Gear shift control method, system, device and storage medium

Abstract

The present application discloses a shift control method, system, device and storage medium, which relates to the field of vehicle control, including: when a brake signal is detected and the drive motor on the shift side has not completed the speed regulation within a preset speed regulation time, the drive motor on the gear side is torque-regulated according to the second target speed at the end of the brake, and when the speed difference after the torque regulation is less than the preset threshold value within the preset time, the drive motor on the shift side is subjected to a second speed regulation operation, and the gear engagement operation is performed when the preset jump-out condition is met. The present application is based on the situation that the speed difference between the actual speed of the drive motor on the gear side and the second target speed is less than the preset threshold value within the preset time after the torque regulation, and the second speed regulation operation is performed on the output speed of the drive motor on the shift side according to the second target speed, thereby avoiding frequent changes in the output shaft speed and output torque of the drive motor on the shift side and shortening the power attenuation time.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a gear shift control method, system, device and storage medium. Background Art

[0002] For an Automated Mechanical Transmission (AMT) equipped with dual gearboxes, the gear shifting operation is completed alternately by the dual gearboxes, so that uninterrupted power output can be achieved during the gear shifting process.

[0003] However, when the vehicle is in an operating condition with a high braking frequency, even if the AMT with a dual gearbox is used, there is still a risk of power attenuation. Specifically, for the AMT with a dual gearbox, the shifting process of a single gearbox includes four processes: clearing torque, disengaging, speed adjustment, and engaging. Among them, the condition for the speed adjustment process to switch to the engaging process is that the gearbox is allowed to enter the engaging process only when the output shaft speed and output torque of the drive motor meet the preset jump-out conditions. When the vehicle is in an operating condition with a high braking frequency, frequent braking will cause the output shaft speed and output torque of the drive motor to change frequently, which increases the execution time of the speed adjustment process, resulting in the gearbox being unable to complete the shift for a long time. For the AMT with a dual gearbox, when one of the gearboxes is in the shifting process, power cannot be transmitted. Therefore, the power of the whole vehicle is only output by the drive motor corresponding to the gearbox in gear, which inevitably causes the attenuation of the vehicle power, and the long-term power attenuation has a great impact on the driving safety of vehicles under heavy load or uphill and downhill. Therefore, how to shorten the power attenuation time of the electronically controlled mechanical automatic transmission with a dual gearbox during the shifting process has become an urgent problem to be solved. Summary of the invention

[0004] In view of the above problems, the present application provides a shift control method, system, device and storage medium to achieve the purpose of shortening the power decay time of an electronically controlled mechanical automatic transmission equipped with a dual gearbox during the shift process. The specific scheme is as follows:

[0005] A first aspect of the present application provides a shift control method, comprising:

[0006] When a brake signal is detected, a first speed regulating operation is performed on the output speed of the drive motor on the shift side according to a first target speed of the output shaft;

[0007] When the first speed regulation operation is not completed within the preset speed regulation time, the torque of the drive motor on the blocking side is regulated according to the second target speed of the output shaft at the end of braking;

[0008] When the speed difference between the actual speed of the driving motor on the gear side and the second target speed is less than a preset threshold within a preset time period after the torque adjustment is performed, a second speed regulation operation is performed on the output speed of the driving motor on the gear shift side according to the second target speed, and when the output speed of the driving motor on the gear shift side and the output torque of the driving motor on the gear shift side both meet the preset exit conditions, a gear engagement operation is performed.

[0009] In a possible implementation, the method further includes:

[0010] In the case where no brake signal is detected, the torque of the drive motor on the blocking side is adjusted according to the third target speed at the time of entering the speed regulation;

[0011] When the speed difference between the actual speed of the driving motor on the gear side and the third target speed is less than a preset threshold within a preset time period after the torque adjustment, the third speed regulation operation is performed on the output speed of the driving motor on the gear shift side according to the third target speed, and when the output speed of the driving motor on the gear shift side and the output torque of the driving motor on the gear shift side both meet the preset exit conditions, the gear engagement operation is performed.

