A vehicle gear shifting control method and device, electronic equipment and storage medium

Abstract

The application discloses a vehicle gear shifting control method and device, an electronic device and a storage medium. The method comprises the following steps: acquiring current inclination information of a target vehicle collected by a plurality of target sensors in real time; calibrating the current inclination information of the target vehicle by using current dynamic characteristic parameters of the target vehicle in current CAN bus data of the target vehicle; calculating a current slope angle of the target vehicle by using the calibrated current inclination information of the target vehicle; controlling the target vehicle to perform gear shifting operation according to the current slope angle of the target vehicle; judging whether the current gear shifting of the target vehicle is normal; if the current gear shifting of the target vehicle is normal, returning to the step of acquiring the current inclination information of the target vehicle collected by the plurality of target sensors in real time; and if the current gear shifting of the target vehicle is abnormal, fitting a current fitting slope angle of the target vehicle by using current vehicle characteristic parameters of the target vehicle; and controlling the target vehicle to perform gear shifting operation by using the current fitting slope angle of the target vehicle.

Description

TECHNICAL FIELD

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

[0002] With the development and perfection of vehicle automatic transmission technology, automatic transmission is increasingly widely used in automobiles. It not only reduces the driving operation intensity of the driver, but also has the advantages of improving the power performance and fuel economy of the vehicle. The current automatic transmission system usually mainly uses vehicle speed and throttle opening degree as the gear shifting control parameters, that is, according to the vehicle speed and the throttle, the corresponding gear shifting control strategy is used to determine the gear of the vehicle and control the vehicle to shift gears.

[0003] Since the slope angle of the position where the vehicle is located will affect the acceleration of the vehicle, thereby affecting the vehicle speed and further affecting the gear shifting control of the vehicle. Therefore, a corresponding sensor is usually installed on the vehicle to collect the inclination information of the vehicle, and then the slope angle is calculated according to the collected inclination information of the vehicle, and the gear shifting control of the vehicle is performed based on the calculated slope angle.

[0004] However, since the sensor may have installation errors or the sensor position may change during vehicle driving, the measured inclination information may be inaccurate, and the sensor may even be abnormal, so that the slope angle cannot be determined, thereby causing abnormal slope angle determination, and further causing unexpected gear shifting, cyclic gear shifting or gear shifting failure, that is, the vehicle cannot be effectively and accurately shifted, and the vehicle cannot be normally driven. SUMMARY

[0005] Based on the above problems of the prior art, the present application provides a vehicle gear shifting control method and device, an electronic device and a storage medium to solve the problem that the prior art cannot guarantee accurate slope determination and normal driving of the vehicle.

[0006] In order to achieve the above purpose, the present application provides the following technical solutions:

[0007] The first aspect of the present application provides a vehicle gear shifting control method, comprising:

[0008] obtaining the current inclination information of the target vehicle collected by a plurality of target sensors in real time;

[0009] calibrating the current inclination information of the target vehicle by using the current dynamic characteristic parameters of the target vehicle in the current CAN bus data of the target vehicle;

[0010] calculating a current slope angle of the target vehicle by using the calibrated current inclination information of the target vehicle;

[0011] controlling the target vehicle to perform a gear shifting operation according to the current slope angle of the target vehicle;

[0012] determining whether the current gear shifting of the target vehicle is normal;

[0013] if it is determined that the current gear shifting of the target vehicle is normal, returning to performing the real-time acquisition of the current inclination information of the target vehicle collected by the plurality of target sensors;

[0014] if it is determined that the current gear shifting of the target vehicle is abnormal, performing fitting by using the current vehicle characteristic parameter of the target vehicle in real time to obtain a current fitted slope angle of the target vehicle;

[0015] controlling the target vehicle to perform a gear shifting operation by using the current fitted slope angle of the target vehicle.

[0016] Optionally, in the vehicle gear shifting control method described above, the calibration of the current inclination information of the target vehicle by using the current dynamic characteristic parameter of the target vehicle in the current CAN bus data of the target vehicle comprises:

[0017] filtering abnormal data in the current inclination information of the target vehicle;

[0018] complementing the filtered information based on the current dynamic characteristic parameter of the target vehicle in the current CAN bus data of the target vehicle.

[0019] Optionally, in the vehicle gear shifting control method described above, before the controlling of the target vehicle to perform a gear shifting operation according to the current slope angle of the target vehicle, the method further comprises:

[0020] inputting the current slope angle of the target vehicle and the current dynamic characteristic parameter of the target vehicle into a pre-trained analysis model, and analyzing, by using the analysis model, whether the gear switching of the target vehicle based on the current slope angle of the target vehicle conforms to the vehicle operating condition corresponding to the current dynamic characteristic parameter of the target vehicle;

[0021] If it is analyzed that the gear switching of the target vehicle based on the current slope angle of the target vehicle conforms to the vehicle operating condition corresponding to the current dynamic characteristic parameter of the target vehicle, the controlling of the target vehicle to perform a gear shifting operation according to the current slope angle of the target vehicle is performed.

