Shift control method, device and equipment of double electric drive and storage medium

Abstract

The application discloses a gear shifting control method, device and equipment of double electric drive and a storage medium, and relates to the technical field of motor control. The gear shifting control method of double electric drive comprises the following steps: obtaining a gear shifting target gear of a vehicle driven by a first motor and a second motor; calculating a difference value between the gear shifting target gear and a previous target gear, and comparing the difference value with a first preset threshold; and controlling the sequence of gear shifting of the first motor and the second motor according to the comparison result of the difference value and the first preset threshold. By switching the gear shifting sequence of the two motors, the gear shifting sequence of the two motors is changed constantly during continuous operation, the number of gear shifting of the first motor and the second motor is basically the same, and the mechanical fatigue balance effect of the double motor main shaft is achieved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a dual-electric drive shift control method, device, equipment and storage medium. Background Technology

[0002] In pure electric vehicle applications, an electric drive axle layout is frequently used. Electric motors are mounted on the drive axle to provide forward power during acceleration and recover energy during deceleration. For a control scheme with two motors mounted on a single electric drive axle, each motor is connected to the drive axle via a three-speed reduction gearbox. During vehicle operation, the target gear is typically calculated based on vehicle speed and accelerator pedal opening, and upshift or downshift is set accordingly. The two motors are then controlled to perform shifting.

[0003] However, during the shifting process between the two motors, if the peak output torque of one motor is greater than that of the other, continuously using this shifting sequence during upshifting will have a certain impact on the durability of the motor shaft and gears, resulting in different levels of mechanical fatigue between the two motors, which in turn affects the normal operation of the dual-motor control.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this application is to provide a shift control method, device, equipment, and storage medium for dual electric drives, aiming to solve the technical problem of inconsistent mechanical fatigue caused by sequential control of dual motors in the prior art.

[0006] To achieve the above objectives, this application proposes a shift control method for a dual-electric drive system, the shift control method comprising:

[0007] Obtain the target gear for the vehicle driven by the first motor and the second motor.

[0008] Calculate the difference between the target gear and the previous target gear, and compare the difference with a first preset threshold.

[0009] Based on the comparison result between the difference and the first preset threshold, the shifting order of the first motor and the second motor is controlled.

[0010] In one embodiment, the step of controlling the shifting order of the first motor and the second motor based on the comparison result of the difference and the first preset threshold includes:

[0011] When the difference between the target gear and the previous target gear is lower than the first preset threshold, the first motor and the second motor are controlled to perform sequential gear shifting.

[0012] In one embodiment, the step of controlling the first motor and the second motor to perform sequential gear shifting when the difference between the target gear and the previous target gear is lower than the first preset threshold includes:

[0013] When the difference between the target gear and the previous target gear is lower than the first preset threshold, the torque of the first motor is gradually reduced from the current torque to 0, while the torque of the second motor is increased from the current torque to twice the current torque at the same rate.

[0014] After the torque of the first motor drops to 0, control the first motor to switch to the target gear.

[0015] The torque of the second motor is gradually reduced from twice the current torque to 0, while the torque of the first motor is increased from 0 to twice the shift torque at the same rate.

[0016] After the torque of the second motor drops to 0, control the second motor to switch to the target gear.

[0017] The torque of the first motor is gradually reduced from twice the shift torque to the shift torque, while the torque of the second motor is increased from 0 to the shift torque at the same rate.

[0018] In one embodiment, the step of controlling the shifting order of the first motor and the second motor based on the comparison result of the difference and the first preset threshold includes:

[0019] When the difference between the target gear and the previous target gear is not less than a first preset threshold, the first motor and the second motor are controlled to perform reverse gear shifting.

[0020] In one embodiment, the step of controlling the first motor and the second motor to perform reverse gear shifting when the difference between the target gear and the previous target gear is not less than a first preset threshold includes:

[0021] When the difference between the target gear and the previous target gear is not less than the first preset threshold, the torque of the second motor is gradually reduced from the current torque to 0, while the torque of the first motor is increased from the current torque to twice the current torque at the same rate.