[0012] In a possible implementation, the method further includes:

[0013] When the speed difference between the actual speed of the driving motor on the gear side and the second target speed or the third target speed is not less than a preset threshold within the preset time length after the torque adjustment, a fourth speed adjustment operation is performed on the output speed of the driving motor on the gear shift side according to the fourth target speed at the current moment, and when the output speed of the driving motor on the gear shift side and the output torque of the driving motor on the gear shift side both meet the preset jump-out conditions, the gearbox on the gear shift side is controlled to complete the gear shift.

[0014] In a possible implementation, the step of adjusting the torque of the drive motor on the blocking side according to the second target speed of the output shaft at the end of braking includes:

[0015] The second target speed is used as the only input of the closed-loop PID control of the drive motor on the block side, and the output torque of the drive motor on the block side is torque adjusted so that the speed of the output shaft is equal to the second target speed at the end of the braking, wherein the speed of the output shaft is equal to the product of the output speed of the drive motor on the block side and the transmission ratio of the gearbox on the block side.

[0016] A second aspect of the present application provides a shift control system, comprising:

[0017] A first speed regulating module, configured to perform a first speed regulating operation on the output speed of the driving motor on the shift side according to a first target speed of the output shaft when a brake signal is detected;

[0018] A first torque adjustment module, configured to adjust the torque of the drive motor on the blocking side according to the second target speed of the output shaft at the end of braking if the first speed adjustment operation is not completed within the preset speed adjustment time;

[0019] A gear engaging module is used to perform a second speed regulation operation on the output speed of the drive motor on the gear shift side according to the second target speed when the speed difference between the actual speed of the drive motor on the gear side and the second target speed is less than a preset threshold within a preset time period after the torque adjustment is performed, and to perform a gear engaging operation when the output speed of the drive motor on the gear shift side and the output torque of the drive motor on the gear shift side both meet preset exit conditions.

[0020] In a possible implementation, the system further includes:

[0021] A second torque adjustment module is used to adjust the torque of the drive motor on the blocking side according to the third target speed at the time of entering the speed adjustment when no brake signal is detected;

[0022] The gear shifting module is also used to perform a third speed regulation operation on the output speed of the drive motor on the gear shifting side according to the third target speed when the speed difference between the actual speed of the drive motor on the gear side and the third target speed is less than a preset threshold within a preset time after the torque adjustment is performed, and to execute the gear shifting operation when the output speed of the drive motor on the gear shifting side and the output torque of the drive motor on the gear shifting side both meet the preset exit conditions.

[0023] In a possible implementation, the gear shifting module is further configured to:

[0024] When the speed difference between the actual speed of the driving motor on the gear side and the second target speed or the third target speed is not less than a preset threshold within the preset time length after the torque adjustment, a fourth speed adjustment operation is performed on the output speed of the driving motor on the gear shift side according to the fourth target speed at the current moment, and when the output speed of the driving motor on the gear shift side and the output torque of the driving motor on the gear shift side both meet the preset jump-out conditions, the gearbox on the gear shift side is controlled to complete the gear shift.

[0025] In a possible implementation, the first torque adjustment module is configured to:

[0026] The second target speed is used as the only input of the closed-loop PID control of the drive motor on the block side, and the output torque of the drive motor on the block side is torque adjusted so that the speed of the output shaft is equal to the second target speed at the end of the braking, wherein the speed of the output shaft is equal to the product of the output speed of the drive motor on the block side and the transmission ratio of the gearbox on the block side.

[0027] A third aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0028] The memory is used to store computer programs;

[0029] The processor is used to execute the computer program so that the electronic device can implement the shift control method of the above-mentioned first aspect or any implementation manner of the first aspect.

[0030] The fourth aspect of the present application provides a computer storage medium, which carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the shift control method of the above-mentioned first aspect or any implementation method of the first aspect.