[0022] If it is analyzed that the gear shift of the target vehicle controlled based on the current slope angle of the target vehicle does not conform to the vehicle operating condition corresponding to the current dynamic characteristic parameter of the target vehicle, it is determined that the current gear shift of the target vehicle is abnormal.

[0023] Optionally, in the vehicle gear shift control method described above, after the target vehicle is controlled to perform the gear shift operation according to the current slope angle of the target vehicle, the method further includes:

[0024] determining a current demand condition parameter according to the vehicle speed and the accelerator opening degree of the target vehicle before the gear shift;

[0025] If the error between the current demand condition parameter and the condition parameter of the target vehicle after the gear shift is greater than a threshold value, the analysis model is optimized by using the condition parameter of the target vehicle after the gear shift.

[0026] Optionally, in the vehicle gear shift control method described above, the determination of whether the current gear shift of the target vehicle is normal includes:

[0027] calculating a current theoretical dynamic characteristic parameter of the target vehicle according to the current vehicle speed and the accelerator opening degree of the target vehicle;

[0028] determining whether the target vehicle successfully shifts gears within a preset time range;

[0029] If it is determined that the target vehicle successfully shifts gears within the preset time range, a dynamic characteristic parameter of the target vehicle is obtained;

[0030] comparing whether the current theoretical dynamic characteristic parameter of the target vehicle is consistent with the dynamic characteristic parameter of the target vehicle;

[0031] If it is compared that the current theoretical dynamic characteristic parameter of the target vehicle is consistent with the dynamic characteristic parameter of the target vehicle, it is determined that the current gear shift of the target vehicle is normal.

[0032] If it is determined that the target vehicle does not successfully shift gears within the preset time range, or it is compared that the current theoretical dynamic characteristic parameter of the target vehicle is not consistent with the dynamic characteristic parameter of the target vehicle, it is determined that the current gear shift of the target vehicle is abnormal.

[0033] The second aspect of the present application provides a vehicle gear shift control device, which includes:

[0034] a collection unit configured to acquire current inclination information of a target vehicle collected by a plurality of target sensors in real time;

[0035] a calibration unit, configured to calibrate current inclination information of the target vehicle by using a current dynamic characteristic parameter of the target vehicle in current CAN bus data of the target vehicle;

[0036] an angle calculation unit, configured to calculate a current slope angle of the target vehicle by using the calibrated current inclination information of the target vehicle;

[0037] a first control unit, configured to control the target vehicle to perform a gear shifting operation according to the current slope angle of the target vehicle;

[0038] a judgment unit, configured to judge whether the current gear shifting of the target vehicle is normal, and if the current gear shifting of the target vehicle is judged to be normal, return to the acquisition unit to execute the real-time acquisition of the current inclination information of the target vehicle collected by the plurality of target sensors;

[0039] an angle fitting unit, configured to, if the current gear shifting of the target vehicle is judged to be abnormal, perform fitting by using a current vehicle characteristic parameter of the target vehicle to obtain a current fitted slope angle of the target vehicle;

[0040] a second control unit, configured to control the target vehicle to perform a gear shifting operation by using the current fitted slope angle of the target vehicle.

[0041] Optionally, in the vehicle gear shifting control device, the calibration unit comprises:

[0042] a filtering unit, configured to filter abnormal data in the current inclination information of the target vehicle;

[0043] a supplement unit, configured to supplement the filtered information based on the current dynamic characteristic parameter of the target vehicle in the current CAN bus data of the target vehicle.

[0044] Optionally, in the vehicle gear shifting control device, the calibration unit comprises:

[0045] an analysis unit, configured to input the current slope angle of the target vehicle and the current dynamic characteristic parameter of the target vehicle into a pre-trained analysis model, and analyze, by using the analysis model, whether a gear position controlled by the target vehicle based on the current slope angle of the target vehicle conforms to a vehicle operating condition corresponding to the current dynamic characteristic parameter of the target vehicle;

[0046] If it is analyzed that the gear position controlled by the target vehicle based on the current slope angle of the target vehicle conforms to the vehicle operating condition corresponding to the current dynamic characteristic parameter of the target vehicle, the first control unit executes the control of the target vehicle to perform a gear shifting operation according to the current slope angle of the target vehicle.

[0047] an abnormality determining unit configured to determine that the target vehicle is currently experiencing a shift abnormality when it is analyzed that a shift of the target vehicle based on a current gradient angle of the target vehicle does not conform to a vehicle operating mode corresponding to a current dynamic characteristic parameter of the target vehicle.

[0048] Optionally, in the vehicle shift control device described above, the vehicle shift control device further comprises:

[0049] a parameter determining unit configured to determine a current demand mode parameter according to a vehicle speed and an accelerator opening degree of the target vehicle before the shift;

[0050] an optimization unit configured to optimize the analysis model using a mode parameter of the target vehicle after the shift when an error between the current demand mode parameter and the mode parameter of the target vehicle after the shift is greater than a threshold value.