[0022] After the torque of the second motor drops to 0, control the second motor to switch to the target gear.

[0023] The torque of the first motor is gradually reduced from twice the current torque to 0, while the torque of the second motor is increased from 0 to twice the shift torque at the same rate.

[0024] After the torque of the first motor decreases to 0, the first motor is controlled to switch to the target gear.

[0025] The torque of the second motor is gradually reduced from twice the shift torque to the shift torque, while the torque of the first motor is increased from 0 to the shift torque at the same rate.

[0026] In one embodiment, the step of obtaining the target gear for the vehicle driven jointly by the first motor and the second motor includes:

[0027] Obtain vehicle driving status information;

[0028] Based on the changes in the driving condition information and a pre-set lookup table of driving condition and gear information, determine whether the vehicle needs to perform motor shifting.

[0029] When it is determined that a motor shift is required, the target shift gear of the vehicle is obtained from the lookup table.

[0030] In one embodiment, the step of obtaining the target gear for the vehicle from the lookup table when it is determined that a motor shift is required includes:

[0031] Retrieve the values ​​of the previous target gear, the current driving gear, and the target gear that are pre-stored in the vehicle;

[0032] When it is determined that the motor needs to shift gears, the stored value of the previous target gear is updated to the stored value of the current driving gear.

[0033] Update the stored value of the current driving gear to the stored value of the target gear;

[0034] Update the stored target gear value to the target gear value obtained from the lookup table.

[0035] Furthermore, to achieve the above objectives, this application also proposes a dual-electric drive shift control device, which includes:

[0036] The gear acquisition module is used to acquire the target gear of the vehicle driven by the first motor and the second motor.

[0037] The difference comparison module is used to calculate the difference between the target gear and the previous target gear, and compare the difference with a first preset threshold.

[0038] The shift control module is used to control the shifting order of the first motor and the second motor based on the comparison result between the difference and the first preset threshold.

[0039] In addition, to achieve the above objectives, this application also proposes a dual-electric drive shift control device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the dual-electric drive shift control method described above.

[0040] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the dual-electric drive shift control method described above.

[0041] This application provides a shift control method for a dual-electric drive system. First, it obtains the target shift gear of a vehicle driven by both a first motor and a second motor. Then, it calculates the difference between the target shift gear and the previous target gear and compares this difference with a first preset threshold. Based on the comparison result, it controls the shifting order of the first and second motors. By switching the shifting order of the two motors, the shifting order continuously changes during operation, and the number of shifts by the first and second motors is approximately the same, achieving a mechanical fatigue balance effect on the dual-motor spindle. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a flowchart illustrating an embodiment of the dual-electric drive shift control method of this application.

[0045] Figure 2 A flowchart illustrating Embodiment 2 of the dual-electric drive shift control method of this application;

[0046] Figure 3 A flowchart illustrating Embodiment 3 of the dual-electric drive shift control method of this application;

[0047] Figure 4 This is a shift calibration diagram provided in Embodiment 3 of the shift control method for dual electric drives of this application;

[0048] Figure 5This is a schematic diagram of the module structure of the dual-electric drive shift control device according to an embodiment of this application;

[0049] Figure 6 This is a schematic diagram of the structure of the dual-electric drive shift control device in the hardware operating environment of the shift control method of the dual-electric drive in the embodiments of this application.

[0050] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0051] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0052] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0053] The main solution of this application embodiment is: to obtain the target gear position of the vehicle driven by the first motor and the second motor; to calculate the difference between the target gear position and the previous target gear position, and to compare the difference with a first preset threshold; and to control the shifting order of the first motor and the second motor according to the comparison result of the difference and the first preset threshold.

