Gear shifting speed control method, controller and related device

Abstract

The present application discloses a gear shift speed control method, controller and related devices, which relate to the field of vehicle control, including: collecting the speed control time and energy consumption parameters of the target vehicle when switching to the required gear in the single drive motor speed control mode and the full drive motor speed control mode, and determining the target speed control mode of the target vehicle at least based on the speed control time and energy consumption parameters in different speed control modes, the target speed control mode being the single drive motor speed control mode or the full drive motor speed control mode, and performing gear shift speed control based on the target speed control mode. The present application collects evaluation parameters of the target vehicle in the single drive motor speed control mode and the full drive motor speed control mode, and determines the target speed control mode at least based on the evaluation parameters, while avoiding the influence of individual differences of the drive motor on the speed control accuracy, so that the determined target speed control mode satisfies the target vehicle's requirements for power continuity and energy consumption at the same time, thereby improving the speed control accuracy.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a gear shifting and speed regulation control method, a controller and related devices. Background Art

[0002] In order to reduce vehicle production costs, existing vehicle manufacturers often use multiple low-power drive motors to replace one main drive motor, thereby meeting the demand for reducing vehicle production costs while meeting the vehicle power requirements.

[0003] However, since the power of a single low-power drive motor is less than the power of the total drive motor, when the electronically controlled automatic mechanical transmission (AMT) is used to shift and adjust the speed of a single low-power drive motor, the time required for the small-power drive motor to accelerate to meet the speed adjustment conditions is longer than the speed adjustment time of the total drive motor, resulting in an increase in the power interruption time and a reduction in the vehicle's power sustainability. If the AMT is used to control multiple low-power drive motors to shift and adjust the speed at the same time, it will lead to increased energy consumption. Finally, due to the individual differences in the drive motors, even if different vehicles are equipped with the same model and number of low-power drive motors, the control accuracy of the AMT shift and speed control logic of different vehicles under different working conditions is different. Therefore, how to improve the control accuracy of the electronically controlled automatic mechanical transmission during the shift and speed adjustment process under the premise of balancing power sustainability and energy consumption 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 speed control method, a controller and related devices to achieve the purpose of improving the control accuracy of the electronically controlled mechanical automatic transmission during the shift speed control process while balancing power sustainability and energy consumption. The specific scheme is as follows:

[0005] In a first aspect, the present application provides a gear shifting and speed regulation control method, which is applied to an electronically controlled mechanical automatic transmission of a target vehicle, and the method comprises:

[0006] Collecting evaluation parameters of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode and the full drive motor speed regulation mode, respectively, wherein the evaluation parameters at least include speed regulation duration and energy consumption parameters;

[0007] Determining a target speed regulation mode of the target vehicle based at least on the evaluation parameter of the single drive motor speed regulation mode and the evaluation parameter of the full drive motor speed regulation mode, the target speed regulation mode being the single drive motor speed regulation mode or the full drive motor speed regulation mode;

[0008] Gear shifting and speed regulation control is performed based on the target speed regulation mode.

[0009] In a possible implementation, the collecting of evaluation parameters of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode and the full drive motor speed regulation mode, wherein the evaluation parameters at least include the speed regulation duration and the energy consumption parameters, includes:

[0010] The first test speed regulation time and the first test energy consumption parameter of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode are collected multiple times, and the average of each of the first test speed regulation time is determined as the speed regulation time of the target vehicle in the single drive motor speed regulation mode, and the average of each of the first test energy consumption parameters is determined as the energy consumption parameter of the target vehicle in the single drive motor speed regulation mode;

[0011] The second test speed regulation time and the second test energy consumption parameters of the target vehicle switching from the current gear to the required gear in the full-drive motor speed regulation mode are collected multiple times, and the average of each of the second test speed regulation time is determined as the speed regulation time of the target vehicle in the full-drive motor speed regulation mode, and the average of each of the second test energy consumption parameters is determined as the energy consumption parameter of the target vehicle in the full-drive motor speed regulation mode.

[0012] In a possible implementation, determining the target speed regulation mode of the target vehicle based at least on the evaluation parameter of the single drive motor speed regulation mode and the evaluation parameter of the full drive motor speed regulation mode includes:

[0013] When the speed regulation time in the single-drive motor speed regulation mode is longer than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is not less than the energy consumption parameter in the full-drive motor speed regulation mode, the full-drive motor speed regulation mode is determined as the target speed regulation mode;

[0014] When the speed regulation time in the single-drive motor speed regulation mode is shorter than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is not greater than the energy consumption parameter in the full-drive motor speed regulation mode, the single-drive motor speed regulation mode is determined as the target speed regulation mode;

[0015] When the speed regulation time in the single-drive motor speed regulation mode is equal to the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is greater than the energy consumption parameter in the full-drive motor speed regulation mode, the full-drive motor speed regulation mode is determined as the target speed regulation mode;

[0016] When the speed regulation time in the single-drive motor speed regulation mode is equal to the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is less than the energy consumption parameter in the full-drive motor speed regulation mode, the single-drive motor speed regulation mode is determined as the target speed regulation mode;

[0017] When the speed regulation duration in the single drive motor speed regulation mode is equal to the speed regulation duration in the full drive motor speed regulation mode, and the energy consumption parameter in the single drive motor speed regulation mode is equal to the energy consumption parameter in the full drive motor speed regulation mode, the single drive motor speed regulation mode or the full drive motor speed regulation mode is determined as the target speed regulation mode.