[0051] Optionally, in the vehicle shift control device described above, the determining unit comprises:

[0052] a parameter calculating unit configured to calculate a current theoretical dynamic characteristic parameter of the target vehicle according to a current vehicle speed and a current accelerator opening degree of the target vehicle;

[0053] a first determining unit configured to determine whether the target vehicle successfully shifts within a preset time range;

[0054] an obtaining unit configured to obtain a dynamic characteristic parameter of the target vehicle when it is determined that the target vehicle successfully shifts within the preset time range;

[0055] a comparing unit configured to compare whether the current theoretical dynamic characteristic parameter of the target vehicle is consistent with the dynamic characteristic parameter of the target vehicle;

[0056] a first determining unit configured to determine that the target vehicle is currently experiencing a normal shift when it is compared that the current theoretical dynamic characteristic parameter of the target vehicle is consistent with the dynamic characteristic parameter of the target vehicle;

[0057] a second determining unit configured to determine that the target vehicle is currently experiencing a shift abnormality when it is determined that the target vehicle does not successfully shift within the preset time range or it is compared that the current theoretical dynamic characteristic parameter of the target vehicle is not consistent with the dynamic characteristic parameter of the target vehicle.

[0058] A third aspect of the present application provides an electronic device, comprising:

[0059] a memory and a processor;

[0060] wherein the memory is configured to store a program;

[0061] The processor is configured to execute the program, and the program is configured to implement the vehicle gear shifting control method according to any one of the preceding embodiments when executed.

[0062] The fourth aspect of the present application provides a computer storage medium for storing a computer program, and the computer program is configured to implement the vehicle gear shifting control method according to any one of the preceding embodiments when executed.

[0063] The present application provides a vehicle gear shifting control method, which acquires current inclination information of a target vehicle collected by a plurality of target sensors in real time, so as to collect the inclination information of the vehicle through the plurality of sensors, to ensure the accuracy of the collected inclination information, and avoid the inclination information that cannot be collected due to sensor failure, thereby ensuring the accuracy of the analyzed slope. Then, the current dynamic characteristic parameters of the target vehicle in the current CAN bus data of the target vehicle are used to calibrate the current inclination information of the target vehicle, so as to further calibrate the abnormal information in the collected inclination information, and further ensure the accuracy of the inclination information. Then, the current slope angle of the target vehicle is calculated by using the calibrated current inclination information of the target vehicle, and the target vehicle is controlled to perform gear shifting operation according to the current slope angle of the target vehicle. Then, it is judged whether the current gear shifting of the target vehicle is normal. If it is judged that the current gear shifting of the target vehicle is normal, the current inclination information of the target vehicle collected by the plurality of target sensors is acquired in real time, and the control is continued normally. If it is judged that the current gear shifting of the target vehicle is abnormal, the current vehicle characteristic parameters of the target vehicle are used to fit in real time, to obtain the current fitted slope angle of the target vehicle, and the target vehicle is controlled to perform gear shifting operation by using the current fitted slope angle of the target vehicle, thereby providing a backup solution to ensure that the vehicle can still be normally shifted, and avoiding affecting the normal driving of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present application, and those skilled in the art can obtain other drawings according to the provided drawings without creating any creative labor.

[0065] Figure 1 A flowchart of a vehicle gear shifting control method provided by the embodiments of the present application is provided.

[0066] Figure 2 A flowchart of a method for calibrating the current inclination information of the target vehicle provided by the embodiments of the present application is provided.

[0067] Figure 3A flowchart of an optimization method of an analysis model provided by an embodiment of the present application is shown in the figure.

[0068] Figure 4 A flowchart of a method for determining whether the current gear shifting of the target vehicle is normal provided by an embodiment of the present application is shown in the figure.

[0069] Figure 5 An architectural schematic diagram of a vehicle gear shifting control device provided by an embodiment of the present application is shown in the figure.

[0070] Figure 6 An architectural schematic diagram of an electronic device provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0071] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0072] In the present application, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms “include”, “contain” or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement “including a…” does not exclude the presence of another identical element in the process, method, article or device including the element.

[0073] The embodiments of the present application provide a vehicle gear shifting control method, as shown in the figure, which specifically includes the following steps: Figure 1

[0074] S101, real-time acquisition of current inclination information of the target vehicle collected by a plurality of target sensors.

[0075] The target vehicle can be any vehicle that needs to be controlled for gear shifting.

[0076] ​It should be noted that since only a single sensor is used for information collection, the collected information is susceptible to influence, that is, the collected information has greater contingency, and when it is abnormal, accurate inclination information cannot be provided. Therefore, in the embodiment of the present application, multiple sensors are used to collect the inclination information of the target vehicle, and the inclination information collected by multiple sensors is comprehensively analyzed to analyze the ramp angle.

[0077] Since the current inclination sensor is susceptible to the installation position, in order to avoid each target sensor being affected by the same factor at the same time and thus being unable to measure accurate information, in the embodiment of the present application, each target sensor is a different type of sensor. Alternatively, each target sensor can be an inclination sensor, a hydraulic oil level, and a steering angle sensor, so that the inclination of the vehicle can be reflected based on the measurement of different information, and these information are not susceptible to the same factor at the same time, ensuring that accurate information can be collected by a target sensor.

