A shift control method and device of a vehicle, a vehicle, and a storage medium

Abstract

The present application relates to the technical field of vehicles, and discloses a gear shifting control method for a vehicle. The gear shifting control method obtains the current rotating speed of an oil pump and the maximum rotating speed of the oil pump, and determines whether the current rotating speed of the oil pump exceeds the maximum rotating speed of the oil pump. When the current rotating speed of the oil pump exceeds the maximum rotating speed of the oil pump, the vehicle is shifted to a higher gear from a current gear. Since the ratio of the rotating speed of the output shaft after gear shifting to the rotating speed of the output shaft before gear shifting is greater than the ratio of the speed ratio of the intermediate shaft to the output shaft after gear shifting to the speed ratio of the intermediate shaft to the output shaft before gear shifting, the rotating speed of the intermediate shaft is reduced by gear shifting, and the rotating speed of the oil pump is reduced, so that the rotating speed of the oil pump does not exceed the maximum rotating speed. When the vehicle needs to be shifted to a higher gear, the rotating speed of the oil pump will not exceed the maximum rotating speed, the adaptability of the vehicle to working conditions is improved, and the economy and driving comfort of the vehicle are also improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a method, apparatus, vehicle, and storage medium for controlling gear shifting in a vehicle. Background Technology

[0002] When a hybrid vehicle shifts gears, the shift point of the current gear is affected by many factors, such as vehicle mode, slope, load, and the engine, motor, and gearbox in the transmission system. These factors all affect the shift point. In order to improve the vehicle's power and economy, the shift point needs to be continuously adjusted according to the vehicle's status and operating conditions.

[0003] For hybrid vehicles equipped with superstructure actuators, superstructure operation and gear shifting control are generally independently controlled. That is, gear shifting control is not considered during superstructure operation, and superstructure operation is not considered during gear shifting. This is because hybrid vehicles equipped with superstructure actuators typically connect a power take-off (PTO) to the transmission. The PTO drives the hydraulic pump, which, along with a motor, forms a hydraulic circuit. The motor then drives the superstructure actuator. During operation, the hydraulic pump's speed is affected by the current gear. Therefore, gear shifting can easily cause changes in the pump's current speed. If the pump's current speed exceeds its maximum speed, it will be damaged. Thus, hybrid vehicles equipped with superstructure actuators usually need to maintain a fixed gear when the actuator is operating and the vehicle is moving to prevent the pump's speed from exceeding its maximum speed. However, maintaining a fixed gear reduces the vehicle's adaptability to different operating conditions and also affects fuel economy and driving comfort. Summary of the Invention

[0004] The purpose of this invention is to provide a vehicle shifting control method, device, vehicle, and storage medium to improve the vehicle's adaptability to operating conditions and enhance its economy and driving comfort.

[0005] In a first aspect, the present invention provides a vehicle shifting control method. The vehicle includes a power source, a gearbox, a power take-off (PTO), a drive axle, an oil pump, and a superstructure actuator. The gearbox includes an input shaft, an intermediate shaft, and an output shaft that are sequentially connected in transmission. The power source is driven to the input shaft, the intermediate shaft is driven to the PTO, the output shaft is driven to the drive axle, the PTO is driven to the oil pump, and the oil pump is driven to the superstructure actuator and is used to drive the superstructure actuator to rotate. When the vehicle shifts up, the ratio of the rotational speed of the output shaft after shifting up to the rotational speed before shifting up is m, and the ratio of the speed ratio of the intermediate shaft to the output shaft after shifting up to the speed ratio of the intermediate shaft to the output shaft before shifting up is n, where m > n.

[0006] The vehicle's gear shifting control method includes:

[0007] Obtain the current speed and maximum speed of the oil pump;

[0008] Determine whether the current speed of the oil pump exceeds the maximum speed of the oil pump;

[0009] If so, the vehicle will shift up from the current gear.

[0010] As a preferred technical solution for the vehicle's gear shift control method, if comparing whether the current speed of the oil pump exceeds the maximum speed of the oil pump, and if not, the vehicle's gear shift control method further includes the following steps:

[0011] Collect the vehicle's current gear, accelerator pedal position, acceleration, and real-time vehicle speed;

[0012] The vehicle speed at the shift point of the current gear and the target gear are determined based on the position of the accelerator pedal and the acceleration.

[0013] Determine if the target gear is higher than the current gear;

[0014] If so, determine whether the real-time vehicle speed exceeds the speed at the shift point;

[0015] If so, the vehicle will be shifted from the current gear to the target gear.

[0016] As a preferred technical solution for the vehicle shift control method, when comparing whether the real-time vehicle speed exceeds the shift point vehicle speed, if not, the step of obtaining the current speed and maximum speed of the oil pump is returned.

[0017] As a preferred technical solution for the vehicle's gear shift control method, when determining whether the target gear is higher than the current gear, if not, the vehicle's gear shift control method further includes the following steps:

[0018] Determine whether the real-time vehicle speed is less than the vehicle speed at the shift point;

[0019] If not, return to the step of obtaining the current speed and maximum speed of the oil pump; if yes, determine the first target speed of the oil pump at the target gear based on the target gear.