[0018] In a possible implementation, the method further includes:

[0019] When the speed regulation time in the single drive motor speed regulation mode is greater than the speed regulation time in the full drive motor speed regulation mode, and the energy consumption parameter in the single drive motor speed regulation mode is less than the energy consumption parameter in the full drive motor speed regulation mode, determine whether the output torque of the drive motor in the evaluation parameter in the single drive motor speed regulation mode is not less than the total required torque; if so, determine the single drive motor speed regulation mode as the target speed regulation mode; if not, determine the full drive motor speed regulation mode as the target speed regulation mode.

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

[0021] When the speed regulation time in the single-drive motor speed regulation mode is less than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is greater than the energy consumption parameter in the full-drive motor speed regulation mode, determine whether the output torque of the drive motor in the evaluation parameter in the single-drive motor speed regulation mode is not less than the total required torque; if so, determine the full-drive motor speed regulation mode as the target speed regulation mode; if not, determine the single-drive motor speed regulation mode as the target speed regulation mode.

[0022] A second aspect of the present application provides an electronically controlled mechanical automatic transmission, the electronically controlled mechanical automatic transmission comprising:

[0023] A gearbox control module, used to collect evaluation parameters of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode and the full drive motor speed regulation mode, wherein the evaluation parameters at least include the speed regulation time and the energy consumption parameter;

[0024] a mode determination module, configured to determine a target speed regulation mode of the target vehicle based at least on the evaluation parameter of the single drive motor speed regulation mode and the evaluation parameter of the full drive motor speed regulation mode, wherein the target speed regulation mode is the single drive motor speed regulation mode or the full drive motor speed regulation mode;

[0025] The speed control module is used to perform gear shift speed control based on the target speed control mode.

[0026] In a possible implementation, the parameter acquisition module is configured to:

[0027] The first test speed regulation time and the first test energy consumption parameter of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode are collected multiple times, and the average of each of the first test speed regulation time is determined as the speed regulation time of the target vehicle in the single drive motor speed regulation mode, and the average of each of the first test energy consumption parameters is determined as the energy consumption parameter of the target vehicle in the single drive motor speed regulation mode;

[0028] The second test speed regulation time and the second test energy consumption parameters of the target vehicle switching from the current gear to the required gear in the full-drive motor speed regulation mode are collected multiple times, and the average of each of the second test speed regulation time is determined as the speed regulation time of the target vehicle in the full-drive motor speed regulation mode, and the average of each of the second test energy consumption parameters is determined as the energy consumption parameter of the target vehicle in the full-drive motor speed regulation mode.

[0029] In a possible implementation, the mode determination module is configured to:

[0030] When the speed regulation time in the single-drive motor speed regulation mode is longer than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is not less than the energy consumption parameter in the full-drive motor speed regulation mode, the full-drive motor speed regulation mode is determined as the target speed regulation mode;

[0031] When the speed regulation time in the single-drive motor speed regulation mode is shorter than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is not greater than the energy consumption parameter in the full-drive motor speed regulation mode, the single-drive motor speed regulation mode is determined as the target speed regulation mode;

[0032] When the speed regulation time in the single-drive motor speed regulation mode is equal to the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is greater than the energy consumption parameter in the full-drive motor speed regulation mode, the full-drive motor speed regulation mode is determined as the target speed regulation mode;

[0033] When the speed regulation time in the single-drive motor speed regulation mode is equal to the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is less than the energy consumption parameter in the full-drive motor speed regulation mode, the single-drive motor speed regulation mode is determined as the target speed regulation mode;

[0034] When the speed regulation duration in the single drive motor speed regulation mode is equal to the speed regulation duration in the full drive motor speed regulation mode, and the energy consumption parameter in the single drive motor speed regulation mode is equal to the energy consumption parameter in the full drive motor speed regulation mode, the single drive motor speed regulation mode or the full drive motor speed regulation mode is determined as the target speed regulation mode.

[0035] In a possible implementation, the mode determination module is further configured to:

[0036] When the speed regulation time in the single drive motor speed regulation mode is greater than the speed regulation time in the full drive motor speed regulation mode, and the energy consumption parameter in the single drive motor speed regulation mode is less than the energy consumption parameter in the full drive motor speed regulation mode, determine whether the output torque of the drive motor in the evaluation parameter in the single drive motor speed regulation mode is not less than the total required torque; if so, determine the single drive motor speed regulation mode as the target speed regulation mode; if not, determine the full drive motor speed regulation mode as the target speed regulation mode.

[0037] In a possible implementation, the mode determination module is further configured to:

[0038] When the speed regulation time in the single-drive motor speed regulation mode is less than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is greater than the energy consumption parameter in the full-drive motor speed regulation mode, determine whether the output torque of the drive motor in the evaluation parameter in the single-drive motor speed regulation mode is not less than the total required torque; if so, determine the full-drive motor speed regulation mode as the target speed regulation mode; if not, determine the single-drive motor speed regulation mode as the target speed regulation mode.

[0039] A third aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0040] The memory is used to store computer programs;

[0041] The processor is used to execute the computer program so that the electronic device can implement the gear shifting and speed regulation control method as described in the first aspect or any implementation of the first aspect.

[0042] 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 gear shifting and speed control method as described in the first aspect or any implementation method of the first aspect.