[0078] S102, calibrating the current inclination information of the target vehicle by using the current dynamic characteristic parameter of the target vehicle in the current CAN bus data of the target vehicle.

[0079] The current dynamic characteristic parameter of the target vehicle refers to an actual parameter reflecting the current dynamic characteristic of the target vehicle, and can specifically include but is not limited to engine speed, engine torque, acceleration, and vehicle speed.

[0080] It should be noted that the current dynamic characteristic parameter of the target vehicle obtained from the current CAN bus data of the target vehicle is a parameter actually traveled by the vehicle. The inclination angle of the vehicle affects the size of the current dynamic characteristic parameter of the target vehicle, so the current dynamic characteristic parameter of the target vehicle can reflect the actual inclination angle of the vehicle to a certain extent. Considering that the current inclination information of the target vehicle collected by the sensor has errors or abnormal data, in the embodiment of the present application, the current inclination information of the target vehicle is calibrated by using the current dynamic characteristic parameter of the target vehicle obtained from the current CAN bus data of the target vehicle, so as to improve the accuracy of the current inclination information of the target vehicle, and further improve the accuracy of the analyzed ramp angle.

[0081] Alternatively, in another embodiment of the present application, a specific implementation of step S102 includes the following steps as shown in Figure 2

[0082] S201, filtering abnormal data in the current inclination information of the target vehicle.

[0083] ​Optionally, a variance of each current inclination information of the target vehicle can be calculated, and deviation information of all the current inclination information can be reflected, and then based on the variance or the deviation information, the current inclination information with large deviation can be filtered out. Alternatively, the possible inclination information can be analyzed based on the current dynamic characteristic parameter of the target vehicle, and then the current inclination information with large deviation can be filtered out. Of course, other strategies can also be adopted to filter out abnormal data in the current inclination information.

[0084] S202, based on the current dynamic characteristic parameter of the target vehicle in the current CAN bus data of the target vehicle, the filtered information is supplemented.

[0085] Since the abnormal current inclination information is filtered out, there is a lack of data, so it is necessary to supplement the filtered information. The current dynamic characteristic parameter of the target vehicle in the current CAN bus data of the target vehicle can reflect the actual inclination degree of the vehicle to a certain extent, so in the embodiment of the present application, the filtered information is supplemented based on the current dynamic characteristic parameter of the target vehicle in the current CAN bus data of the target vehicle.

[0086] Optionally, the theoretical inclination information can be calculated based on the current dynamic characteristic parameter of the target vehicle in the current CAN bus data of the target vehicle, and the filtered information is supplemented by using the calculated inclination information.

[0087] S103, the current slope angle of the target vehicle is calculated by using the calibrated current inclination information of the target vehicle.

[0088] Optionally, the mean value of the calibrated current inclination information of the target vehicle can be calculated, and then the current slope angle of the target vehicle is calculated based on the mean value of the current inclination information of the target vehicle. Alternatively, since the accuracy of different target sensors is different in different scenes, the current inclination information of the target vehicle can be weighted according to the driving scene of the target vehicle, and the slope angle is calculated by using the weighted result. Alternatively, the slope angle of the target vehicle is calculated based on each current inclination information of the target vehicle, and then the current slope angle of the target vehicle is determined based on the multiple slope angles. Of course, other strategies can also be adopted to consider the current inclination information of the target vehicle to calculate the current slope angle of the target vehicle, so as to effectively improve the accuracy of the calculated current slope angle of the target vehicle.

[0089] S104, the target vehicle is controlled to perform gear shifting operation according to the current slope angle of the target vehicle.

[0090] Specifically, the current speed of the target vehicle can be calculated based on the current slope angle of the target vehicle, and then the corresponding gear is determined in combination of the current speed of the target vehicle and the current throttle opening of the target vehicle, and the target vehicle is controlled to shift according to the gear.

[0091] Optionally, it is considered that the calibrated inclination information is not necessarily completely accurate, and the calculation process can also be abnormal, that is, the calculated current slope angle is not necessarily accurate and meets the current demand, so in order to ensure that the calculated current slope angle is accurate, the shifting is performed according to the current slope angle, avoiding shifting errors and affecting the normal driving of the vehicle. Therefore, in another embodiment of the present application, before step S203 is performed, the following step can also be further performed:

[0092] The current slope angle of the target vehicle and the current dynamic characteristic parameter of the target vehicle are input into the pre-trained analysis model, and whether the gear controlled by the target vehicle based on the current slope angle of the target vehicle meets the vehicle operating condition corresponding to the current dynamic characteristic parameter of the target vehicle is analyzed by the analysis model.

[0093] It should be noted that the engine speed and engine torque and other engine corresponding parameters in the current dynamic characteristic parameter of the target vehicle will change with the size of the throttle opening, and the current dynamic characteristic parameter of the target vehicle also includes the number of vehicles, so according to the current dynamic characteristic parameter of the target vehicle, the required gear can be analyzed, and then the vehicle operating condition of the target vehicle after the gear is switched is determined. Based on the current slope angle of the target vehicle, a corresponding gear can also be analyzed, and the corresponding vehicle operating condition is further determined, so that based on the comparison of the two, whether the gear controlled by the target vehicle based on the current slope angle of the target vehicle meets the vehicle operating condition corresponding to the current dynamic characteristic parameter of the target vehicle can be determined.