[0054] During the shifting process between the two motors, if one motor has a higher peak output torque than the other, continuously using this shifting sequence during upshifting will affect the durability of the motor shaft and gears, resulting in different levels of mechanical fatigue between the two motors, which in turn affects the normal operation of the dual-motor control.

[0055] This application provides a solution that achieves mechanical fatigue balance of the dual-motor spindle by switching the shifting sequence of the two motors, so that the shifting sequence of the two motors changes continuously during operation.

[0056] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or a dual-electric drive shift control device capable of performing the above functions. The following description uses a dual-electric drive shift control device as an example to illustrate this embodiment and the subsequent embodiments.

[0057] Based on this, the embodiments of this application provide a shift control method for dual electric drives, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the dual-electric drive shift control method of this application.

[0058] In this embodiment, the shift control method of the dual electric drive includes steps S10 to S30:

[0059] Step S10: Obtain the target gear for the vehicle driven by the first motor and the second motor.

[0060] It should be noted that the first motor and the second motor are connected to the drive axle through a multi-speed reduction gearbox, and can adjust the gear according to the control of the transmission control unit to adjust the vehicle's running torque and speed.

[0061] The nominal values ​​of the first and second motors should be the same to achieve synchronous control of the two motors. Furthermore, because a dual-motor control method is used for shifting gears in one operation, the vehicle's power output will not be interrupted during gear shifts.

[0062] Step S20: Calculate the difference between the target gear and the previous target gear, and compare the difference with a first preset threshold.

[0063] It should be noted that the aforementioned transmission control unit can be an electronic device that adjusts the motor gear according to the vehicle's driving conditions. The transmission control unit can internally store the previous target gear, the current driving gear, and the shift target gear. The previous target gear can be the target gear at the time of the last gear adjustment, the current driving gear can be the motor gear at which the vehicle is currently moving, and the shift target gear can be the target gear at the time of this gear adjustment. For example, if the target gear at the time of the last gear adjustment was 2nd gear, the current motor gear is 2nd gear, and the target gear at this time is 3rd gear, then the previous target gear, the current driving gear, and the shift target gear are 2, 3, and 3, respectively. The difference between the shift target gear and the previous target gear is 1.

[0064] It should be understood that the first preset threshold may be a judgment threshold preset in the transmission control unit.

[0065] Step S30: Based on the comparison result between the difference and the first preset threshold, control the shifting order of the first motor and the second motor.

[0066] It should be noted that the shifting order of the first and second motors can be controlled by comparing the difference between the target gear and the previous target gear with a first preset threshold. For example, if the difference is greater than the first preset threshold, the first motor can shift first, followed by the second motor; conversely, if the difference is less than the first preset threshold, the second motor can shift first, followed by the first motor. Similarly, it can be set so that if the difference is less than the first preset threshold, the first motor shifts first, followed by the second motor; and if the difference is greater than the first preset threshold, the second motor shifts first, followed by the first motor. The first preset threshold can be set based on the frequency of the difference between the target gear and the previous target gear during vehicle operation, ensuring that the number of shifts by the first and second motors is approximately the same.

[0067] In this embodiment, the target gear position of the vehicle driven by both the first and second motors is obtained; the difference between the target gear position and the previous target gear position is calculated, and the difference is compared with a first preset threshold; based on the comparison result of the difference and the first preset threshold, the shifting order of the first and second motors is controlled. By switching the shifting order of the two motors, the shifting order of the two motors changes continuously during operation, and the number of shifts by the first and second motors is basically the same, achieving the effect of mechanical fatigue balance of the dual-motor spindle.

[0068] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 , Figure 2 This is a flowchart illustrating a second embodiment of the dual-electric drive shift control method of this application. In step S30, the dual-electric drive shift control method includes:

[0069] Step S200: When the difference between the target gear and the previous target gear is lower than the first preset threshold, control the first motor and the second motor to perform sequential gear shifting. (Not shown in the figure)

[0070] It should be noted that sequential gear shifting means switching the gear of the first motor first and then the gear of the second motor, while reverse gear shifting means switching the gear of the second motor first and then the gear of the first motor.