[0043] By means of the above technical scheme, the gear shift speed control method, controller and related devices provided by the present application realize the collection of speed regulation time and energy consumption parameters for the target vehicle by configuring and collecting the evaluation parameters of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode and the full drive motor speed regulation mode, thereby avoiding the influence of the uniformly configured gear shift speed regulation logic on the control accuracy of the target vehicle caused by the individual differences of the drive motors, and improving the control accuracy of the electronically controlled mechanical automatic transmission in the gear shift speed regulation process. Subsequently, the target speed regulation mode of the target vehicle is determined by at least the evaluation parameters of the single drive motor speed regulation mode and the evaluation parameters of the full drive motor speed regulation mode. Since the evaluation parameters include the speed regulation time and energy consumption parameters, the present application fully balances the power continuity and energy consumption in the process of determining the target speed regulation mode, so that the determined target speed regulation mode satisfies the vehicle's demand for power continuity and energy consumption at the same time, and improves the control accuracy of the electronically controlled mechanical automatic transmission of the target vehicle in the gear shift speed regulation process. It can be seen that the present application improves the control accuracy of the electronically controlled mechanical automatic transmission in the gear shift speed regulation process under the premise of balancing power continuity and energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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.

[0045] Figure 1 A schematic diagram of the structure of an AMT provided for this application;

[0046] Figure 2 A schematic diagram of an AMT shifting process provided in this application;

[0047] Figure 3 A flow chart of a gear shifting and speed regulating control method provided in this application;

[0048] Figure 4 A schematic diagram of a shifting process of a single drive motor speed regulation mode provided in this application;

[0049] Figure 5 A schematic diagram of a shifting process of a full-drive motor speed regulation mode provided in this application;

[0050] Figure 6 A flow chart of a gear shifting and speed regulating control method provided for a possible implementation of the present application;

[0051] Figure 7 A block diagram of a controller provided in this application;

[0052] Figure 8 A schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0053] 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.

[0054] 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.

[0055] 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.

[0056] It should be noted that, in order to facilitate the understanding of the solution, the gear shifting and speed regulation process is described here in conjunction with an electronically controlled automatic mechanical transmission (Automatic mechanical transmission, hereinafter referred to as "Automatic mechanical transmission") for controlling multiple low-power drive motors to perform gear shifting and speed regulation. Figure 1The figure shows a schematic diagram of the structure of an AMT, which is equipped with a dual gearbox, wherein TCU-A is the automatic transmission control unit (TCU) of the gearbox on the A side, TCU-B is the automatic transmission control unit of the gearbox on the B side, A34 and A12 are the shifting mechanisms of the gearbox on the A side, B34 and B12 are the shifting mechanisms of the gearbox on the B side, TMA1 and TMA2 are the drive motors connected to the gearbox on the A side through a transmission shaft, TMB1 and TMB2 are the drive motors connected to the gearbox on the A side through a transmission shaft, and the drive motors are connected to the gearbox on the deployment side 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. For the above-mentioned Figure 1 The schematic diagram of the AMT executing the gear shifting process is shown in FIG. Figure 2 As shown: Assuming that side A is the shifting side and side B is the gearing side during the gear shifting process, the gearbox on the shifting side enters the shifting process from the non-shifting process, and TCU-A detects the required gear position and performs torque clearing and gear removal, thereby removing the gear position from the current gear position, and then adjusting the speed so that the speed and output torque transmitted to the output shaft by the drive motor TMA1 and / or TMA2 on the shifting side meet the conditions for jumping out of the speed adjustment, and finally completes the gear operation, thereby switching the gear position on the shifting side to the required gear position, and entering the non-shifting process from the shifting process. When the gearbox on the shifting side is in the shifting process, the gearbox on the gearing side is still in the non-shifting process. At this time, the power of the whole vehicle is provided by the gearbox on the gearing side and the drive motor on the gearing side, thereby ensuring that the power of the whole vehicle is not interrupted. After the gearbox on side A enters the non-shifting process from the shifting process, side A is changed from the shifting side to the gearing side, and side B is changed from the gearing side to the shifting side, and enters the shifting process from the non-shifting process, and the operation of the shifting process is repeated.

[0057] The first aspect of the present application provides a gear shifting speed control method, which is applied to an electronically controlled mechanical automatic transmission of a target vehicle, such as Figure 3 As shown, the gear shifting speed regulation control method includes:

[0058] S301, collecting evaluation parameters of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode and the full drive motor speed regulation mode, respectively, the evaluation parameters at least including the speed regulation time and energy consumption parameters.

[0059] It should be noted that in actual application scenarios, Figure 1 Taking the AMT shown in the figure as an example, the single drive motor speed regulation mode refers to the mode in which the gearbox on the shift side (A) independently controls any drive motor in TMA1 or TMA2 for speed regulation. The shift process diagram using the single drive motor speed regulation mode is as follows: Figure 4As shown in the figure: Assume that the current shifting process is the upshifting process from the current gear to the required gear. The output shaft speed tends to increase during the shifting process. For the drive motor on the shifting side, it needs to go through four processes during the shifting process: clearing torque, disengaging gear, speed regulation and gear engagement. Clearing torque and disengaging gear will gradually eliminate the load of the drive motor, causing the output speed of the drive motor to change from a continuous increase to a constant. Then, when entering the speed regulation process, the output speed of the drive motor is adjusted to keep the output speed of the drive motor and the target speed in the same change trend. Since the speed is inversely proportional to the torque, assuming that the drive motor TMA1 participates in the speed regulation in the single drive motor speed regulation mode, while the drive motor TMA2 does not participate in the speed regulation, after the gearbox on the shifting side enters the upshifting process from the non-shifting process, the torque of the drive motor TMA1 will continue to decrease with the output speed of the drive motor, and gradually increase during the speed regulation process. Since the drive motor TMA2 does not participate in the speed regulation, after the torque is cleared, the torque of the drive motor TMA2 will be consistent with the output speed of the drive motor when it is constant, until it starts to increase after the speed regulation is completed. After the speed regulation is completed, the torques of the drive motor TMA1 and the drive motor TMA2 maintain consistent changes.

