switching fails, the current dual-axle gear of the vehicle will be maintained.

2. The method according to claim 1, characterized in that, The vehicle parameters also include: the physical position of the gear lever, the current vehicle speed, and the direction of the output shaft rotation speed; Accordingly, determining the target dual-axle gear of the current vehicle based on the vehicle parameters includes: The logical gear of the current vehicle is determined based on the physical position of the gear lever, the current vehicle speed, and the direction of the output shaft rotation. The target dual-axle gear of the current vehicle is determined based on the current vehicle's logical gear position.

3. The method according to claim 2, characterized in that, The vehicle parameters also include: load information and gradient information; Accordingly, determining the target dual-axle gear of the current vehicle based on the current vehicle's logical gear position includes: If the current vehicle's logical gear is forward, then the target load rating of the current vehicle is determined based on the load information. The target slope level of the current vehicle is determined based on the target load level of the current vehicle and the slope information; The target load level of the current vehicle is determined based on the target slope level of the current vehicle. The initial dual-axle gear of the current vehicle is determined based on the target load level of the current vehicle. The target dual-axle gear of the current vehicle is determined based on the current vehicle speed, preset upshift speed threshold, preset downshift speed threshold, and the initial dual-axle gear of the current vehicle in the vehicle parameters.

4. The method according to claim 3, characterized in that, The forward gears include: forward gear 1 and forward gear 2; Accordingly, the target dual-axle gear of the current vehicle is determined based on the current vehicle speed, preset upshift speed threshold, preset downshift speed threshold, and the initial dual-axle gear of the current vehicle, including: If the initial dual-axle gear of the current vehicle is forward gear and the current vehicle speed is less than the preset upshift speed threshold, then the target dual-axle gear of the current vehicle is determined to be forward gear. If the initial dual-axle gear of the current vehicle is forward first gear, and the current vehicle speed is greater than or equal to the preset upshift speed threshold, then the target dual-axle gear of the current vehicle is determined to be forward second gear. If the initial dual-axle gear of the current vehicle is forward second gear, and the current vehicle speed is greater than or equal to the preset upshift speed threshold, then the target dual-axle gear of the current vehicle is determined to be forward second gear. If the initial dual-axle gear of the current vehicle is forward second gear, the current vehicle speed is less than the preset upshift speed threshold, the current vehicle speed is greater than or equal to the preset downshift speed threshold, and the accelerator pedal opening is greater than the preset opening threshold, then the target dual-axle gear of the current vehicle is determined to be forward first gear. If the initial dual-axle gear of the current vehicle is forward second gear, and the current vehicle speed is less than the preset downshift speed threshold, then the target dual-axle gear of the current vehicle is determined to be forward first gear.

5. The method according to claim 1, characterized in that, If the target dual-axle gear is different from the current dual-axle gear, then the current vehicle is controlled to switch from the current dual-axle gear to the target dual-axle gear according to the preset dual-axle shift sequence and the status information of the dual-axle motor, including: If the target axle gear of the current vehicle is the same as the current axle gear, the target rear axle gear of the current vehicle is different from the current rear axle gear, and the transmission control unit of the current vehicle allows shifting, or if the operation of the current vehicle shifting from the current axle gear to the target axle gear has ended, then the current vehicle is controlled to shift from the current rear axle gear to the target rear axle gear based on the status information of the dual axle motors.

6. The method according to claim 5, characterized in that, The dual-bridge motor also includes: a fourth motor on the rear axle; Accordingly, based on the status information of the dual-axle motors, the current vehicle is controlled to switch from the current rear axle gear to the target rear axle gear, including: If the status information of both axle motors is normal, then control the current vehicle to switch from the current rear axle gear to the target rear axle gear; If the status information of the third motor of the rear axle is faulty, and / or the status information of the fourth motor of the rear axle is faulty, then the target rear axle gear is adjusted to neutral. If the status information of the second motor of the middle axle is faulty, then adjust the target rear axle gear to neutral. Control the current vehicle to switch from the current rear axle gear to neutral. If the switch is successful, both axles will be in neutral and the target axle gear will be reverse or forward. If the current vehicle's middle axle is successfully engaged in neutral, then control the current vehicle to switch from the current axle gear to the preset new target axle gear.

7. A vehicle gear control device, characterized in that, include: The acquisition module is used to acquire the vehicle parameters of the current vehicle, wherein the vehicle parameters include: the current dual-axle gear position and the status information of the dual-axle motor; The determining module is used to determine the target dual-axle gear of the current vehicle based on the vehicle parameters of the current vehicle; The switching module is used to control the current vehicle to switch from the current dual-axle gear to the target dual-axle gear according to the preset dual-axle shift sequence and the status information of the dual-axle motor if the target dual-axle gear is different from the current dual-axle gear. The preset dual-axle shift sequence is first the middle axle and then the rear axle. The target dual-axle gear includes: the target middle axle gear and the target rear axle gear. The current dual-axle gear includes: the current middle axle gear and the current rear axle gear. The switching module is specifically used to: if the target middle axle gear of the current vehicle is different from the current middle axle gear and the transmission control unit of the current vehicle allows shifting, then control the current vehicle to switch from the current middle axle gear to the target middle axle gear according to the status information of the dual axle motors; The dual-bridge motor includes: a middle bridge first motor and a middle bridge second motor and a rear bridge third motor; The switching module is specifically used to: if the status information of both axle motors is normal, then control the current vehicle to switch from the current middle axle gear to the target middle axle gear; If the status information of the first motor of the middle bridge is faulty, and / or the status information of the second motor of the middle bridge is faulty, then the target middle bridge gear is adjusted to neutral. If the status information of the third motor of the rear axle is faulty, then adjust the target middle axle gear to neutral. Control the current vehicle to shift from the current middle axle gear to neutral. If the shift is successful, the operation of shifting the current vehicle from the current middle axle gear to the target middle axle gear ends. If the switching fails, the current dual-axle gear of the vehicle will be maintained.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle gear control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the vehicle gear control method according to any one of claims 1-6.

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