[0031] By means of the above technical scheme, the present application provides a shift control method, system, device and storage medium, which realizes the detection of whether there is a power risk by configuring the first speed regulation operation on the output speed of the drive motor on the shift side according to the first target speed of the output shaft when the brake signal is detected. Then, the torque of the drive motor on the gear side is adjusted according to the second target speed of the output shaft at the end of the braking, so that the drive motor on the gear side can maintain the motor torque corresponding to the second target speed and run smoothly. Since the torque is proportional to the acceleration, the stable motor torque represents a decrease in the rate of change of the vehicle acceleration, and the decrease in the rate of change of the vehicle acceleration represents a decrease in the rate of change of the output shaft speed of the vehicle, thereby reducing the rate of change of the target speed determined based on the output shaft speed. Finally, by configuring the situation that the speed difference between the actual speed of the driving motor on the gear side and the second target speed is less than a preset threshold within a preset time after torque adjustment, a second speed regulation operation is performed on the output speed of the driving motor on the gear shift side according to the second target speed, and when the output speed of the driving motor on the gear shift side and the output torque of the driving motor on the gear shift side meet the preset jump-out conditions, the gear shift operation is performed, so that the driving motor on the gear shift side can complete the speed regulation operation within the preset speed regulation time, thereby shortening the power attenuation time compared with the existing frequent speed regulation method. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0033] Figure 1 A schematic diagram of the structure of an AMT equipped with a dual gearbox provided in the present application;

[0034] Figure 2 A schematic diagram of a gear shifting process provided in this application;

[0035] Figure 3 A schematic diagram of a speed regulation process provided for this application;

[0036] Figure 4 A flow chart of a shift control method provided in this application;

[0037] Figure 5 A flow chart of a shift control method provided for a possible implementation of the present application;

[0038] Figure 6 A block diagram of a shift control system provided by the present application;

[0039] Figure 7 A schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0040] The following describes the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. The terms used in the implementation method section of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0041] The embodiments of the present application are described below in conjunction with the accompanying drawings. Those skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0042] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0043] It should be noted that in actual application scenarios, the structural diagram of an AMT equipped with a dual gearbox can be as follows: Figure 1 As shown, TCU-A is the automatic transmission control unit (TCU) of the A-side gearbox, TCU-B is the automatic transmission control unit of the B-side gearbox, A34 and A12 are the shifting mechanisms of the A-side gearbox, B34 and B12 are the shifting mechanisms of the B-side gearbox, TMA1 and TMA2 are the drive motors connected to the A-side gearbox through the transmission shaft, TMB1 and TMB2 are the drive motors connected to the A-side gearbox through the transmission shaft, and the drive motors are connected to the deployment-side gearbox through the transmission system on the deployment side, and the gearboxes on both sides act on the power output shaft together through the transmission system. Assuming that when shifting gears, side A is the shifting side and side B is the gear-in-gear side, then the shifting process is as follows Figure 2 As shown: the gearbox on the shift side enters the shift process from the non-shift process. After TCU-A detects the required gear, it clears the torque and removes the gear, thereby removing the gear from the current gear. Then, the speed and output torque transmitted to the output shaft by the drive motors TMA1 and TMA2 on the shift side meet the conditions for jumping out of the speed regulation, and finally the gear operation is completed, thereby switching the gear on the shift side to the required gear, and entering the non-shift process from the shift process. When the gearbox on the shift side is in the shift process, the gearbox on the gear side is still in the non-shift process. At this time, the power of the whole vehicle is provided by the gearbox on the gear side and the drive motor on the gear side, thereby ensuring that the power of the whole vehicle is not interrupted. After the gearbox on the A side enters the non-shift process from the shift process, the A side is changed from the shift side to the gear side, and the B side is changed from the gear side to the shift side, and the non-shift process enters the shift process, and the operation of the shift process is repeated.

[0044] In order to facilitate the understanding of the speed regulation process, a possible implementation of the present application is specifically described here:

[0045] like Figure 3The figure shows a schematic diagram of the speed regulation process. Assume that the process of switching from the current gear to the required gear is the upshift process. The output shaft speed tends to increase during the gear shift process. For the drive motor on the gear shift side, since the gear shift side needs to go through four processes of torque clearing, gear disengagement, speed regulation and gear engagement during the upshift process, torque clearing and gear disengagement will gradually eliminate the load on the drive motor, causing the output speed of the drive motor to tend to remain constant from a continuous increase, and the motor torque gradually decreases. After entering the speed regulation, in order to meet the demand for the output speed of the drive motor of the required gear, the output speed of the drive motor will be adjusted according to the target speed of the required gear, so that the output speed of the drive motor is adapted to the required gear (that is, the output speed of the drive motor and the target speed meet the transmission ratio of the required gear). It should be noted that since the target speed is the output shaft speed, and since the output shaft is connected to the power output shaft of the drive motor through the transmission system, the target speed will be lower than the output speed of the drive motor. However, when braking frequently occurs during the upshift process, the target speed will change frequently ( Figure 3 In order to complete the gear shifting, the output speed of the drive motor needs to be adjusted frequently to make it meet the transmission ratio with the target speed. Due to the frequent changes in the output speed of the drive motor and the motor torque, there is a risk that the speed regulation conditions cannot be met at the same time, which will increase the duration of the speed regulation process and the time it takes for the gearbox on the shift side to switch to the required gear. Since the premise of the speed regulation process is that the torque clearing and gear shifting have been completed, the gearbox on the shift side is in neutral at this time and does not output power to the output shaft. The power source of the output shaft depends only on the drive motor and gearbox on the gear side. When the vehicle is heavily loaded or going uphill or downhill, the power of the single-side drive motor may not meet the power demand, and there is power attenuation. The increase in the duration of the speed regulation process means an increase in the power attenuation time, which seriously endangers driving safety.