[0060] It should be noted that in actual application scenarios, Figure 1 Taking the AMT shown in the figure as an example, the full-drive motor speed regulation mode refers to the mode in which the gearbox on the shift side (A) controls TMA1 and TMA2 to regulate the speed. The shift process diagram using the full-drive motor speed regulation mode is as follows: Figure 5 As shown in the figure: Assume that the current shifting process is the upshifting process from the current gear to the required gear. The output shaft speed tends to increase during the shifting process. For the drive motor on the shifting side, it needs to go through four processes during the shifting process: clearing torque, disengaging gear, speed regulation and gear engagement. Among them, clearing torque and disengaging gear will gradually eliminate the load of the drive motor, causing the output speed of the drive motor to change from a continuous increase to a constant. Then, when entering the speed regulation process, the output speed of the drive motor is adjusted to keep the output speed of the drive motor and the target speed in the same change trend. On the shifting side, the gearbox enters the upshifting process from the non-shifting process. At this time, the vehicle speed changes little, and the gear transmission ratio is different. The higher the gear, the smaller the transmission ratio. The input shaft speed of the gearbox, that is, the drive motor speed, is the product of the output shaft speed and the transmission ratio. Therefore, in the speed regulation stage, when upshifting, the drive motor speed decreases, and when downshifting, the motor speed increases.

[0061] It should be noted that in actual application scenarios, it is assumed that vehicle A and vehicle B are of the same model and have the same configurations. However, due to individual differences in drive motors, the output power of multiple drive motors in vehicle A is lower than the output power of drive motors in the same configuration position in vehicle B. At this time, if the AMTs of vehicles A and B use the same gear shifting and speed regulation logic. When a single motor is used, the speed regulation time of vehicle A during gear shifting and speed regulation will increase compared to vehicle B, which will in turn increase the power interruption time of vehicle A. When dual motor speed regulation is used, the energy consumption of vehicle A will also increase compared to vehicle B. It can be seen that the existing AMT unified configuration of gear shifting and speed regulation does not take into account the individual differences of drive motors, resulting in differences in the control accuracy of gear shifting and speed regulation for different vehicles. The present application realizes the collection of speed regulation time and energy consumption parameters for the target vehicle by configuring the collection of evaluation parameters of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode and the full drive motor speed regulation mode, thereby avoiding the influence of the uniformly configured gear shifting and speed regulation logic on the control accuracy of the target vehicle due to individual differences in the drive motors, and improving the control accuracy of the electronically controlled mechanical automatic transmission during the gear shifting and speed regulation process.

[0062] It should be noted that, in actual application scenarios, the above-mentioned speed regulation duration refers to the time it takes for the drive motor to complete the speed regulation process when switching from the current gear to the required gear, which can be collected by the automatic transmission control unit (TCU) of the AMT.

[0063] It should be noted that, in actual application scenarios, the energy consumption parameter may be the integral of the output power of the drive motor during the speed regulation process multiplied by the time. The formula can be: Calculate, where is the output torque of the driving motor at time t, The output speed of the drive motor at time t, 9550 is a constant used to convert torque and speed into power. In the dual-motor speed regulation mode, the above energy consumption parameter is the integral value of the output power of each drive motor multiplied by time during the speed regulation process.

[0064] S302: Determine a target speed regulation mode of the target vehicle based at least on the evaluation parameters of the single drive motor speed regulation mode and the evaluation parameters of the full drive motor speed regulation mode, where the target speed regulation mode is the single drive motor speed regulation mode or the full drive motor speed regulation mode.

[0065] It should be noted that the present application determines the target speed control mode of the target vehicle by at least based on the evaluation parameters of the single-drive motor speed control mode and the evaluation parameters of the full-drive motor speed control mode. Since the evaluation parameters include the speed control duration and energy consumption parameters, the present application fully balances the power continuity and energy consumption in the process of determining the target speed control mode, so that the determined target speed control mode simultaneously meets the vehicle's requirements for power continuity and energy consumption, and improves the control accuracy of the target vehicle's electronically controlled mechanical automatic transmission during the gear shifting and speed control process.

[0066] S303, performing gear shifting and speed regulation control based on the target speed regulation mode.

[0067] It should be noted that in actual application scenarios, the above Figure 3 The gear shift speed control method shown can be executed once each time the target vehicle is powered on, or it can be executed in response to the driver's operation command. Since the weight of the target vehicle may change each time the target vehicle is powered on, thus affecting the speed control time. Therefore, by executing the above-mentioned method after powering on or receiving the driver's operation command, Figure 3 The shifting and speed regulating control method shown can realize dynamic adjustment, thereby improving the control accuracy of the electronically controlled mechanical automatic transmission of the target vehicle during the shifting and speed regulating process.

[0068] It should be noted that in actual application scenarios, during the driving process of the target vehicle from one power-on to one power-off, if the above steps are completed immediately after power-on, Figure 3 The vehicle parameters of the target vehicle during this driving process have been determined in step S301 and step S302 shown. Therefore, the present application performs gear shifting and speed regulation control based on the target speed regulation mode during the driving process after completing the above step S302, so as to control the gear shifting and speed regulation process of the target vehicle without excessively interfering with normal driving and balancing power continuity and energy consumption.