[0020] Determine whether the first target speed exceeds the maximum speed of the oil pump;

[0021] If so, issue a first warning message and return to the steps of obtaining the current speed and maximum speed of the oil pump.

[0022] As a preferred technical solution for vehicle shift control, when determining whether the first target speed exceeds the maximum speed of the oil pump, if not, the vehicle's gear is shifted from the current gear to the target gear.

[0023] As a preferred technical solution for vehicle shift control, the vehicle shift control method also includes the following steps performed in sync with the acquisition of the vehicle's current gear, accelerator pedal position, acceleration, and real-time vehicle speed:

[0024] The current rotational speed and torque of the upper actuator are obtained, and the driving power of the upper actuator is determined based on the rotational speed and torque of the upper actuator.

[0025] The optimal rotational speed of the superstructure actuator is determined based on the driving power of the superstructure actuator;

[0026] Compare the difference between the optimal speed and the current speed with the set value;

[0027] If the difference is less than the set value, the process returns to the step of obtaining the current speed and torque of the upper actuator, and determining the drive power of the upper actuator based on the speed and torque of the upper actuator; if the difference is not less than the set value, the second target speed of the oil pump is determined based on the gear after the vehicle downshifts from the current gear.

[0028] Determine whether the second target speed exceeds the maximum speed of the oil pump;

[0029] If so, a second warning message is issued and the process returns to the step of determining the drive power of the superstructure actuator based on the current gear position.

[0030] As a preferred technical solution for the vehicle's gear shift control method, if it is determined whether the second target speed exceeds the maximum speed of the oil pump, and if not, the vehicle's gear shift control method further includes the following steps:

[0031] The vehicle is downshifted from its current gear.

[0032] Secondly, the present invention provides a vehicle shift control device. The vehicle includes a power source, a gearbox, a power take-off (PTO), a drive axle, an oil pump, and a superstructure actuator. The gearbox includes an input shaft, an intermediate shaft, and an output shaft connected in sequence. The power source is driven to the input shaft, the intermediate shaft is driven to the PTO, the output shaft is driven to the drive axle, the PTO is driven to the oil pump, and the oil pump is driven to the superstructure actuator and is used to drive the superstructure actuator to rotate. When the vehicle shifts up, the ratio of the output shaft's rotational speed after shifting up to its rotational speed before shifting up is m, and the ratio of the speed ratio between the intermediate shaft and the output shaft after shifting up to the speed ratio between the intermediate shaft and the output shaft before shifting up is n, where m > n. The vehicle shift control device includes:

[0033] The speed acquisition module is used to acquire the current speed and the maximum speed of the oil pump.

[0034] The first judgment module is used to determine whether the current speed of the oil pump exceeds the maximum speed of the oil pump;

[0035] The first execution module is used to shift the vehicle from the current gear when the current speed of the oil pump exceeds the maximum speed of the oil pump.

[0036] Thirdly, the present invention provides a vehicle comprising:

[0037] One or more processors;

[0038] Storage device for storing one or more programs;

[0039] When the one or more programs are executed by the one or more processors, the one or more processors control the vehicle to implement the vehicle shift control method as described in any of the above schemes.

[0040] Fourthly, the present invention provides a storage medium having a computer program stored thereon, which, when executed by a processor, causes a vehicle to implement the vehicle shifting control method as described in any of the above embodiments.

[0041] The beneficial effects of this invention are as follows:

[0042] This invention provides a vehicle shift control method, device, vehicle, and storage medium. The vehicle shift control method acquires the current speed and maximum speed of the oil pump, and determines whether the current speed exceeds the maximum speed. If the current speed exceeds the maximum speed, the vehicle shifts up from the current gear. Since the ratio of the output shaft speed after upshifting to the speed before upshifting is greater than the ratio of the speed ratio between the intermediate shaft and the output shaft after upshifting to the speed ratio before upshifting, upshifting reduces the speed of the intermediate shaft, thereby reducing the speed of the oil pump and preventing it from exceeding its maximum speed. Furthermore, when the vehicle's operating conditions require upshifting, it does not cause the oil pump speed to exceed its limit, improving the vehicle's adaptability to operating conditions and enhancing its economy and driving comfort. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the vehicle structure in an embodiment of the present invention;

[0044] Figure 2 The following is a flowchart of the vehicle shift control method in an embodiment of the present invention. Figure 1 ;

[0045] Figure 3 The following is a flowchart of the vehicle shift control method in an embodiment of the present invention. Figure 2 ;

[0046] Figure 4 The following is a flowchart of the vehicle shift control method in an embodiment of the present invention. Figure 3 ;

[0047] Figure 5 This is a schematic diagram of the vehicle shift control device in an embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram of the structure of a vehicle control system provided in an embodiment of the present invention.