[0071] It should be understood that when the difference is lower than the first preset threshold, the first motor and the second motor can also be controlled to perform reverse gear shifting.

[0072] Step S200 (taking sequential gear shifting as an example) may include:

[0073] Step S201: When the difference between the target gear and the previous target gear is lower than the first preset threshold, the torque of the first motor is gradually reduced from the current torque to 0, while the torque of the second motor is increased from the current torque to twice the current torque at the same rate.

[0074] It should be noted that when adjusting the motor's gear, the motor's output torque should be reduced to zero before controlling the motor to shift gears. Simultaneously, during gear shifting, to maintain a constant total output torque from both motors, the output torque of the other motor should be increased synchronously. The current torque can be the real-time output torque of both motors during vehicle operation before the gear change.

[0075] It should be understood that during normal vehicle operation, the total required torque can be evenly distributed between the two motors. That is, when no gear shift is performed, the output torque of the first and second motors is the same. Therefore, during a gear shift, the output torque of one motor drops to 0, while the output torque of the other motor should increase to twice the current torque.

[0076] Step S202: After the torque of the first motor decreases to 0, control the first motor to switch to the target gear.

[0077] Step S203: Gradually reduce the torque of the second motor from twice the current torque to 0, while simultaneously increasing the torque of the first motor from 0 to twice the shift torque at the same rate.

[0078] It should be noted that the shift torque can be the torque that the motor should output after the vehicle has shifted gears.

[0079] It should be understood that the torque output by the motor to maintain the vehicle speed is different in different gears. Therefore, the shift torque is not the same as the current torque mentioned above.

[0080] Among them, T should be satisfied. x+1 *k x+1 (x+1 gear ratio) = T x *K x (x gear ratio).

[0081] Step S204: After the torque of the second motor decreases to 0, control the second motor to switch to the target gear.

[0082] Step S205: Gradually reduce the torque of the first motor from twice the shift torque to the shift torque, while simultaneously increasing the torque of the second motor from 0 to the shift torque at the same rate.

[0083] It should be noted that after both the first motor and the second motor have completed the shifting operation, the torque output by the two motors is the same, which is the shifting torque.

[0084] Furthermore, when the difference between the target gear and the previous target gear is not less than a first preset threshold, the first motor and the second motor can be controlled to perform reverse gear shifting. Similarly, when the difference between the target gear and the previous target gear is not less than the first preset threshold, the first motor and the second motor can be controlled to perform sequential gear shifting.

[0085] The reverse gear shifting step is similar to the sequential gear shifting step described above, and may include: when the difference between the target gear and the previous target gear is not less than the first preset threshold, gradually reducing the torque of the second motor from the current torque to 0, while simultaneously increasing the torque of the first motor from the current torque to twice the current torque at the same rate; after the torque of the second motor decreases to 0, controlling the second motor to switch to the target gear; gradually reducing the torque of the first motor from twice the current torque to 0, while simultaneously increasing the torque of the second motor from 0 to twice the shift torque at the same rate; after the torque of the first motor decreases to 0, controlling the first motor to switch to the target gear; gradually reducing the torque of the second motor from twice the shift torque to the shift torque, while simultaneously increasing the torque of the first motor from 0 to the shift torque at the same rate.

[0086] In this embodiment, when the difference between the target gear and the previous target gear is lower than the first preset threshold, the first motor and the second motor are controlled to perform sequential gear shifting; and when the difference between the target gear and the previous target gear is not lower than the first preset threshold, the first motor and the second motor are controlled to perform reverse gear shifting. This ensures that the number of gear shifts performed by the first motor and the second motor is approximately the same, achieving the effect of mechanical fatigue balance of the dual-motor spindle.