[0094] Therefore, in the embodiment of the present application, the current slope angle of the target vehicle and the current dynamic characteristic parameter of the target vehicle are input into the pre-trained analysis model, and whether the gear controlled by the target vehicle based on the current slope angle of the target vehicle meets the vehicle operating condition corresponding to the current dynamic characteristic parameter of the target vehicle is analyzed by the analysis model.

[0095] If it is analyzed that the gear controlled by the target vehicle based on the current slope angle of the target vehicle meets the vehicle operating condition corresponding to the current dynamic characteristic parameter of the target vehicle, step S104 can be performed.

[0096] If the analysis shows that the gear shifting of the target vehicle based on the current slope angle does not conform to the vehicle operating conditions corresponding to the current dynamic characteristic parameters of the target vehicle, then it is determined that the current gear shifting of the target vehicle is abnormal, so that step S107 can be executed to ensure normal gear shifting, thereby ensuring that the vehicle can drive normally.

[0097] Correspondingly, in another embodiment of this application, the analysis model can be further optimized.

[0098] like Figure 3 As shown in the embodiment of this application, an optimization method for an analysis model includes:

[0099] S301. Determine the current required operating parameters based on the target vehicle's speed and throttle opening before shifting gears.

[0100] It should be noted that the target vehicle's speed and throttle opening before shifting gears reflect the driver's expected demands on the vehicle. Therefore, based on the target vehicle's speed and throttle opening, a theoretical parameter for the current demand condition can be calculated.

[0101] Optionally, the current required operating parameters may include parameters such as the transmission speed ratio and vehicle speed.

[0102] S302. Determine whether the error between the current required operating parameters and the operating parameters of the target vehicle after gear shifting is greater than the threshold.

[0103] If the error between the current required operating parameters and the operating parameters of the target vehicle after gear shifting is greater than a threshold, it indicates that the actual operating conditions of the vehicle after gear shifting do not perfectly match the required operating conditions, or do not match the required operating conditions at all. This means the analysis model has a large analysis error, and therefore step S303 needs to be executed to effectively improve the accuracy of the analysis module. Alternatively, step S303 can be executed only when a gear shifting anomaly occurs, i.e., when the analysis model's analysis results are incorrect.

[0104] S303. Optimize the analysis model using the operating parameters of the target vehicle after gear shifting.

[0105] S105. Determine whether the target vehicle is shifting gears normally.

[0106] Considering the possibility of sensor malfunction and inaccurate information collected during the analysis process, resulting in a large error in the output current slope angle, the target vehicle is unable to shift gears normally. Therefore, to ensure the vehicle can shift gears normally and not affect its normal operation, it is necessary to determine whether the target vehicle's current gear shift is normal. If it is determined that the target vehicle's current gear shift is normal, then return to step S101. If it is determined that the target vehicle's current gear shift is abnormal, then proceed to step S106.

[0107] Alternatively, in another embodiment of the present application, a specific implementation of step S105 includes the following steps, as shown in the figure: Figure 4

[0108] S401, calculating the current theoretical dynamic characteristic parameter of the target vehicle according to the current vehicle speed and the throttle opening degree of the target vehicle.

[0109] S402, judging whether the target vehicle successfully shifts gears within a preset time range.

[0110] Specifically, if the target vehicle successfully switches to other gears and remains stable, i.e., there is no situation that cannot shift gears, and there is also no situation of circular shifting, it is determined that the target vehicle successfully shifts gears. Since vehicle driving is a dynamic process, the timeliness of gear shifting needs to be ensured, so it is necessary to ensure that it successfully shifts gears within a preset time range. Therefore, if it is judged that the target vehicle successfully shifts gears within a preset time range, step S403 is executed. If it is judged that the target vehicle does not successfully shift gears within a preset time range, step S406 is executed.

[0111] S403, obtaining the dynamic characteristic parameter of the current target vehicle.

[0112] Specifically, the dynamic characteristic parameter of the current target vehicle can be obtained from the CAN bus data of the target vehicle.

[0113] S404, comparing whether the current theoretical dynamic characteristic parameter of the target vehicle is consistent with the dynamic characteristic parameter of the current target vehicle.

[0114] Since the target vehicle has successfully shifted gears at this time, it is necessary to further judge the accuracy of the gear shifting to ensure that the switched gear meets the actual needs of the vehicle. Therefore, the current theoretical dynamic characteristic parameter of the target vehicle is compared with the dynamic characteristic parameter of the current target vehicle. If the current theoretical dynamic characteristic parameter of the target vehicle is consistent with the dynamic characteristic parameter of the current target vehicle, it means that the switched gear number is correct, so step S405 is executed at this time. If the current theoretical dynamic characteristic parameter of the target vehicle is inconsistent with the dynamic characteristic parameter of the current target vehicle, it means that the gear switching is not accurate, so step S406 is executed at this time.

[0115] S405, determining that the current gear shifting of the target vehicle is normal.