[0049] In the picture:

[0050] 1. Engine; 2. Electric motor; 3. Gearbox; 4. Power take-off; 5. Drive axle; 6. Oil pump; 7. Hydraulic motor; 8. Upper structure actuators; 9. Clutch; 10. Battery; 11. Charging interface;

[0051] 21. Rotation speed acquisition module; 22. First judgment module; 23. First execution module;

[0052] 100. Terminal device; 110. Processor; 120. ROM; 130. RAM; 140. Bus; 150. I / O interface; 160. Input unit; 170. Output unit; 180. Storage unit; 190. Communication unit. Detailed Implementation

[0053] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Furthermore, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0055] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0056] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0057] Example 1

[0058] This embodiment provides a vehicle, which may specifically be a cement pump truck or a concrete mixer truck, etc. The vehicle is equipped with a P2 hybrid system and uses both an electric motor and an engine as power sources; in other embodiments, the vehicle may also be configured to use either an electric motor or an engine as a single power source.

[0059] Figure 1 This is a schematic diagram of the vehicle structure in an embodiment of the present invention, such as... Figure 1As shown, the vehicle includes a power source, a gearbox 3, a power take-off (PTO) 4, a drive axle 5, an oil pump 6, and an upper structure actuator 8. The gearbox 3 includes an input shaft, an intermediate shaft, and an output shaft connected in sequence. The power source is driven by the input shaft, the intermediate shaft is driven by the PTO 4, and the intermediate shaft is driven by the output shaft. The output shaft is driven by the drive axle 5. The PTO 4 is driven by the oil pump 6, and the oil pump 6 is driven by the upper structure actuator 8. The oil pump 6 is used to drive the upper structure actuator 8 to rotate. The upper structure actuator 8 may be a reel for winding cables, etc. Specifically, the power source includes an engine 1 and an electric motor 2. The input shafts of the engine 1, electric motor 2, and gearbox 3 are connected in sequence, and a clutch 9 is provided between the engine 1 and the electric motor 2. The battery 10 is connected to the electric motor 2 and is used to supply power to the electric motor 2 or to store the electrical energy generated by the electric motor 2. After the torque provided by the engine 1 and / or the motor 2 is transmitted to the gearbox 3, part of the power is transmitted to the wheel end through the output shaft of the gearbox 3 and the drive axle 5 in sequence to drive the vehicle forward or backward; another part of the power is transmitted to the oil pump 6 through the power take-off 4, and then to the upper actuator 8 through the oil pump 6 to drive the upper actuator 8 to work.

[0060] The vehicle also includes a hydraulic motor 7, an oil pump 6 and a hydraulic motor 7 forming a circulation loop, the hydraulic motor 7 is coaxially connected to the upper actuator 8, and the hydraulic motor 7 drives the upper actuator 8 to rotate, thereby realizing the transmission connection between the oil pump 6 and the upper actuator 8.

[0061] In this embodiment, the battery 10 is also connected to a charging interface 11, which is used to connect to a charging gun. The charging gun is used to connect to AC power and to charge the battery 10.

[0062] In this embodiment, the vehicle has an engine-driven mode, an electric motor-driven mode, and a hybrid mode. Specifically, when the vehicle is in engine-driven mode, clutch 9 is engaged, battery 10 does not supply power to motor 2, and only engine 1 is connected to transmission 3. The power output of engine 1 can be transmitted to power take-off 4 through the rotor shaft of motor 2 and transmission 3. When the vehicle is in electric motor-driven mode, clutch 9 is disengaged, battery 10 supplies power to motor 2, and only motor 2 is connected to transmission 3. The power output of motor 2 can be transmitted to power take-off 4 through transmission 3. When the vehicle is in hybrid drive mode, clutch 9 is engaged, and both engine 1 and motor 2 are connected to transmission 3. Battery 10 can supply power to motor 2 or not. When battery 10 supplies power to motor 2, motor 2 provides assist torque, and power is provided jointly by engine 1 and motor 2. When battery 10 does not supply power to motor 2, motor 2 provides charging torque. In this case, engine 1 drives motor 2 to generate electricity, which is stored in battery 10.

[0063] In the vehicle's engine-driven mode, the stator windings of motor 2 are not energized, and the rotor of motor 2 idles, preventing the motor from generating electricity and thus not charging battery 10. In the hybrid-driven mode, the stator windings of motor 2 are energized, causing the rotor of motor 2 to cut magnetic lines of force, generating electricity to charge battery 10. When charging battery 10, motor 2 outputs charging torque, which acts as resistance for engine 1, requiring engine 1 to consume a portion of its output torque to overcome this resistance.

[0064] In addition, when the vehicle is in hybrid mode, engine 1 and motor 2 together provide the torque required for the rotation of the upper actuator 8 and the wheel at the wheel end under the current operating conditions. At this time, the total torque output by engine 1 and motor 2 is constant. By adjusting the magnitude of the torque output by motor 2, the torque output by engine 1 can be adjusted in the opposite direction.