[0046] The first aspect of the present application provides a shift control method, such as Figure 4 As shown, the shift control method includes:

[0047] S401: When a brake signal is detected, a first speed regulating operation is performed on the output speed of the driving motor on the shift side according to a first target speed of the output shaft.

[0048] It should be noted that, in actual application scenarios, the above brake signal may be collected by a vehicle electronic control unit (ECU) for monitoring the driving status of the vehicle and then sent to the AMT.

[0049] It should be noted that, in actual application scenarios, the first target speed of the output shaft may be the speed of the output shaft determined by the automatic transmission control unit of the AMT according to the current speed of the power output shaft and the required gear position when the gear shift is completed and the gear position is in the required gear position. The implementation method of obtaining the first target speed of the output shaft may include the following steps A1 to A2.

[0050] Step A1: When it is detected that the current speed of the output shaft meets the gear shifting process triggering condition, the required gear and the transmission ratio of the required gear corresponding to the current speed are found according to the preset speed gear relationship table, and step A2 is triggered.

[0051] Step A2: When a brake signal is detected, the product of the current rotation speed of the output shaft after the brake signal is detected and the transmission ratio of the required gear obtained in step A1 is determined as the first target rotation speed of the output shaft.

[0052] In a possible implementation, the above-mentioned preset speed gear relationship table stores the corresponding AMT gear identifiers, gear identifiers and output shaft speed ranges for entering each gear.

[0053] It should be noted that since the speed regulation process duration is increased due to braking, the speed regulation operation on the output speed of the drive motor on the shift side cannot be completed within the speed regulation duration under risk-free conditions. Therefore, the present application is configured to perform a first speed regulation operation on the output speed of the drive motor on the shift side according to the first target speed of the output shaft when a brake signal is detected, thereby realizing the detection of whether there is a power risk.

[0054] S402: When the first speed regulation operation is not completed within the preset speed regulation time, the torque of the drive motor on the blocking side is regulated according to the second target speed of the output shaft at the end of braking.

[0055] It should be noted that, in actual application scenarios, the above-mentioned preset speed regulation time can be the time required for the AMT single-side gearbox to complete a speed regulation when the vehicle is traveling on a level road without power attenuation.

[0056] It should be noted that in actual application scenarios, since there must be a difference between the speed of the output shaft after braking and the speed of the output shaft before braking, in order to avoid frequent changes in the target speed due to frequent braking, the present application performs torque adjustment on the drive motor on the block side according to the second target speed of the output shaft at the end of braking, so that the drive motor on the block side can maintain the motor torque corresponding to the second target speed and run smoothly. Since the torque is proportional to acceleration, the stable motor torque indicates a reduced rate of change of vehicle acceleration, and the reduced rate of change of vehicle acceleration indicates a reduced rate of change of the vehicle's output shaft speed, thereby reducing the rate of change of the target speed determined based on the output shaft speed.

[0057] S403. When the speed difference between the actual speed of the driving motor on the gear side and the second target speed is less than a preset threshold within a preset time after torque adjustment, a second speed adjustment operation is performed on the output speed of the driving motor on the gear shift side according to the second target speed, and when the output speed of the driving motor on the gear shift side and the output torque of the driving motor on the gear shift side both meet the preset exit conditions, a gear engagement operation is performed.