[0116] S406, determining that the current gear shifting of the target vehicle is abnormal.

[0117] S106, fitting in real time using the current vehicle characteristic parameter of the target vehicle to obtain the current fitting slope angle of the target vehicle.

[0118] ​Since the calculated ramp angle error is large, the shifting is abnormal, and in order to ensure the normal driving of the vehicle, a backup scheme is also provided in the embodiment of the present application. The current vehicle characteristic parameters of the target vehicle are fitted to obtain the current fitting ramp angle of the target vehicle, which is used for shifting control of the vehicle. The current vehicle characteristic parameters of the target vehicle include the dynamic characteristic parameters of the target vehicle obtained from the CAN bus data, and can also include the static characteristic parameters of the vehicle, i.e. the relatively stable characteristic parameters such as vehicle weight, steering angular velocity, etc., so as to improve the accuracy of the fitted ramp angle.

[0119] Specifically, the current vehicle characteristic parameters of the target vehicle are fitted according to a preset calculation formula, so as to obtain the current fitting ramp angle of the target vehicle.

[0120] S107, using the current fitting ramp angle of the target vehicle, controlling the target vehicle to perform shifting operation.

[0121] Similarly, the corresponding vehicle speed is calculated by using the current fitting ramp angle of the target vehicle, and the gear to be switched is determined in combination with the accelerator opening degree, and then the target vehicle is controlled to shift according to the gear.

[0122] The embodiment of the present application provides a vehicle shifting control method, real-time acquisition of current inclination information of a target vehicle collected by a plurality of target sensors, so as to collect the inclination information of the vehicle by the plurality of sensors, so as to ensure the accuracy of the collected inclination information, and avoid the inclination information that cannot be collected due to sensor failure, and further ensure the accuracy of the analyzed slope. Then, the current dynamic characteristic parameters of the target vehicle in the current CAN bus data of the target vehicle are used to calibrate the current inclination information of the target vehicle, so as to further calibrate the abnormal information in the collected inclination information, and further ensure the accuracy of the inclination information. Then, the current ramp angle of the target vehicle is calculated by using the calibrated current inclination information of the target vehicle, and the target vehicle is controlled to perform shifting operation according to the current ramp angle of the target vehicle. Then, it is judged whether the current shifting of the target vehicle is normal. If it is judged that the current shifting of the target vehicle is normal, the current inclination information of the target vehicle collected by the plurality of target sensors is returned, and the control continues normally. If it is judged that the current shifting of the target vehicle is abnormal, the current fitting ramp angle of the target vehicle is obtained by real-time fitting of the current vehicle characteristic parameters of the target vehicle, and the current fitting ramp angle of the target vehicle is used to control the target vehicle to perform shifting operation, so as to provide a backup scheme, which ensures that the vehicle can still be normally shifted, and avoids affecting the normal driving of the vehicle.

[0123] Another embodiment of the present application provides a vehicle shifting control device, as shown in Figure 5 the figure, comprising:

[0124] The acquisition unit 501 is configured to acquire current inclination information of the target vehicle in real time according to the target sensors.

[0125] The calibration unit 502 is configured to calibrate the current inclination information of the target vehicle according to the current dynamic characteristic parameter of the target vehicle in the current CAN bus data of the target vehicle.

[0126] The angle calculation unit 503 is configured to calculate the current slope angle of the target vehicle according to the calibrated current inclination information of the target vehicle.

[0127] The first control unit 504 is configured to control the target vehicle to perform gear shifting according to the current slope angle of the target vehicle.

[0128] The judgment unit 505 is configured to judge whether the current gear shifting of the target vehicle is normal. If the current gear shifting of the target vehicle is judged to be normal, the acquisition unit is triggered to acquire the current inclination information of the target vehicle in real time according to the target sensors.

[0129] The angle fitting unit 506 is configured to, if the current gear shifting of the target vehicle is judged to be abnormal, fit the current vehicle characteristic parameter of the target vehicle in real time to obtain a current fitted slope angle of the target vehicle.

[0130] The second control unit 507 is configured to control the target vehicle to perform gear shifting according to the current fitted slope angle of the target vehicle.

[0131] Optionally, in the vehicle gear shifting control device provided in another embodiment of the present application, the calibration unit comprises:

[0132] The filtering unit is configured to filter abnormal data in the current inclination information of the target vehicle.

[0133] The supplement unit is configured to supplement the filtered information according to the current dynamic characteristic parameter of the target vehicle in the current CAN bus data of the target vehicle.

[0134] Optionally, in the vehicle gear shifting control device provided in another embodiment of the present application, the vehicle gear shifting control device further comprises:

[0135] The analysis unit is configured to input the current slope angle of the target vehicle and the current dynamic characteristic parameter of the target vehicle into a pre-trained analysis model, and analyze, by using the analysis model, whether the gear position controlled by the target vehicle according to the current slope angle of the target vehicle conforms to the vehicle operating condition corresponding to the current dynamic characteristic parameter of the target vehicle.