[0069] The present application realizes the collection of speed regulation time and energy consumption parameters for the target vehicle by configuring and collecting the evaluation parameters of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode and the full drive motor speed regulation mode, avoiding the influence of the uniformly configured gear shift speed regulation logic on the control accuracy of the target vehicle caused by the individual differences of the drive motors, and improving the control accuracy of the electronically controlled mechanical automatic transmission in the gear shift speed regulation process. Subsequently, the target speed regulation mode of the target vehicle is determined by at least the evaluation parameters of the single drive motor speed regulation mode and the evaluation parameters of the full drive motor speed regulation mode. Since the evaluation parameters include the speed regulation time and energy consumption parameters, the present application fully balances the power continuity and energy consumption in the process of determining the target speed regulation mode, so that the determined target speed regulation mode satisfies the vehicle's demand for power continuity and energy consumption at the same time, and improves the control accuracy of the electronically controlled mechanical automatic transmission of the target vehicle in the gear shift speed regulation process. It can be seen that the present application improves the control accuracy of the electronically controlled mechanical automatic transmission in the gear shift speed regulation process under the premise of balancing power continuity and energy consumption.

[0070] In a possible implementation, evaluation parameters of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode and the full drive motor speed regulation mode are collected, and the evaluation parameters at least include the speed regulation time and energy consumption parameters, including:

[0071] The first test speed regulation time and the first test energy consumption parameter of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode are collected multiple times, and the average of the first test speed regulation time is determined as the speed regulation time of the target vehicle in the single drive motor speed regulation mode, and the average of the first test energy consumption parameters is determined as the energy consumption parameter of the target vehicle in the single drive motor speed regulation mode;

[0072] The second test speed regulation time and the second test energy consumption parameters of the target vehicle switching from the current gear to the required gear in the full-drive motor speed regulation mode are collected multiple times, and the average of each second test speed regulation time is determined as the speed regulation time of the target vehicle in the full-drive motor speed regulation mode, and the average of each second test energy consumption parameter is determined as the energy consumption parameter of the target vehicle in the full-drive motor speed regulation mode.

[0073] It should be noted that, in actual application scenarios, since the vehicle power control is based on the proportional-integral-derivative control (PID) of the output speed of the drive motor and the speed of the power output shaft, the speed of the power output shaft will feedback and affect the output speed of the drive motor, and since the exit condition of the speed regulation process is that the output speed of the drive motor and the motor torque simultaneously meet the corresponding threshold requirements, if the speed of the power output shaft changes significantly at this time, it will affect the collection accuracy of the speed regulation duration. Therefore, the present application configures multiple collections of the first test speed regulation duration and the first test energy consumption parameter of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode, and multiple collections of the second test speed regulation duration and the second test energy consumption parameter of the target vehicle switching from the current gear to the required gear in the full drive motor speed regulation mode, and utilizes the characteristics that the power chain is disconnected during the speed regulation process and the speed of the power output shaft cannot affect the output speed of the drive motor, thereby avoiding the influence of the speed change of the power output shaft on the collection accuracy of the speed regulation duration. In addition, by configuring the average value of the test speed regulation time collected multiple times to be determined as the speed regulation time in the corresponding speed regulation mode, and the average value of the test energy consumption parameters collected multiple times to be determined as the energy consumption parameters in the corresponding speed regulation mode, the influence of abnormal parameters on the accuracy of evaluation parameters is avoided, thereby improving the control accuracy of the electronically controlled mechanical automatic transmission during the gear shifting and speed regulation process.

[0074] In a possible implementation, determining a target speed control mode of the target vehicle based at least on an evaluation parameter of a single drive motor speed control mode and an evaluation parameter of a full drive motor speed control mode includes:

[0075] When the speed regulation time in the single-drive motor speed regulation mode is longer than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is not less than the energy consumption parameter in the full-drive motor speed regulation mode, the full-drive motor speed regulation mode is determined as the target speed regulation mode;

[0076] When the speed regulation time in the single-drive motor speed regulation mode is shorter than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is not greater than the energy consumption parameter in the full-drive motor speed regulation mode, the single-drive motor speed regulation mode is determined as the target speed regulation mode;

[0077] When the speed regulation time in the single-drive motor speed regulation mode is equal to the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is greater than the energy consumption parameter in the full-drive motor speed regulation mode, the full-drive motor speed regulation mode is determined as the target speed regulation mode;

[0078] When the speed regulation time in the single-drive motor speed regulation mode is equal to the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is less than the energy consumption parameter in the full-drive motor speed regulation mode, the single-drive motor speed regulation mode is determined as the target speed regulation mode;

[0079] When the speed regulation time in the single drive motor speed regulation mode is equal to the speed regulation time in the full drive motor speed regulation mode, and the energy consumption parameter in the single drive motor speed regulation mode is equal to the energy consumption parameter in the full drive motor speed regulation mode, the single drive motor speed regulation mode or the full drive motor speed regulation mode is determined as the target speed regulation mode.

[0080] It should be noted that, in actual application scenarios, when the speed regulation duration in the single drive motor speed regulation mode is equal to the speed regulation duration in the full drive motor speed regulation mode, and the energy consumption parameter in the single drive motor speed regulation mode is equal to the energy consumption parameter in the full drive motor speed regulation mode, the single drive motor speed regulation mode or the full drive motor speed regulation mode is determined as the target speed regulation mode and can be controlled in a polling manner to increase the service life of the drive motor. For example: the first round of speed regulation process is executed by drive motor A, the second round of speed regulation process is executed by drive motor B, and the third round of speed regulation process is executed by drive motors A and B together.