[0058] It should be noted that, in actual application scenarios, since the speed difference between the actual speed of the drive motor on the gear side and the second target speed is less than the preset threshold within the preset time after torque adjustment, it indicates that the vehicle is in a constant speed driving state at the second target speed within the preset time, and the second target speed will not change frequently at this time. Therefore, the present application performs a second speed regulation operation on the output speed of the drive motor on the shift side according to the second target speed when the speed difference between the actual speed of the drive motor on the gear side and the second target speed is less than the preset threshold within the preset time after torque adjustment, and performs a gear shifting operation when the output speed of the drive motor on the shift side and the output torque of the drive motor on the shift side both meet the preset jump-out conditions, so that the drive motor on the shift side can complete the speed regulation operation within the preset speed regulation time, thereby shortening the power attenuation time compared with the existing frequent speed regulation method.

[0059] The present application realizes the detection of whether there is a power risk by configuring the first speed regulation operation on the output speed of the drive motor on the shift side according to the first target speed of the output shaft when the brake signal is detected. Then, the torque of the drive motor on the gear side is adjusted according to the second target speed of the output shaft at the end of the braking, so that the drive motor on the gear side can maintain the motor torque corresponding to the second target speed and run smoothly. Since the torque is proportional to the acceleration, the stable motor torque represents a decrease in the rate of change of the vehicle acceleration, and the decrease in the rate of change of the vehicle acceleration represents a decrease in the rate of change of the output shaft speed of the vehicle, thereby reducing the rate of change of the target speed determined based on the output shaft speed. Finally, by configuring the situation that the speed difference between the actual speed of the driving motor on the gear side and the second target speed is less than a preset threshold within a preset time after torque adjustment, a second speed regulation operation is performed on the output speed of the driving motor on the gear shift side according to the second target speed, and when the output speed of the driving motor on the gear shift side and the output torque of the driving motor on the gear shift side meet the preset jump-out conditions, the gear shift operation is performed, so that the driving motor on the gear shift side can complete the speed regulation operation within the preset speed regulation time, thereby shortening the power attenuation time compared with the existing frequent speed regulation method.

[0060] In one possible implementation, the above Figure 4 The shift control method shown also includes:

[0061] When no brake signal is detected, the torque of the drive motor on the block side is adjusted according to the third target speed at the time of entering the speed regulation;

[0062] When the speed difference between the actual speed of the driving motor on the gear side and the third target speed is less than the preset threshold within the preset time after torque adjustment, the third speed regulation operation is performed on the output speed of the driving motor on the gear shift side according to the third target speed, and when the output speed of the driving motor on the gear shift side and the output torque of the driving motor on the gear shift side both meet the preset exit conditions, the gear engagement operation is performed.

[0063] It should be noted that in actual application scenarios, if the brake signal is not detected and the vehicle enters the gear shifting process, the vehicle is in an accelerating state at this time. This application is configured to adjust the torque of the drive motor on the gear side according to the third target speed at the time of entering the speed regulation when the brake signal is not detected, and when the speed difference between the actual speed of the drive motor on the gear side and the third target speed is less than the preset threshold within the preset time after the torque regulation, the output speed of the drive motor on the gear shifting side is performed according to the third target speed. The third speed regulation operation is avoided. The risk of excessive acceleration of the vehicle causing the target speed to change too much, thereby extending the speed regulation time.

[0064] In one possible implementation, the above Figure 4The shift control method shown also includes:

[0065] When the speed difference between the actual speed of the driving motor on the gear side and the second target speed or the third target speed is not less than the preset threshold within the preset time length after torque adjustment, the fourth speed adjustment operation is performed on the output speed of the driving motor on the gear shift side according to the fourth target speed at the current moment, and when the output speed of the driving motor on the gear shift side and the output torque of the driving motor on the gear shift side both meet the preset jump-out conditions, the gearbox on the gear shift side is controlled to complete the gear shift.

[0066] It should be noted that, in actual application scenarios, the fourth target speed at the current moment is a variable that changes over time. When the road conditions or driving environment are too complex, the drive motor on the gear side may not be able to output a constant speed. At this time, the fourth speed adjustment operation is performed on the output speed of the drive motor on the shift side according to the fourth target speed at the current moment, so as to achieve dynamic adjustment based on the fourth target speed at the current moment. This allows the gearbox on the shift side to complete the gear shift.