[0065] In this embodiment, several gear pairs are provided between the input shaft and the intermediate shaft of the gearbox 3, as well as between the intermediate shaft and the output shaft. The gear shift can be achieved by selecting the gear pairs through the gear selection mechanism.

[0066] In this embodiment, when the vehicle shifts up, the ratio of the output shaft's rotational speed after shifting up to its rotational speed before shifting up is m, and the ratio of the speed ratio between the intermediate shaft and the output shaft after shifting up to the speed ratio between the intermediate shaft and the output shaft before shifting up is n, where m > n. Specifically, for the intermediate shaft and the output shaft, the rotational speed of the intermediate shaft before shifting up is v. 11 After shifting up, the rotational speed of the intermediate shaft is v. 12 Before upshifting, the speed ratio between the intermediate shaft and the output shaft is η1; after upshifting, the speed ratio between the intermediate shaft and the output shaft is η2; the rotational speed of the output shaft before upshifting is v. 21 After shifting gears, the output shaft speed is v. 22 Based on the transmission relationship between the intermediate shaft and the output shaft, it can be known that: v 11 / η1=v 21 ;v 12 / η2=v 22 ;therefore (v 11 / η1) / (v 12 / η2)=v 21 / v 22 That is, (v 11 / v 12 )×n=m; Since the value of m is greater than the value of n, therefore v 11 / v 12 The value must be greater than 1, that is, v 11 The value must be greater than v 12 The value of the intermediate shaft will be adjusted accordingly, thus reducing the speed of the intermediate shaft after upshifting. Similarly, the speed of the intermediate shaft will increase after downshifting.

[0067] In this embodiment, since the gearbox 3 is connected to both the wheel ends and the power take-off 4, the vehicle can move while the upper actuator 8 is operating. When it is necessary to switch gears to adjust the vehicle speed according to the specific operating conditions, this will cause the rotational speed of the intermediate shaft of the gearbox 3 to change, which in turn will cause the current rotational speed of the oil pump 6 to change. Since the oil pump 6 has a maximum rotational speed, when the current rotational speed of the oil pump 6 exceeds its maximum rotational speed, the oil pump 6 is prone to failure. Therefore, gear adjustment carries the potential risk of oil pump 6 failure.

[0068] In the existing technology, when the vehicle is moving and the upper actuator is working, the vehicle's gear is usually controlled at a fixed gear. Under this fixed gear, the speed of the oil pump will not exceed its maximum speed. However, this will result in the vehicle speed being limited by the fixed gear, making it unable to adapt to specific working conditions, and will also affect the vehicle's economy and driving comfort.

[0069] To address this issue, this embodiment also provides a vehicle gear shifting control method. This vehicle gear shifting control method is applicable to situations where automatic gear switching is required in vehicles equipped with a power take-off (PTO). The method can be executed by a vehicle gear shifting control device, which can be implemented through software and / or hardware and integrated into the vehicle.

[0070] Specifically, such as Figure 2 As shown, the shift control method of this vehicle includes the following steps:

[0071] S100: Obtain the current speed and maximum speed of the oil pump.

[0072] The oil pump speed can be obtained through a speed sensor. The maximum speed of the oil pump is related to the specific model of the oil pump and can be obtained by querying the relevant performance parameters of the oil pump and pre-stored in the storage device.

[0073] S110: Determine whether the current speed of the oil pump exceeds the maximum speed of the oil pump.

[0074] If so, then execute S120.

[0075] S120: Shift the vehicle from the current gear.

[0076] Since the ratio of the output shaft speed after upshifting to the speed before upshifting is m, and the ratio of the speed ratio between the intermediate shaft and the output shaft after upshifting to the speed ratio between the intermediate shaft and the output shaft before upshifting is n, m > n. Therefore, when the current speed of the oil pump exceeds its maximum speed, upshifting can reduce the speed of the intermediate shaft, thereby reducing the speed of the oil pump and preventing it from exceeding its maximum speed. In addition, when the vehicle's operating conditions require upshifting, it will not cause the oil pump speed to exceed its limit, improving the vehicle's adaptability to operating conditions and also improving the vehicle's economy and driving comfort.

[0077] The vehicle shift control method provided in this embodiment obtains the current speed and maximum speed of the oil pump, and determines whether the current speed of the oil pump exceeds the maximum speed. When the current speed of the oil pump exceeds the maximum speed, the vehicle is shifted from the current gear to the next gear. This reduces the speed of the intermediate shaft, thereby reducing the speed of the oil pump to prevent it from exceeding its maximum speed. Furthermore, shifting gears does not cause the oil pump speed to exceed its limit, which improves the vehicle's adaptability to operating conditions to a certain extent, and also enhances the vehicle's economy and driving comfort.

[0078] Example 2

[0079] This embodiment provides a vehicle shift control method, which is a further specification of the vehicle shift control method described in Embodiment 1.

[0080] Specifically, such as Figure 3 The shift control method for this vehicle includes the following steps:

[0081] S200: Obtain the current speed and maximum speed of the oil pump.