[0081] In a possible implementation, the method further includes:

[0082] When the speed regulation time in the single-drive motor speed regulation mode is longer than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is smaller than the energy consumption parameter in the full-drive motor speed regulation mode, determine whether the output torque of the drive motor in the evaluation parameter in the single-drive motor speed regulation mode is not less than the total required torque. If so, the single-drive motor speed regulation mode is determined as the target speed regulation mode. If not, the full-drive motor speed regulation mode is determined as the target speed regulation mode.

[0083] It should be noted that, in actual application scenarios, the above-mentioned drive motor output torque is the motor torque actually output by the drive motor after the current gear is switched to the required gear, and the above-mentioned total required torque is the motor torque to be provided by the drive motor after the current gear is switched to the required gear. If the output torque of the drive motor is less than the total required torque, the vehicle will experience power attenuation or even power interruption, affecting driving safety. Therefore, the present application determines through configuration whether the output torque of the drive motor in the evaluation parameters in the single drive motor speed regulation mode is not less than the total required torque. If so, the single drive motor speed regulation mode is determined as the target speed regulation mode. If not, the full drive motor speed regulation mode is determined as the target speed regulation mode, thereby ensuring that the determined target speed regulation mode can improve power sustainability and reduce the risk of power attenuation.

[0084] In a possible implementation, the method further includes:

[0085] When the speed regulation time in the single-drive motor speed regulation mode is less than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is greater than the energy consumption parameter in the full-drive motor speed regulation mode, determine whether the output torque of the drive motor in the evaluation parameter in the single-drive motor speed regulation mode is not less than the total required torque. If so, the full-drive motor speed regulation mode is determined as the target speed regulation mode. If not, the single-drive motor speed regulation mode is determined as the target speed regulation mode.

[0086] It should be noted that, when the speed regulation time in the single-drive motor speed regulation mode is shorter than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is greater than the energy consumption parameter in the full-drive motor speed regulation mode, if the output torque of the drive motor in the evaluation parameter in the single-drive motor speed regulation mode is not less than the total required torque, then the output torque of the drive motor in the dual-drive motor mode must be not less than the total required torque. At this time, the full-drive motor speed regulation mode is determined as the target speed regulation mode through configuration. Since the energy consumption parameter in the single-drive motor speed regulation mode is greater than the energy consumption parameter in the full-drive motor speed regulation mode, the energy consumption in the speed regulation process is reduced while ensuring the power demand, thereby improving the economy of the target vehicle.

[0087] It should be noted that, in an actual application scenario, the judgment conditions for determining the target speed regulation mode may be as shown in Table 1 below.

[0088]

[0089] In the above Table 1, T1 is the speed regulation time in the single drive motor speed regulation mode, T2 is the speed regulation time in the full drive motor speed regulation mode, E1 is the energy consumption parameter in the single drive motor speed regulation mode, and E2 is the energy consumption parameter in the full drive motor speed regulation mode.

[0090] In order to facilitate the above Figure 3 The understanding of a gear shift speed control method shown is explained here in combination with a possible implementation of the present application:

[0091] like Figure 6 As shown, it is a flow chart of a gear shift speed control method, and the specific operation steps are as follows:

[0092] Step S601, when it is detected that the target vehicle is powered on, the target vehicle is controlled to enter a gear shifting process in a single drive motor speed regulation mode, and step S602 is triggered.

[0093] Step S602, repeatedly collect the first test speed regulation duration and the first test energy consumption parameter of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode, and determine the average of each first test speed regulation duration as the speed regulation duration of the single drive motor speed regulation mode, and determine the average of each first test energy consumption parameter as the energy consumption parameter of the single drive motor speed regulation mode. And trigger step S603.

[0094] Step S603, repeatedly collect the second test speed regulation duration and second test energy consumption parameter of the target vehicle switching from the current gear to the required gear in the full-drive motor speed regulation mode, and determine the average of each second test speed regulation duration as the speed regulation duration of the full-drive motor speed regulation mode, and determine the average of each second test energy consumption parameter as the energy consumption parameter of the full-drive motor speed regulation mode. And trigger step S604.

[0095] Step S604, compare the evaluation parameters of the single drive motor speed control mode with the evaluation parameters of the full drive motor speed control mode, and determine the target speed control mode of the target vehicle according to the comparison result and the preset corresponding relationship, and trigger step S605.

[0096] In a possible implementation, the preset corresponding relationship in the above step S604 is a size comparison relationship of the corresponding evaluation parameter and a corresponding relationship with the target speed regulation mode.

[0097] Step S605: performing gear shifting and speed regulation control of the target vehicle based on the determined target speed regulation mode.

[0098] A second aspect of the present application provides a controller, such as Figure 7 As shown, it is applied to an electronically controlled mechanical automatic transmission, and the controller includes:

[0099] The gearbox control module 701 is used to collect evaluation parameters of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode and the full drive motor speed regulation mode, respectively, and the evaluation parameters at least include the speed regulation time and energy consumption parameters;

[0100] A mode determination module 702 is used to determine a target speed regulation mode of the target vehicle based at least on the speed regulation duration and energy consumption parameters under different speed regulation modes, where the target speed regulation mode is a single drive motor speed regulation mode or a full drive motor speed regulation mode;

[0101] The speed control module 703 is used to perform gear shift speed control based on the target speed control mode.