[0067] It should be noted that in actual application scenarios, since the difference in the transmission ratios of adjacent gears of the AMT is small, the above preset jump-out conditions can be set according to the difference between the output speed of the drive motor and the output shaft speed of the adjacent gears and the motor torque. For example, the preset conditions are that the difference between the output speed of the drive motor and the output shaft speed is less than 100rpm, and the motor torque is less than 20Nm.

[0068] In a possible implementation, the torque of the drive motor on the blocking side is adjusted according to the second target speed of the output shaft at the end of braking, including:

[0069] The second target speed is used as the only input of the closed-loop PID control of the drive motor on the block side, and the output torque of the drive motor on the block side is torque-regulated so that the speed of the output shaft is equal to the second target speed at the end of braking, wherein the speed of the output shaft is equal to the product of the output speed of the drive motor on the block side and the transmission ratio of the gearbox on the block side.

[0070] It should be noted that in actual application scenarios, the present application achieves stable output shaft speed of the drive motor on the block side by using the second target speed as the only input for the closed-loop PID control of the drive motor on the block side, thereby avoiding the risk of increased speed regulation time due to excessive target speed change rate.

[0071] It should be noted that in actual application scenarios, the above Figure 4 There are many ways to implement the shift control method shown, and one exemplary method is provided here:

[0072] like Figure 5FIG. 1 is a flow chart of a shift control method, and the specific operation steps are as follows:

[0073] Step S501, when it is detected that the vehicle speed is in the shifting range of the required gear, start to clear the torque and shift the gear, and trigger step S502.

[0074] Step S502, when it is detected that the speed regulation process has been entered, it is determined whether a brake signal is detected. If not, step S503 is triggered. If so, step S504 is triggered.

[0075] Step S503, determining a third target speed according to the output shaft speed at the time of entering the speed regulation and the required gear ratio, and adjusting the torque of the drive motor on the gear side based on the third target speed, and triggering step S507.

[0076] Step S504, determining a first target speed according to the current speed of the output shaft after the brake signal is detected and the required gear ratio, and performing a first speed adjustment operation on the output speed of the drive motor on the shift side based on the first target speed, and triggering step S505.

[0077] Step S505, determining whether the first speed adjustment operation is completed within the preset speed adjustment time, if so, triggering step S511, if not, triggering step S506.

[0078] Step S506, adjusting the torque of the drive motor on the blocking side according to the second target speed of the output shaft at the end of braking, and triggering step S507.

[0079] Step S507, determining whether the actual speed of the drive motor on the blocking side is constant after torque adjustment, if so, triggering step S508, if not, triggering step S509.

[0080] In a possible implementation, the judgment condition for whether the actual speed is constant in the above step S507 is that the speed difference between the actual speed of the drive motor on the gear side and the second target speed or the third target speed is less than a preset threshold within a preset time after torque adjustment.

[0081] Step S508: adjusting the output speed of the drive motor on the shifting side according to the target speed during torque adjustment, and triggering step S510.

[0082] In a possible implementation, the target speed during torque adjustment in the step S508 is the second target speed or the third target speed.

[0083] Step S509: Perform a fourth speed adjustment operation on the output speed of the drive motor on the shift side according to the fourth target speed of the output shaft at the current moment, and trigger step S510.

[0084] Step S510, determining whether the output speed and motor torque of the driving motor both meet the preset jump-out condition. If yes, step S511 is triggered, and if no, step S510 is triggered.

[0085] Step S511, execute the gear shifting operation to complete the gear shifting process.

[0086] It should be noted that in actual application scenarios, the above Figure 5 Steps S502 and S504 are shown as follows: Figure 4 The possible implementation of step S401 shown above is as follows Figure 5 Steps S505 and S506 are shown as follows: Figure 4 The possible implementation of step S402 shown above is as follows Figure 5 Steps S507, S508, S510 and S511 are shown as follows: Figure 4 A possible implementation of step S403 is shown.