[0082] S210: Determine whether the current speed of the oil pump exceeds the maximum speed of the oil pump.

[0083] If yes, then execute S220. If no, then execute S230.

[0084] S220: Shift the vehicle from the current gear.

[0085] S230: Collects the vehicle's current gear, accelerator pedal position, acceleration, and real-time vehicle speed.

[0086] Specifically, the vehicle's current gear can be obtained by interacting with the vehicle controller, or by detecting the current gear through a gear position sensor located on the transmission; the position of the accelerator pedal can be detected through a position sensor located on the accelerator pedal; the vehicle's acceleration can be detected through an acceleration sensor; and the vehicle's real-time speed can be detected through a speed sensor.

[0087] S240: Determines the shift point speed and target gear based on the position and acceleration of the accelerator pedal.

[0088] The storage device pre-stores a first relationship diagram of the accelerator pedal position, acceleration, and vehicle speed at the shift point of the current gear, and a second relationship diagram of the accelerator pedal position, acceleration, and target gear at the current gear. The vehicle speed at the shift point of the current gear can be determined using the accelerator pedal position, acceleration, and the first relationship diagram, and the target gear can be determined using the accelerator pedal position, acceleration, and target gear. Both the first and second relationship diagrams can be obtained through extensive prior testing.

[0089] S250: Determines whether the target gear is higher than the current gear.

[0090] If yes, then execute S260; otherwise, execute S280.

[0091] The system determines whether to upshift or downshift by checking if the target gear is higher than the current gear. Specifically, if the target gear is higher, shifting to the target gear requires upshifting; if the target gear is lower, shifting to the target gear requires downshifting.

[0092] S260: Determines whether the real-time vehicle speed exceeds the shift point speed.

[0093] When the target gear is higher than the current gear, an upshift can be performed when the real-time vehicle speed exceeds the shift point speed.

[0094] If yes, proceed to step S270; otherwise, return to step S200.

[0095] S270: Shift the vehicle's gear from the current gear to the target gear.

[0096] S280: Determines whether the real-time vehicle speed is less than the speed at the gear shift point.

[0097] If not, return to step S200; if yes, proceed to step S290.

[0098] S290: Determine the first target speed of the oil pump in the target gear based on the target gear.

[0099] Specifically, the storage device pre-stores a first mapping relationship between the target gear and the first target speed. The first target speed can be determined by the target gear and the first mapping relationship. This first mapping relationship can be obtained through a large number of preliminary experiments.

[0100] S300: Determine whether the first target speed exceeds the maximum speed of the oil pump.

[0101] If yes, then execute S310; otherwise, execute S320.

[0102] S310: Issue the first warning message and return to S200.

[0103] The first warning message is used to remind the driver that the vehicle cannot downshift at present, and that downshifting may cause the fuel pump to malfunction. This first warning message can be delivered via sound, light, or text.

[0104] S320: Downshifts the vehicle from the current gear to the target gear.

[0105] Steps S280 to S310 ensure that the oil pump's speed will not exceed its maximum speed after downshifting. Specifically, when the target gear is lower than the current gear, and the real-time vehicle speed is lower than the shift point speed, a downshift can be performed. Since downshifting will increase the speed of the intermediate shaft, it is necessary to first assess whether the oil pump's speed will exceed its maximum speed after downshifting. If it is confirmed that it will not exceed the maximum speed, the downshift can be performed to ensure the safety of the oil pump after downshifting, thereby ensuring the reliability of the oil pump's operation. If it is determined that the oil pump's speed will exceed its maximum speed after downshifting, it indicates that there is a risk to the oil pump after downshifting. In this case, downshifting should not be performed, and a first warning message should be issued.

[0106] Alternatively, please refer to Figure 4 The vehicle's shift control method also includes the following steps performed synchronously with step S230:

[0107] S330: Obtain the current rotational speed and torque of the upper actuator, and determine the drive power of the upper actuator based on the rotational speed and torque of the upper actuator.

[0108] Specifically, the current rotational speed of the upper actuator can be detected by a speed sensor, and the torque of the upper actuator can be detected by a torque sensor. The storage device pre-stores a second mapping relationship between the current rotational speed of the upper actuator, the torque of the upper actuator, and the driving power of the upper actuator. The driving power of the upper actuator can be determined by the current rotational speed of the upper actuator, the torque of the upper actuator, and the second mapping relationship. This second mapping relationship can be obtained through a large number of preliminary experiments.

[0109] S340: Determine the optimal rotational speed of the upper actuator based on the drive power of the upper actuator.

[0110] Specifically, the storage device pre-stores a third mapping relationship between the drive power of the upper actuator and its optimal rotational speed. The optimal rotational speed of the upper actuator can be determined using the drive power and this third mapping relationship, which can be obtained through extensive prior testing. When the upper actuator operates at its optimal rotational speed, its NVH performance is optimal, and its service life is extended. The optimal rotational speed can be a point value or a range value, which can be determined based on specific circumstances.