[0087] Based on the first and / or second embodiments of this application, in the third embodiment of this application, the content that is the same as or similar to that in embodiments one and two above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 3 , Figure 3 This is a flowchart illustrating Embodiment 3 of the dual-electric drive shift control method of this application.

[0088] In step S10, the shift control method for the dual electric drive further includes:

[0089] Step S301: Obtain vehicle driving status information.

[0090] It should be noted that driving status information can be the correlation between vehicle speed and accelerator pedal opening. The vehicle's control module can determine the target gear based on the driver's accelerator pedal opening and vehicle speed.

[0091] Step S302: Based on the changes in the driving condition information and a pre-set driving condition and gear information lookup table, determine whether the vehicle needs to perform motor gear shifting.

[0092] Reference Figure 4 , Figure 4 This is a shift calibration diagram provided for Embodiment 3 of the shift control method for dual electric drives in this application.

[0093] It should be noted that, Figure 4 The X-axis represents vehicle speed, and the Y-axis represents the accelerator pedal depth. The arrows on the left and right sides of the diagram represent the vehicle's current gear and target gear, respectively. When the vehicle is parked and the gear is shifted into or out of D, the target gear needs to be set to 0. That is, when the vehicle is parked and then powered on, the previous target gear, the current driving gear, and the target gear for shifting are all 0.

[0094] Step S303: When it is determined that the motor needs to be shifted, the target gear for the vehicle is obtained from the lookup table.

[0095] It should be understood that when it is determined that a motor shift is required, the stored value of the previous target gear is updated to the stored value of the current driving gear; the stored value of the current driving gear is updated to the stored value of the shift target gear; and the stored value of the shift target gear is updated to the value of the shift target gear obtained from the lookup table.

[0096] In this embodiment, vehicle driving status information is acquired; based on changes in the driving status information and a pre-set lookup table of driving status and gear information, it is determined whether the vehicle needs to perform a motor shift; when a motor shift is determined to be necessary, the target gear for the vehicle is retrieved from the lookup table. By using the collected driving status information and the lookup table for shift control, the accuracy and stability of the shift operation are improved, achieving a mechanical fatigue balance effect for the dual-motor spindle, and simultaneously enhancing the user's driving experience.

[0097] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the dual electric drive shift control method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0098] This application also provides a dual-electric drive shift control device, please refer to... Figure 5 The dual-electric drive shift control device includes:

[0099] The gear position acquisition module 10 is used to acquire the target gear position of the vehicle driven by the first motor and the second motor.

[0100] The difference comparison module 20 is used to calculate the difference between the target gear and the previous target gear, and compare the difference with a first preset threshold.

[0101] The shift control module 30 is used to control the shifting order of the first motor and the second motor based on the comparison result between the difference and the first preset threshold.

[0102] Optionally, the shift control module 30 is further configured to control the first motor and the second motor to perform sequential shifting when the difference between the target shift gear and the previous target gear is lower than the first preset threshold.

[0103] Optionally, the shift control module 30 is further configured to, when the difference between the target shift gear and the previous target gear is lower than the first preset threshold, gradually reduce the torque of the first motor from the current torque to 0, while simultaneously increasing the torque of the second motor from the current torque to twice the current torque at the same rate; after the torque of the first motor decreases to 0, control the first motor to switch to the target shift gear; gradually reduce the torque of the second motor from twice the current torque to 0, while simultaneously increasing the torque of the first motor from 0 to twice the shift torque at the same rate; after the torque of the second motor decreases to 0, control the second motor to switch to the target shift gear; gradually reduce the torque of the first motor from twice the shift torque to the shift torque, while simultaneously increasing the torque of the second motor from 0 to the shift torque at the same rate.

[0104] Optionally, the shift control module 30 is further configured to control the first motor and the second motor to perform reverse shifting when the difference between the target shifting gear and the previous target gear is not lower than a first preset threshold.