[0102] In a possible implementation, the transmission control module 701 is configured as follows:

[0103] The first test speed regulation time and the first test energy consumption parameter of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode are collected multiple times, and the average of the first test speed regulation time is determined as the speed regulation time of the target vehicle in the single drive motor speed regulation mode, and the average of the first test energy consumption parameters is determined as the energy consumption parameter of the target vehicle in the single drive motor speed regulation mode;

[0104] The second test speed regulation time and the second test energy consumption parameters of the target vehicle switching from the current gear to the required gear in the full-drive motor speed regulation mode are collected multiple times, and the average of each second test speed regulation time is determined as the speed regulation time of the target vehicle in the full-drive motor speed regulation mode, and the average of each second test energy consumption parameter is determined as the energy consumption parameter of the target vehicle in the full-drive motor speed regulation mode.

[0105] In a possible implementation, the mode determination module 702 is configured to:

[0106] When the speed regulation time in the single-drive motor speed regulation mode is longer than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is not less than the energy consumption parameter in the full-drive motor speed regulation mode, the full-drive motor speed regulation mode is determined as the target speed regulation mode;

[0107] When the speed regulation time in the single-drive motor speed regulation mode is shorter than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is not greater than the energy consumption parameter in the full-drive motor speed regulation mode, the single-drive motor speed regulation mode is determined as the target speed regulation mode;

[0108] When the speed regulation time in the single-drive motor speed regulation mode is equal to the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is greater than the energy consumption parameter in the full-drive motor speed regulation mode, the full-drive motor speed regulation mode is determined as the target speed regulation mode;

[0109] When the speed regulation time in the single-drive motor speed regulation mode is equal to the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is less than the energy consumption parameter in the full-drive motor speed regulation mode, the single-drive motor speed regulation mode is determined as the target speed regulation mode;

[0110] When the speed regulation time in the single drive motor speed regulation mode is equal to the speed regulation time in the full drive motor speed regulation mode, and the energy consumption parameter in the single drive motor speed regulation mode is equal to the energy consumption parameter in the full drive motor speed regulation mode, the single drive motor speed regulation mode or the full drive motor speed regulation mode is determined as the target speed regulation mode.

[0111] In a possible implementation, the mode determination module 703 is further configured to:

[0112] When the speed regulation time in the single-drive motor speed regulation mode is longer than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is smaller than the energy consumption parameter in the full-drive motor speed regulation mode, determine whether the output torque of the drive motor in the evaluation parameter in the single-drive motor speed regulation mode is not less than the total required torque. If so, the single-drive motor speed regulation mode is determined as the target speed regulation mode. If not, the full-drive motor speed regulation mode is determined as the target speed regulation mode.

[0113] In a possible implementation, the mode determination module 703 is further configured to:

[0114] When the speed regulation time in the single-drive motor speed regulation mode is less than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is greater than the energy consumption parameter in the full-drive motor speed regulation mode, determine whether the output torque of the drive motor in the evaluation parameter in the single-drive motor speed regulation mode is not less than the total required torque. If so, the full-drive motor speed regulation mode is determined as the target speed regulation mode. If not, the single-drive motor speed regulation mode is determined as the target speed regulation mode.

[0115] A third aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0116] The memory is used to store computer programs;

[0117] The processor is used to execute a computer program so that the electronic device can implement the gear shifting and speed regulation control method as described in the first aspect or any implementation of the first aspect.

[0118] A structural schematic diagram of an electronic device provided in the third aspect of the present application is as follows Figure 8 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 8 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.

[0119] like Figure 8As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage device 808 to a random access memory (RAM) 803. 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 803. The processing device 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0120] Typically, the following devices may be connected to the I / O interface 805: input devices 806 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 807 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 808 including, for example, a memory card, a hard disk, etc.; and communication devices 809. The communication device 809 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 8 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.

[0121] 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 gear shifting and speed control method as described in the first aspect or any implementation method of the first aspect.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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 speed control method, characterized in that: An electronically controlled mechanical automatic transmission applied to a target vehicle, the method comprising: Collecting evaluation parameters of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode and the full drive motor speed regulation mode, respectively, wherein the evaluation parameters at least include speed regulation duration and energy consumption parameters; Determining a target speed regulation mode of the target vehicle based at least on the evaluation parameter of the single drive motor speed regulation mode and the evaluation parameter of the full drive motor speed regulation mode, the target speed regulation mode being the single drive motor speed regulation mode or the full drive motor speed regulation mode; Gear shifting and speed regulation control is performed based on the target speed regulation mode.

2. The gear shifting speed control method according to claim 1, characterized in that: The collecting of evaluation parameters of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode and the full drive motor speed regulation mode, wherein the evaluation parameters at least include the speed regulation time and the energy consumption parameters, includes: The first test speed regulation time and the first test energy consumption parameter of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode are collected multiple times, and the average of each of the first test speed regulation time is determined as the speed regulation time of the target vehicle in the single drive motor speed regulation mode, and the average of each of the first test energy consumption parameters is determined as the energy consumption parameter of the target vehicle in the single drive motor speed regulation mode; The second test speed regulation time and the second test energy consumption parameters of the target vehicle switching from the current gear to the required gear in the full-drive motor speed regulation mode are collected multiple times, and the average of each of the second test speed regulation time is determined as the speed regulation time of the target vehicle in the full-drive motor speed regulation mode, and the average of each of the second test energy consumption parameters is determined as the energy consumption parameter of the target vehicle in the full-drive motor speed regulation mode.