[0111] S350: Compares the difference between the optimal speed and the current speed with the set value.

[0112] If the difference is less than the set value, return to step S330; if the difference is not less than the set value, execute S360.

[0113] The setpoint can be adjusted according to actual needs. In this embodiment, the specific value of the setpoint is relatively small. When the difference between the optimal speed and the current speed is less than the setpoint, it indicates that the current speed is close to the optimal speed, and the upper actuator can work normally and maintain the status quo. When the difference between the optimal speed and the current speed is greater than the setpoint, it indicates that the current speed is less than the optimal speed, and the difference between the current speed and the optimal speed is large. The upper actuator needs to output a large torque to match the load demand, but the power supplied by the motor to the upper actuator is insufficient, resulting in a significant drop in the speed of the upper actuator. Its NVH performance is poor, and its service life is damaged. In this case, adjustment is required.

[0114] S360: Determines the second target speed of the oil pump based on the gear after the vehicle downshifts from the current gear.

[0115] The method for determining the second target speed is the same as that for determining the first target speed, and will not be repeated here. The gear the vehicle downshifts from the current gear is one gear lower than the current gear.

[0116] S370: Determine whether the second target speed exceeds the maximum speed of the oil pump.

[0117] If yes, proceed to step S380 and return to step S330. If no, proceed to step S390.

[0118] S380: Issue the second warning message.

[0119] The second warning message can be used to remind the driver that the power supply to the upper-mounted actuators is insufficient, and that because downshifting will cause the oil pump speed to exceed its maximum speed, the current state can only be maintained, and other methods are needed to resolve the issue. This second warning message can be issued through sound, light, or text.

[0120] S390: Downshift the vehicle from the current gear.

[0121] Through steps S360 to S390, it can be ensured that before the vehicle downshifts, it is first determined whether the second target speed of the oil pump after downshifting does not exceed its maximum speed. Downshifting is only performed when the second target speed of the oil pump after downshifting does not exceed its maximum speed, so as to increase the speed of the oil pump, thereby increasing the power supply to the upper actuator and increasing the speed of the upper actuator.

[0122] The vehicle shift control method provided in this embodiment, based on the above embodiment one, determines the shift point speed and target gear based on the accelerator pedal position and acceleration, provided that the current speed of the oil pump does not exceed its maximum speed. This is achieved by collecting the vehicle's current gear, accelerator pedal position, acceleration, and real-time vehicle speed. When the target gear is higher than the current gear and the real-time vehicle speed exceeds the shift point speed, the vehicle is shifted from the current gear to the target gear, thus achieving upshift control. When the target gear is lower than the current gear and the real-time vehicle speed is lower than the shift point speed, a first target speed of the oil pump at the target gear is determined based on the target gear. When the first target speed does not exceed the oil pump's maximum speed, the vehicle is downshifted from the current gear to the target gear. When the first target speed exceeds the oil pump's maximum speed, a first warning message is issued, thus achieving downshift control. Furthermore, during downshift control, the oil pump's speed is prevented from exceeding its maximum speed, ensuring the reliability of the oil pump's operation.

[0123] In addition, by acquiring the rotational speed and torque of the upper actuator, and determining the drive power of the upper actuator based on the rotational speed and torque, the optimal rotational speed of the upper actuator is determined based on the drive power. The current rotational speed of the upper actuator is acquired, and the difference between the optimal speed and the current speed is compared with a set value. When the difference between the optimal speed and the current speed is less than the set value, the current state is maintained. When the difference between the optimal speed and the current speed is greater than the set value, the second target rotational speed of the oil pump is determined based on the gear after the vehicle downshifts from the current gear. When the second target rotational speed does not exceed the maximum rotational speed of the oil pump, the vehicle is downshifted from the current gear. When the second target rotational speed exceeds the maximum rotational speed of the oil pump, a second warning message is issued. This ensures that when the power demand of the upper actuator is insufficient, downshifting is performed on the premise that the rotational speed of the oil pump will not exceed its maximum rotational speed, ensuring that the oil pump can work normally and simultaneously meeting the power demand of the upper actuator.

[0124] Example 3

[0125] This embodiment provides a vehicle shift control device for implementing any of the vehicle shift control methods described in the above embodiments.

[0126] Specifically, such as Figure 5 As shown, the shift control device includes a speed acquisition module 21, a first judgment module 22, and a first execution module 23. The speed acquisition module 21 acquires the current speed and maximum speed of the oil pump; the first judgment module 22 determines whether the current speed of the oil pump exceeds its maximum speed; and the first execution module 23 upshifts the vehicle from the current gear when the current speed of the oil pump exceeds its maximum speed.