[0105] Optionally, the shift control module 30 is further configured to, when the difference between the target shift gear and the previous target gear is not lower than the first preset threshold, gradually reduce the torque of the second motor from the current torque to 0, while simultaneously increasing the torque of the first motor from the current torque to twice the current torque at the same rate; after the torque of the second motor decreases to 0, control the second motor to switch to the target shift gear; gradually reduce the torque of the first motor from twice the current torque to 0, while simultaneously increasing the torque of the second motor from 0 to twice the shift torque at the same rate; after the torque of the first motor decreases to 0, control the first motor to switch to the target shift gear; gradually reduce the torque of the second motor from twice the shift torque to the shift torque, while simultaneously increasing the torque of the first motor from 0 to the shift torque at the same rate.

[0106] Optionally, the gear position acquisition module 10 is further configured to acquire vehicle driving status information; determine whether the vehicle needs to perform motor gear shifting based on a pre-set driving status and gear position information lookup table according to the changes in the driving status information; and when it is determined that motor gear shifting is required, obtain the vehicle's target gear position from the lookup table.

[0107] Optionally, the gear acquisition module 10 is further configured to acquire the values ​​of the previous target gear, the current driving gear, and the shift target gear that are pre-stored in the vehicle; when it is determined that a motor shift is required, update the stored value of the previous target gear to the stored value of the current driving gear; update the stored value of the current driving gear to the stored value of the shift target gear; and update the stored value of the shift target gear to the value of the shift target gear obtained from the lookup table.

[0108] The dual-electric drive shift control device provided in this application, employing the dual-electric drive shift control method in the above embodiments, can solve the technical problem of mechanical fatigue imbalance in dual-motor spindles. Compared with the prior art, the beneficial effects of the dual-electric drive shift control device provided in this application are the same as those of the dual-electric drive shift control method provided in the above embodiments, and other technical features in the dual-electric drive shift control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0109] This application provides a dual-electric drive shift control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the dual-electric drive shift control method in the first embodiment described above.

[0110] The following is for reference. Figure 6 This document illustrates a structural schematic diagram of a dual-electric drive shift control device suitable for implementing embodiments of this application. The dual-electric drive shift control device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 6The illustrated dual-electric drive shift control device is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0111] like Figure 6 As shown, the shift control device for the dual-electric drive may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1002 or a program loaded from storage device 1003 into random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the shift control device for the dual-electric drive. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the dual-drive shift control device to communicate wirelessly or wiredly with other devices to exchange data. Although a dual-drive shift control device with various systems is shown in the figure, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0112] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0113] The dual-electric drive shift control device provided in this application, employing the dual-electric drive shift control method described in the above embodiments, can solve the technical problem of mechanical fatigue imbalance in dual-motor spindles. Compared with the prior art, the beneficial effects of the dual-electric drive shift control device provided in this application are the same as those of the dual-electric drive shift control method provided in the above embodiments, and other technical features of this dual-electric drive shift control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0114] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0115] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0116] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the dual-electric drive shift control method in the above embodiments.

[0117] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having 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 fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0118] The aforementioned computer-readable storage medium may be included in the dual-electric drive shift control device; or it may exist independently and not be assembled into the dual-electric drive shift control device.

[0119] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0120] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0121] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0122] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described dual-electric drive shift control method, which can solve the technical problem of mechanical fatigue imbalance of the dual-motor spindle. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the dual-electric drive shift control method provided in the above embodiments, and will not be repeated here.

[0123] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A shift control method for dual electric drives, characterized in that, The shift control method for the dual electric drive includes: Obtain the target gear for the vehicle driven by both the first and second motors; Calculate the difference between the target gear and the previous target gear, and compare the difference with a first preset threshold. Based on the comparison result between the difference and the first preset threshold, the shifting order of the first motor and the second motor is controlled. The step of controlling the shifting order of the first motor and the second motor based on the comparison result of the difference and the first preset threshold includes: When the difference between the target gear and the previous target gear is lower than the first preset threshold, the first motor and the second motor are controlled to perform sequential gear shifting. When the difference between the target gear and the previous target gear is not less than a first preset threshold, the first motor and the second motor are controlled to perform reverse gear shifting.