[0136] If it is analyzed that the gear shift of the target vehicle controlled based on the current slope angle of the target vehicle meets the vehicle operating condition corresponding to the current dynamic characteristic parameter of the target vehicle, the first control unit performs gear shift operation of the target vehicle according to the current slope angle of the target vehicle.

[0137] The abnormality determination unit is configured to determine that the target vehicle is currently in abnormal gear shift when it is analyzed that the gear shift of the target vehicle controlled based on the current slope angle of the target vehicle does not meet the vehicle operating condition corresponding to the current dynamic characteristic parameter of the target vehicle.

[0138] Optionally, the vehicle gear shift control device provided in another embodiment of the present application further comprises:

[0139] The parameter determination unit is configured to determine the current demand condition parameter according to the vehicle speed and the accelerator opening degree of the target vehicle before the gear shift.

[0140] The optimization unit is configured to optimize the analysis model by using the condition parameter of the target vehicle after the gear shift when the error between the current demand condition parameter and the condition parameter of the target vehicle after the gear shift is greater than a threshold value.

[0141] Optionally, the vehicle gear shift control device provided in another embodiment of the present application comprises:

[0142] The parameter calculation unit is configured to calculate the current theoretical dynamic characteristic parameter of the target vehicle according to the vehicle speed and the accelerator opening degree of the target vehicle.

[0143] The first determination unit is configured to determine whether the target vehicle is successfully shifted within a preset time range.

[0144] The acquisition unit is configured to acquire the dynamic characteristic parameter of the target vehicle when it is determined that the target vehicle is successfully shifted within the preset time range.

[0145] The comparison unit is configured to compare whether the current theoretical dynamic characteristic parameter of the target vehicle is consistent with the dynamic characteristic parameter of the target vehicle.

[0146] The first determination unit is configured to determine that the target vehicle is currently in normal gear shift when it is compared that the current theoretical dynamic characteristic parameter of the target vehicle is consistent with the dynamic characteristic parameter of the target vehicle.

[0147] The second determination unit is configured to determine that the target vehicle is currently in abnormal gear shift when it is determined that the target vehicle is not successfully shifted within the preset time range or it is compared that the current theoretical dynamic characteristic parameter of the target vehicle is not consistent with the dynamic characteristic parameter of the target vehicle.

[0148] It should be noted that the specific working process of each unit provided in the above embodiments of the present application can correspondingly refer to the specific implementation process of the corresponding steps in the above method embodiments, which will not be described here in detail.

[0149] Another embodiment of the present application provides an electronic device, such as Figure 6 as shown, comprising:

[0150] a memory 601 and a processor 602.

[0151] The memory 601 is configured to store a program.

[0152] The processor 602 is configured to execute the program stored in the memory 601, and when the program is executed, it is specifically configured to implement the vehicle gear shifting control method provided in any one of the above embodiments.

[0153] Another embodiment of the present application provides a computer storage medium for storing a computer program, which when executed, is configured to implement the vehicle gear shifting control method provided in any one of the above embodiments.

[0154] The computer storage medium includes permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. According to the definition in this paper, computer readable medium does not include transitory computer readable medium, such as modulated data signals and carriers.

[0155] The skilled person can further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been described in the above description in general terms. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0156] The foregoing description of the disclosed embodiments enables a person skilled in the art to make or use the application. Modifications of these embodiments will occur to persons of skill in the art, and, while certain embodiments according to the principles set forth herein are shown and described, it is to be understood that the same are not limiting of the scope of the application as it is set forth in the appended claims, and that various modifications are made within the scope of the appended claims. Therefore, it is contemplated to cover the application in its broadest scope, including all features that can be made or used in the embodiments described herein.

Claims

1. A vehicle shift control method characterized by, The method comprises the following steps: real-time acquisition of current inclination information of a target vehicle collected by a plurality of target sensors; calibration of the current inclination information of the target vehicle by using current dynamic characteristic parameters of the target vehicle in current CAN bus data of the target vehicle; calculation of a current slope angle of the target vehicle by using the calibrated current inclination information of the target vehicle; control of gear shifting of the target vehicle according to the current slope angle of the target vehicle; determination of whether the current gear shifting of the target vehicle is normal; if it is determined that the current gear shifting of the target vehicle is normal, returning to the step of real-time acquisition of current inclination information of a target vehicle collected by a plurality of target sensors; if it is determined that the current gear shifting of the target vehicle is abnormal, real-time fitting of a current fitting slope angle of the target vehicle by using current vehicle characteristic parameters of the target vehicle; control of gear shifting of the target vehicle by using the current fitting slope angle of the target vehicle.

2. The method of claim 1, wherein, The calibration of the current inclination information of the target vehicle by using current dynamic characteristic parameters of the target vehicle in current CAN bus data of the target vehicle comprises the following steps: filtering of abnormal data in the current inclination information of the target vehicle; supplementation of the filtered information based on the current dynamic characteristic parameters of the target vehicle in the current CAN bus data of the target vehicle.