[0127] The vehicle shift control device provided in this embodiment uses a speed acquisition module 21 to acquire the current speed and maximum speed of the oil pump; a first judgment module 22 to determine whether the current speed of the oil pump exceeds the maximum speed of the oil pump; and a first execution module 23 to upshift the vehicle from the current gear when the current speed of the oil pump exceeds the maximum speed of the oil pump. Since the ratio of the output shaft speed after upshifting to the speed before upshifting is greater than the ratio of the speed ratio between the intermediate shaft and the output shaft after upshifting to the speed ratio between the intermediate shaft and the output shaft before upshifting, upshifting reduces the speed of the intermediate shaft, thereby reducing the speed of the oil pump to prevent it from exceeding its maximum speed. Furthermore, when the vehicle's operating conditions require upshifting, it will not cause the oil pump speed to exceed its limit, improving the vehicle's adaptability to operating conditions and also enhancing the vehicle's economy and driving comfort.

[0128] Optionally, the vehicle's shift control device also includes the following structure:

[0129] The parameter acquisition module is used to collect the vehicle's current gear, accelerator pedal position, acceleration, and real-time vehicle speed.

[0130] The shift point speed and target gear determination module is used to determine the shift point speed and target gear based on the position and acceleration of the accelerator pedal.

[0131] The second judgment module is used to determine whether the target gear is higher than the current gear;

[0132] The third judgment module is used to determine whether the real-time vehicle speed exceeds the shift point speed when the target gear is higher than the current gear.

[0133] The second execution module is used to shift the vehicle's gear from the current gear to the target gear when the real-time vehicle speed exceeds the shift point speed;

[0134] The fourth judgment module is used to determine whether the real-time vehicle speed is less than the shift point speed when the target gear is not higher than the current gear.

[0135] The first target speed determination module is used to determine the first target speed of the oil pump in the target gear based on the target gear when the real-time vehicle speed is less than the shift point vehicle speed.

[0136] The fifth judgment module is used to determine whether the first target speed exceeds the maximum speed of the oil pump;

[0137] The first warning module is used to issue a first warning message when the first target speed exceeds the maximum speed of the oil pump;

[0138] The third execution module is used to downshift the vehicle's gear from the current gear to the target gear;

[0139] The drive power determination module is used to obtain the current rotational speed and torque of the upper actuator, and determine the drive power of the upper actuator based on the rotational speed and torque of the upper actuator.

[0140] The optimal speed determination module is used to determine the optimal speed of the upper actuator based on the drive power of the upper actuator;

[0141] The comparison module is used to compare the difference between the optimal speed and the current speed with the set value.

[0142] The second target speed determination module is used to determine the second target speed of the oil pump based on the gear after the vehicle downshifts from the current gear when the difference is not less than the set value.

[0143] The sixth judgment module is used to determine whether the second target speed exceeds the maximum speed of the oil pump.

[0144] The second warning module is used to issue a second warning message when the second target speed exceeds the maximum speed of the oil pump;

[0145] The fourth execution module is used to downshift the vehicle from the current gear when the second target speed exceeds the maximum speed of the oil pump.

[0146] The vehicle shift control device provided in Embodiment 3 of the present invention can be used to execute the vehicle shift control method provided in the above embodiments, and has corresponding functions and beneficial effects.

[0147] Example 4

[0148] Figure 6 This is a schematic diagram of a vehicle control system according to an embodiment of the present invention. The vehicle (or terminal device) is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The terminal device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0149] like Figure 6 As shown, the terminal device 100 includes one or more processors 110 and a storage device communicatively connected to the processors 110. The storage device may be a ROM 120, random access RAM 130, etc. The storage device stores computer programs executable by one or more processors. The processors 110 can perform various appropriate actions and processes based on the computer programs stored in the ROM 120 or loaded into the random access RAM 130 from storage unit 180. The RAM 130 may also store various programs and data required for the operation of the terminal device 100. The processors 110, ROM 120, and RAM 130 are interconnected via a bus 140. An I / O interface 150 is also connected to the bus 140.

[0150] Multiple components in terminal device 100 are connected to I / O interface 150, including: input unit 160, such as keyboard, mouse, etc.; output unit 170, such as various types of displays, speakers, etc.; storage unit 180, such as disk, optical disk, etc.; and communication unit 190, such as network card, modem, wireless transceiver, etc. Communication unit 190 allows terminal device 100 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0151] Processor 110 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 110 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 110 performs the various methods and processes described above, such as the gear shift control method of a vehicle.

[0152] In some embodiments, the vehicle shift control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 180. In some embodiments, part or all of the computer program may be loaded and / or installed on terminal device 100 via ROM 120 and / or communication unit 190. When the computer program is loaded into RAM 130 and executed by processor 110, one or more steps of the vehicle shift control method described above may be performed. Alternatively, in other embodiments, processor 110 may be configured to perform the vehicle shift control method by any other suitable means (e.g., by means of firmware).