2. The shift control method for dual electric drives as described in claim 1, characterized in that, The step of controlling the first motor and the second motor to perform sequential gear shifting when the difference between the target gear and the previous target gear is lower than the first preset threshold includes: When the difference between the target gear and the previous target gear is lower than the first preset threshold, the torque of the first motor is gradually reduced from the current torque to 0, while the torque of the second motor is increased from the current torque to twice the current torque at the same rate. After the torque of the first motor decreases to 0, the first motor is controlled to switch to the target gear. The torque of the second motor is gradually reduced from twice the current torque to 0, while the torque of the first motor is increased from 0 to twice the shift torque at the same rate. The shift torque is the torque that the motor should output after the vehicle has shifted gears. After the torque of the second motor drops to 0, control the second motor to switch to the target gear. The torque of the first motor is gradually reduced from twice the shift torque to the shift torque, while the torque of the second motor is increased from 0 to the shift torque at the same rate.

3. The shift control method for dual electric drives as described in claim 1, characterized in that, The step of controlling the first motor and the second motor to perform reverse gear shifting when the difference between the target gear and the previous target gear is not lower than a first preset threshold includes: When the difference between the target gear and the previous target gear is not less than the first preset threshold, the torque of the second motor is gradually reduced from the current torque to 0, while the torque of the first motor is increased from the current torque to twice the current torque at the same rate. After the torque of the second motor drops to 0, control the second motor to switch to the target gear. The torque of the first motor is gradually reduced from twice the current torque to 0, while the torque of the second motor is increased from 0 to twice the shift torque at the same rate. The shift torque is the torque that the motor should output after the vehicle has shifted gears. After the torque of the first motor decreases to 0, the first motor is controlled to switch to the target gear. The torque of the second motor is gradually reduced from twice the shift torque to the shift torque, while the torque of the first motor is increased from 0 to the shift torque at the same rate.

4. The shift control method for dual electric drives as described in claim 1, characterized in that, The step of obtaining the target gear for the vehicle driven by the first motor and the second motor includes: Obtain vehicle driving status information; Based on the changes in the driving condition information and a pre-set lookup table of driving condition and gear information, determine whether the vehicle needs to perform motor shifting. When it is determined that a motor shift is required, the target gear for the vehicle is obtained from the driving status and gear information lookup table.

5. The shift control method for dual electric drives as described in claim 4, characterized in that, The step of obtaining the target gear for the vehicle from the driving condition and gear information lookup table when it is determined that a motor gear shift is required includes: Retrieve the values ​​of the previous target gear, the current driving gear, and the target gear that are pre-stored in the vehicle; When it is determined that a motor gear shift is required, the stored value of the previous target gear is updated to the stored value of the current driving gear. Update the stored value of the current driving gear to the stored value of the target gear; Update the stored target gear value to the target gear value obtained from the driving status and gear information lookup table.

6. A dual-electric drive shift control device, characterized in that, The dual-electric drive shift control device includes: The gear acquisition module is used to acquire the target gear for shifting in a vehicle driven by both the first motor and the second motor. The difference comparison module is used to calculate the difference between the target gear and the previous target gear, and compare the difference with a first preset threshold. The shift control module is used to control the shifting order of the first motor and the second motor based on the comparison result between the difference and the first preset threshold. The shift control module is also used to control the first motor and the second motor to perform sequential shifting when the difference between the target shift gear and the previous target gear is lower than the first preset threshold. The shift control module is further configured to control the first motor and the second motor to perform reverse shifting when the difference between the target shifting gear and the previous target gear is not less than a first preset threshold.

7. A dual-electric drive gear shifting control device, characterized in that, The shift control device for the dual electric drive includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the shift control method for the dual electric drive as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the dual-electric drive shift control method as described in any one of claims 1 to 5.

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