3. The gear shifting speed control method according to claim 2, characterized in that: The determining the target speed regulation mode of the target vehicle based at least on the evaluation parameter of the single drive motor speed regulation mode and the evaluation parameter of the full drive motor speed regulation mode comprises: When the speed regulation time in the single-drive motor speed regulation mode is longer than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is not less than the energy consumption parameter in the full-drive motor speed regulation mode, the full-drive motor speed regulation mode is determined as the target speed regulation mode; When the speed regulation time in the single-drive motor speed regulation mode is shorter than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is not greater than the energy consumption parameter in the full-drive motor speed regulation mode, the single-drive motor speed regulation mode is determined as the target speed regulation mode; When the speed regulation time in the single-drive motor speed regulation mode is equal to the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is greater than the energy consumption parameter in the full-drive motor speed regulation mode, the full-drive motor speed regulation mode is determined as the target speed regulation mode; When the speed regulation time in the single-drive motor speed regulation mode is equal to the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is less than the energy consumption parameter in the full-drive motor speed regulation mode, the single-drive motor speed regulation mode is determined as the target speed regulation mode; When the speed regulation duration in the single drive motor speed regulation mode is equal to the speed regulation duration in the full drive motor speed regulation mode, and the energy consumption parameter in the single drive motor speed regulation mode is equal to the energy consumption parameter in the full drive motor speed regulation mode, the single drive motor speed regulation mode or the full drive motor speed regulation mode is determined as the target speed regulation mode.

4. The gear shifting speed control method according to claim 3, characterized in that: Also includes: When the speed regulation time in the single drive motor speed regulation mode is greater than the speed regulation time in the full drive motor speed regulation mode, and the energy consumption parameter in the single drive motor speed regulation mode is less than the energy consumption parameter in the full drive motor speed regulation mode, determine whether the output torque of the drive motor in the evaluation parameter in the single drive motor speed regulation mode is not less than the total required torque; if so, determine the single drive motor speed regulation mode as the target speed regulation mode; if not, determine the full drive motor speed regulation mode as the target speed regulation mode.

5. The gear shifting speed control method according to claim 3, characterized in that: Also includes: When the speed regulation time in the single-drive motor speed regulation mode is less than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is greater than the energy consumption parameter in the full-drive motor speed regulation mode, determine whether the output torque of the drive motor in the evaluation parameter in the single-drive motor speed regulation mode is not less than the total required torque; if so, determine the full-drive motor speed regulation mode as the target speed regulation mode; if not, determine the single-drive motor speed regulation mode as the target speed regulation mode.

6. A controller, characterized in that: Applied to an electronically controlled mechanical automatic transmission, the controller comprises: A gearbox control module, used to collect evaluation parameters of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode and the full drive motor speed regulation mode, wherein the evaluation parameters at least include the speed regulation time and the energy consumption parameter; a mode determination module, configured to determine a target speed regulation mode of the target vehicle based at least on the evaluation parameter of the single drive motor speed regulation mode and the evaluation parameter of the full drive motor speed regulation mode, wherein the target speed regulation mode is the single drive motor speed regulation mode or the full drive motor speed regulation mode; The speed control module is used to perform gear shift speed control based on the target speed control mode.

7. The controller according to claim 6, characterized in that: The transmission control module is configured to: The first test speed regulation time and the first test energy consumption parameter of the target vehicle switching from the current gear to the required gear in the single drive motor speed regulation mode are collected multiple times, and the average of each of the first test speed regulation time is determined as the speed regulation time of the target vehicle in the single drive motor speed regulation mode, and the average of each of the first test energy consumption parameters is determined as the energy consumption parameter of the target vehicle in the single drive motor speed regulation mode; The second test speed regulation time and the second test energy consumption parameters of the target vehicle switching from the current gear to the required gear in the full-drive motor speed regulation mode are collected multiple times, and the average of each of the second test speed regulation time is determined as the speed regulation time of the target vehicle in the full-drive motor speed regulation mode, and the average of each of the second test energy consumption parameters is determined as the energy consumption parameter of the target vehicle in the full-drive motor speed regulation mode.

8. The controller according to claim 7, characterized in that: The mode determination module is configured to: When the speed regulation time in the single-drive motor speed regulation mode is longer than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is not less than the energy consumption parameter in the full-drive motor speed regulation mode, the full-drive motor speed regulation mode is determined as the target speed regulation mode; When the speed regulation time in the single-drive motor speed regulation mode is shorter than the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is not greater than the energy consumption parameter in the full-drive motor speed regulation mode, the single-drive motor speed regulation mode is determined as the target speed regulation mode; When the speed regulation time in the single-drive motor speed regulation mode is equal to the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is greater than the energy consumption parameter in the full-drive motor speed regulation mode, the full-drive motor speed regulation mode is determined as the target speed regulation mode; When the speed regulation time in the single-drive motor speed regulation mode is equal to the speed regulation time in the full-drive motor speed regulation mode, and the energy consumption parameter in the single-drive motor speed regulation mode is less than the energy consumption parameter in the full-drive motor speed regulation mode, the single-drive motor speed regulation mode is determined as the target speed regulation mode; When the speed regulation duration in the single drive motor speed regulation mode is equal to the speed regulation duration in the full drive motor speed regulation mode, and the energy consumption parameter in the single drive motor speed regulation mode is equal to the energy consumption parameter in the full drive motor speed regulation mode, the single drive motor speed regulation mode or the full drive motor speed regulation mode is determined as the target speed regulation mode.

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 gear shifting and speed regulation control method as described in any one of claims 1 to 5.

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 gear shifting and speed regulation control method as described in any one of claims 1 to 5.

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