[0153] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0154] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0155] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0156] To provide interaction with a user, the systems and techniques described herein can be implemented on a terminal device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the terminal device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0157] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0158] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0159] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0160] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for shifting gears in a vehicle, the vehicle comprising a power source, a gearbox, a power take-off (PTO), a drive axle, an oil pump, and a superstructure actuator, wherein the gearbox comprises an input shaft, an intermediate shaft, and an output shaft sequentially connected in transmission; the power source is driven to the input shaft; the intermediate shaft is driven to the PTO; the output shaft is driven to the drive axle; the PTO is driven to the oil pump; and the oil pump is driven to the superstructure actuator and is used to drive the superstructure actuator to rotate, characterized in that... When the vehicle shifts up, the ratio of the rotational speed of the output shaft after shifting up to the rotational speed before shifting up is m, and the ratio of the speed ratio of the intermediate shaft to the output shaft after shifting up to the speed ratio of the intermediate shaft to the output shaft before shifting up is n, where m > n; The vehicle's gear shifting control method includes: Obtain the current speed and maximum speed of the oil pump; Determine whether the current speed of the oil pump exceeds the maximum speed of the oil pump; If so, the vehicle will shift up from the current gear.

2. The vehicle shift control method according to claim 1, characterized in that, If the current speed of the oil pump exceeds its maximum speed, and if not, the vehicle's shift control method further includes the following steps: Collect the vehicle's current gear, accelerator pedal position, acceleration, and real-time vehicle speed; The vehicle speed at the shift point of the current gear and the target gear are determined based on the position of the accelerator pedal and the acceleration. Determine if the target gear is higher than the current gear; If so, determine whether the real-time vehicle speed exceeds the speed at the shift point; If so, the vehicle will be shifted from the current gear to the target gear.

3. The vehicle shift control method according to claim 2, characterized in that, When comparing whether the real-time vehicle speed exceeds the shift point vehicle speed, if not, return to the step of obtaining the current speed and maximum speed of the oil pump.

4. The vehicle shift control method according to claim 2, characterized in that, When determining whether the target gear is higher than the current gear, if not, the vehicle's shift control method also includes the following steps: Determine whether the real-time vehicle speed is less than the vehicle speed at the shift point; If not, return to the step of obtaining the current speed and maximum speed of the oil pump; if yes, determine the first target speed of the oil pump at the target gear based on the target gear. Determine whether the first target speed exceeds the maximum speed of the oil pump; If so, issue a first warning message and return to the steps of obtaining the current speed and maximum speed of the oil pump.

5. The vehicle shift control method according to claim 4, characterized in that, If the first target speed exceeds the maximum speed of the oil pump, then the vehicle's gear is shifted from the current gear to the target gear.

6. The vehicle shift control method according to claim 4, characterized in that, The vehicle's shift control method also includes the following steps, synchronized with the acquisition of the vehicle's current gear, accelerator pedal position, acceleration, and real-time vehicle speed: The current rotational speed and torque of the upper actuator are obtained, and the driving power of the upper actuator is determined based on the rotational speed and torque of the upper actuator. The optimal rotational speed of the superstructure actuator is determined based on the driving power of the superstructure actuator; Compare the difference between the optimal speed and the current speed with the set value; If the difference is less than the set value, the process returns to the step of obtaining the current speed and torque of the upper actuator, and determining the drive power of the upper actuator based on the speed and torque of the upper actuator; if the difference is not less than the set value, the second target speed of the oil pump is determined based on the gear after the vehicle downshifts from the current gear. Determine whether the second target speed exceeds the maximum speed of the oil pump; If so, a second warning message is issued and the process returns to the step of determining the drive power of the superstructure actuator based on the current gear position.

7. The vehicle shift control method according to claim 6, characterized in that, When determining whether the second target speed exceeds the maximum speed of the oil pump, if not, the vehicle's shift control method further includes the following steps: The vehicle is downshifted from its current gear.

8. A shift control device for a vehicle, the vehicle comprising a power source, a gearbox, a power take-off (PTO), a drive axle, an oil pump, and a superstructure actuator, wherein the gearbox comprises an input shaft, an intermediate shaft, and an output shaft sequentially connected in transmission; the power source is driven to the input shaft; the intermediate shaft is driven to the PTO; the output shaft is driven to the drive axle; the PTO is driven to the oil pump; and the oil pump is driven to the superstructure actuator and is used to drive the superstructure actuator to rotate, characterized in that... When the vehicle shifts up, the ratio of the output shaft's rotational speed after shifting up to its rotational speed before shifting up is m, and the ratio of the speed ratio between the intermediate shaft and the output shaft after shifting up to the speed ratio between the intermediate shaft and the output shaft before shifting up is n, where m > n; the vehicle's shift control device includes: The speed acquisition module is used to acquire the current speed and the maximum speed of the oil pump. The first judgment module is used to determine whether the current speed of the oil pump exceeds the maximum speed of the oil pump; The first execution module is used to shift the vehicle from the current gear when the current speed of the oil pump exceeds the maximum speed of the oil pump.

9. A vehicle, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors control the vehicle to implement the vehicle shift control method as described in any one of claims 1-7.

10. A storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it causes the vehicle to implement the shift control method of the vehicle as described in any one of claims 1-7.

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