3. The method of claim 1, wherein, Before the control of gear shifting of the target vehicle according to the current slope angle of the target vehicle, the method further comprises the following steps: input of the current slope angle of the target vehicle and the current dynamic characteristic parameters of the target vehicle into a pre-trained analysis model, analysis by the analysis model of whether a gear shift of the target vehicle based on the current slope angle of the target vehicle conforms to a vehicle operating condition corresponding to the current dynamic characteristic parameters of the target vehicle; if it is analyzed that the gear shift of the target vehicle based on the current slope angle of the target vehicle conforms to the vehicle operating condition corresponding to the current dynamic characteristic parameters of the target vehicle, the control of gear shifting of the target vehicle according to the current slope angle of the target vehicle is performed; if it is analyzed that the gear shift of the target vehicle based on the current slope angle of the target vehicle does not conform to the vehicle operating condition corresponding to the current dynamic characteristic parameters of the target vehicle, it is determined that the current gear shifting of the target vehicle is abnormal.

4. The method of claim 3, wherein, After the control of gear shifting of the target vehicle according to the current slope angle of the target vehicle, the method further comprises the following steps: determination of a current demand condition parameter according to a vehicle speed and an accelerator opening degree of the target vehicle before gear shifting; if an error between the current demand condition parameter and a condition parameter of the target vehicle after gear shifting is greater than a threshold value, the analysis model is optimized by using the condition parameter of the target vehicle after gear shifting.

5. The method of claim 1, wherein, The determination of whether the current gear shifting of the target vehicle is normal comprises the following steps: calculation of a current theoretical dynamic characteristic parameter of the target vehicle according to a current vehicle speed and a current accelerator opening degree of the target vehicle; determination of whether the target vehicle successfully shifts gears within a preset time range; If it is judged that the target vehicle successfully shifts gears within a preset time range, the dynamic characteristic parameters of the current target vehicle are acquired; Whether the current theoretical dynamic characteristic parameters of the target vehicle are consistent with the dynamic characteristic parameters of the current target vehicle is compared; If it is compared that the current theoretical dynamic characteristic parameters of the target vehicle are consistent with the dynamic characteristic parameters of the current target vehicle, it is determined that the current gear shifting of the target vehicle is normal; If it is judged that the target vehicle does not successfully shift gears within a preset time range, or it is compared that the current theoretical dynamic characteristic parameters of the target vehicle are not consistent with the dynamic characteristic parameters of the current target vehicle, it is determined that the current gear shifting of the target vehicle is abnormal.

6. A vehicle shift control device characterized by comprising: It comprises: The acquisition unit is used for acquiring the current inclination information of the target vehicle collected by a plurality of target sensors in real time; The calibration unit is used for calibrating the current inclination information of the target vehicle by using the current dynamic characteristic parameters of the target vehicle in the current CAN bus data of the target vehicle; The angle calculation unit is used for calculating the current slope angle of the target vehicle by using the calibrated current inclination information of the target vehicle; The first control unit is used for controlling the target vehicle to perform gear shifting operation according to the current slope angle of the target vehicle; The judgment unit is used for judging whether the current gear shifting of the target vehicle is normal; if it is judged that the current gear shifting of the target vehicle is normal, the acquisition unit is returned to perform the real-time acquisition of the current inclination information of the target vehicle collected by a plurality of target sensors; The angle fitting unit is used for fitting the current vehicle characteristic parameters of the target vehicle in real time to obtain the current fitted slope angle of the target vehicle if it is judged that the current gear shifting of the target vehicle is abnormal; The second control unit is used for controlling the target vehicle to perform gear shifting operation by using the current fitted slope angle of the target vehicle.

7. The apparatus of claim 6, wherein, The calibration unit comprises: The filtering unit is used for filtering abnormal data in the current inclination information of the target vehicle; The supplement unit is used for supplementing the filtered information based on the current dynamic characteristic parameters of the target vehicle in the current CAN bus data of the target vehicle.

8. The apparatus of claim 6, wherein, It further comprises: The analysis unit is used for inputting the current slope angle of the target vehicle and the current dynamic characteristic parameters of the target vehicle into a pre-trained analysis model, and analyzing whether the gear switching of the target vehicle based on the current slope angle of the target vehicle conforms to the vehicle operating condition corresponding to the current dynamic characteristic parameters of the target vehicle by using the analysis model; If it is analyzed that the gear switching of the target vehicle based on the current slope angle of the target vehicle conforms to the vehicle operating condition corresponding to the current dynamic characteristic parameters of the target vehicle, the first control unit performs the control of the target vehicle to perform gear shifting operation according to the current slope angle of the target vehicle. Anomaly determination unit, configured to determine that the target vehicle is currently in gear shifting anomaly when it is analyzed that the gear switching of the target vehicle based on the current slope angle of the target vehicle does not conform to the vehicle operating mode corresponding to the current dynamic characteristic parameter of the target vehicle.

9. An electronic device, comprising: Comprise: Memory and processor; Wherein the memory is used to store programs; The processor is used to execute the program, and the program is executed, specifically for realizing the vehicle gear shifting control method in any one of claims 1 to 5.

10. A computer storage medium, characterized in that, A computer program is stored, and the computer program is executed to realize the vehicle gear shifting control method in any one of claims 1 to 5.

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