[0087] A second aspect of the present application provides a shift control system, such as Figure 6 As shown, the shift control system includes:

[0088] A first speed regulating module 601 is used to perform a first speed regulating operation on the output speed of the driving motor on the shift side according to the first target speed of the output shaft when a brake signal is detected;

[0089] The first torque adjustment module 602 is used to adjust the torque of the drive motor on the blocking side according to the second target speed of the output shaft at the end of braking when the first speed adjustment operation is not completed within the preset speed adjustment time;

[0090] The gear engaging module 603 is used to perform a second speed regulation operation on the output speed of the driving motor on the gear shift side according to the second target speed when the speed difference between the actual speed of the driving motor on the gear side and the second target speed is less than a preset threshold within a preset time after torque adjustment, and to perform a gear engaging operation when the output speed of the driving motor on the gear shift side and the output torque of the driving motor on the gear shift side both meet the preset exit conditions.

[0091] In one possible implementation, the above Figure 6 The shift control system shown also includes:

[0092] A second torque adjustment module is used to adjust the torque of the drive motor on the block side according to the third target speed at the time of entering the speed adjustment when no brake signal is detected;

[0093] The gear shifting module is also used to perform a third speed regulation operation on the output speed of the drive motor on the gear shifting side according to the third target speed when the speed difference between the actual speed of the drive motor on the gear side and the second target speed is less than a preset threshold within a preset time after torque adjustment, and to execute the gear shifting operation when the output speed of the drive motor on the gear shifting side and the output torque of the drive motor on the gear shifting side both meet the preset exit conditions.

[0094] In a possible implementation, the gear engaging module 603 is further configured to:

[0095] When the speed difference between the actual speed of the driving motor on the gear side and the second target speed is not less than the preset threshold within the preset time length after torque adjustment, the fourth speed adjustment operation is performed on the output speed of the driving motor on the gear shift side according to the fourth target speed at the current moment, and when the output speed of the driving motor on the gear shift side and the output torque of the driving motor on the gear shift side both meet the preset jump-out conditions, the gearbox on the gear shift side is controlled to complete the gear shift.

[0096] In a possible implementation, the first torque adjustment module 602 is configured as follows:

[0097] The second target speed is used as the only input of the closed-loop PID control of the drive motor on the block side, and the output torque of the drive motor on the block side is torque-regulated so that the speed of the output shaft is equal to the second target speed at the end of braking, wherein the speed of the output shaft is equal to the product of the output speed of the drive motor on the block side and the transmission ratio of the gearbox on the block side.

[0098] A third aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0099] The memory is used to store computer programs;

[0100] The processor is used to execute a computer program so that the electronic device can implement the shift control method of the first aspect or any implementation of the first aspect.

[0101] A structural schematic diagram of an electronic device provided in the third aspect of the present application is as follows Figure 7 The electronic devices in the embodiments of the present application may include but are not limited to fixed terminals such as mobile phones, notebook computers, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, and the like. Figure 7 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0102] like Figure 7As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage device 708 to a random access memory (RAM) 703. When the electronic device is powered on, various programs and data required for the operation of the electronic device are also stored in the RAM 703. The processing device 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0103] Typically, the following devices may be connected to the I / O interface 705: an input device 706 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 707 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 708 including, for example, a memory card, a hard disk, etc.; and a communication device 709. The communication device 709 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 7 An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0104] The fourth aspect of the present application provides a computer storage medium, which carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the shift control method of the above-mentioned first aspect or any implementation method of the first aspect.

[0105] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0106] Through the description of the above implementation mode, the technicians in the field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a disk or an optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0107] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0108] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a training device, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, training device, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device, a data center, etc. that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. A gear shift control method, characterized in that: include: When a brake signal is detected, a first speed regulating operation is performed on the output speed of the drive motor on the shift side according to a first target speed of the output shaft; When the first speed regulation operation is not completed within the preset speed regulation time, the torque of the drive motor on the blocking side is regulated according to the second target speed of the output shaft at the end of braking; When the speed difference between the actual speed of the driving motor on the gear side and the second target speed is less than a preset threshold within a preset time period after the torque adjustment is performed, a second speed regulation operation is performed on the output speed of the driving motor on the gear shift side according to the second target speed, and when the output speed of the driving motor on the gear shift side and the output torque of the driving motor on the gear shift side both meet the preset exit conditions, a gear engagement operation is performed.

2. The shift control method according to claim 1, characterized in that: The method further comprises: In the case where no brake signal is detected, the torque of the drive motor on the blocking side is adjusted according to the third target speed at the time of entering the speed regulation; When the speed difference between the actual speed of the driving motor on the gear side and the third target speed is less than a preset threshold within a preset time period after the torque adjustment, the third speed regulation operation is performed on the output speed of the driving motor on the gear shift side according to the third target speed, and when the output speed of the driving motor on the gear shift side and the output torque of the driving motor on the gear shift side both meet the preset exit conditions, the gear engagement operation is performed.

3. The shift control method according to claim 2, characterized in that: The method further comprises: When the speed difference between the actual speed of the driving motor on the gear side and the second target speed or the third target speed is not less than a preset threshold within the preset time length after the torque adjustment, a fourth speed adjustment operation is performed on the output speed of the driving motor on the gear shift side according to the fourth target speed at the current moment, and when the output speed of the driving motor on the gear shift side and the output torque of the driving motor on the gear shift side both meet the preset jump-out conditions, the gearbox on the gear shift side is controlled to complete the gear shift.

4. The shift control method according to claim 1, characterized in that: The step of adjusting the torque of the drive motor on the blocking side according to the second target speed of the output shaft at the end of braking comprises: The second target speed is used as the only input of the closed-loop PID control of the drive motor on the block side, and the output torque of the drive motor on the block side is torque adjusted so that the speed of the output shaft is equal to the second target speed at the end of the braking, wherein the speed of the output shaft is equal to the product of the output speed of the drive motor on the block side and the transmission ratio of the gearbox on the block side.

5. A gear shift control system, characterized in that: include: A first speed regulating module, configured to perform a first speed regulating operation on the output speed of the driving motor on the shift side according to a first target speed of the output shaft when a brake signal is detected; A first torque adjustment module, configured to adjust the torque of the drive motor on the blocking side according to the second target speed of the output shaft at the end of braking if the first speed adjustment operation is not completed within the preset speed adjustment time; A gear engaging module is used to perform a second speed regulation operation on the output speed of the drive motor on the gear shift side according to the second target speed when the speed difference between the actual speed of the drive motor on the gear side and the second target speed is less than a preset threshold within a preset time period after the torque adjustment is performed, and to perform a gear engaging operation when the output speed of the drive motor on the gear shift side and the output torque of the drive motor on the gear shift side both meet preset exit conditions.

6. The gear shift control system according to claim 5, characterized in that: The system further comprises: A second torque adjustment module is used to adjust the torque of the drive motor on the blocking side according to the third target speed at the time of entering the speed adjustment when no brake signal is detected; The gear shifting module is also used to perform a third speed regulation operation on the output speed of the drive motor on the gear shifting side according to the third target speed when the speed difference between the actual speed of the drive motor on the gear side and the third target speed is less than a preset threshold within a preset time after the torque adjustment is performed, and to execute the gear shifting operation when the output speed of the drive motor on the gear shifting side and the output torque of the drive motor on the gear shifting side both meet the preset exit conditions.

7. The shift control system according to claim 6, characterized in that: The gear engaging module is also configured to: When the speed difference between the actual speed of the driving motor on the gear side and the second target speed or the third target speed is not less than a preset threshold within the preset time length after the torque adjustment, a fourth speed adjustment operation is performed on the output speed of the driving motor on the gear shift side according to the fourth target speed at the current moment, and when the output speed of the driving motor on the gear shift side and the output torque of the driving motor on the gear shift side both meet the preset jump-out conditions, the gearbox on the gear shift side is controlled to complete the gear shift.

8. The shift control system according to claim 5, characterized in that: The first torque adjustment module is configured as follows: The second target speed is used as the only input of the closed-loop PID control of the drive motor on the block side, and the output torque of the drive motor on the block side is torque adjusted so that the speed of the output shaft is equal to the second target speed at the end of the braking, wherein the speed of the output shaft is equal to the product of the output speed of the drive motor on the block side and the transmission ratio of the gearbox on the block side.

9. An electronic device, characterized in that: The method comprises at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program so that the electronic device can implement the shift control method according to any one of claims 1 to 4.

10. A computer storage medium, characterized in that: The storage medium carries one or more computer programs, and when the one or more computer programs are executed by an electronic device, the electronic device can implement the shift control method as described in any one of claims 1 to 4.

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