Hybrid vehicle gear shift control method, device, hybrid vehicle and storage medium

Abstract

The present application provides a hybrid vehicle shift control method, device, hybrid vehicle and storage medium, and relates to the technical field of hybrid vehicles. The method includes: if a hybrid vehicle shift request is received, the original requested torque value of the engine in the hybrid vehicle and the recovery torque limit of the target motor are obtained; based on the recovery torque limit, the original requested torque value is adjusted to obtain a target requested torque value; wherein the target requested torque value is less than or equal to the recovery torque limit; based on the target requested torque value, the front axle torque value of the hybrid vehicle is controlled to be reduced to a preset torque value, so that the gear of the hybrid vehicle is switched to the target gear corresponding to the shift request. Based on the above scheme, it can ensure that the hybrid vehicle shifts successfully.

Description

Technical Field

[0001] The present application relates to the technical field of hybrid vehicles, and in particular to a hybrid vehicle shifting control method, device, hybrid vehicle and storage medium in the vehicle field. Background Art

[0002] When a hybrid vehicle is shifting gears, the front-drive motor can recover the engine's torque so that the shaft-end torque is reduced to 0 while the front-drive motor can still provide driving power to the rear-drive motor. However, when the front-axle motor is recovering torque, there may be too much torque to be recovered, which exceeds the available torque range of the front-drive motor, resulting in the shaft-end torque not being reduced to 0, which in turn causes the hybrid vehicle to fail to shift gears.

[0003] Therefore, how to ensure successful gear shifting of hybrid vehicles is an issue that needs to be urgently addressed. Summary of the invention

[0004] The present application provides a hybrid vehicle gear shift control method, device, hybrid vehicle and storage medium, the method can ensure the hybrid vehicle gear shift is successful.

[0005] In a first aspect, a hybrid vehicle shift control method is provided, the method comprising:

[0006] If a gear shift request of a hybrid vehicle is received, an original requested torque value of the engine in the hybrid vehicle and a recovery torque limit value of the target motor are obtained; based on the recovery torque limit value, the original requested torque value is adjusted to obtain a target requested torque value; wherein the target requested torque value is less than or equal to the recovery torque limit value; based on the target requested torque value, a front axle torque value of the hybrid vehicle is controlled to be reduced to a preset torque value, so that the gear of the hybrid vehicle is switched to the target gear corresponding to the gear shift request.

[0007] In the embodiment of the present application, when a shift request of a hybrid vehicle is received, the original requested torque value of the engine and the recovery torque limit value of the target motor can be obtained, and the original requested torque value can be adjusted by the recovery torque limit value to obtain a requested torque value (i.e., a target requested torque value) that is less than or equal to the recovery torque limit value; and then the front axle torque value of the hybrid vehicle is reduced to a preset torque value by the target requested torque value, so that the hybrid vehicle shifts successfully. Since the original requested torque value of the engine is adjusted to a target requested torque value that is less than or equal to the recovery torque limit value by the recovery torque limit value, the target motor can completely recover the torque of the engine when recovering the torque of the engine, so that the front axle torque value can be reduced to the preset torque value, thereby avoiding the problem that the front axle torque value cannot be reduced to the preset torque value, i.e., the front axle torque value>the preset torque value, which leads to the failure of the hybrid vehicle to shift, thereby ensuring that the hybrid vehicle can shift successfully.

[0008] In combination with the first aspect, in some implementations of the first aspect, the method further includes:

[0009] Determine whether the original requested torque value is greater than the recovery torque limit value; the above-mentioned adjusting the original requested torque value based on the recovery torque limit value to obtain the target requested torque value includes: if the original requested torque value is greater than the recovery torque limit value, adjusting the original requested torque value based on the recovery torque limit value to obtain the target requested torque value.

[0010] In the embodiment of the present application, when the original requested torque value of the engine is greater than the recovery torque limit value of the target motor, the target motor cannot completely recover the torque of the engine, so that the front axle torque value is greater than the preset torque value, resulting in a failure of the hybrid vehicle to shift gears. Therefore, the original requested torque value of the engine can be adjusted to a target requested torque value that is less than or equal to the recovery torque limit value through the recovery torque limit value, so as to ensure that the target motor can completely recover the torque of the engine, so that the front axle torque value can be reduced to the preset torque value, further ensuring that the hybrid vehicle can shift gears successfully.

[0011] In combination with the first aspect and the foregoing implementations, in some implementations of the first aspect, the method further includes:

[0012] Obtain the current speed of the engine and the target speed corresponding to the engine in the target gear; obtain the target speed difference based on the current speed and the target speed; the above-mentioned adjustment of the original requested torque value based on the recovery torque limit to obtain the target requested torque value includes: adjusting the original requested torque value based on the recovery torque limit and the target speed difference to obtain the target requested torque value.

[0013] In the embodiment of the present application, on the basis of adjusting the original requested torque value of the engine by means of the recovery torque limit, the original requested torque value can also be adjusted in combination with the speed difference between the current speed of the engine and the target speed corresponding to the engine in the target gear, so that the obtained target requested torque value can be less than or equal to the recovery torque limit while still meeting the engine speed, thereby providing more guarantees for the gear shifting of the hybrid vehicle and further ensuring that the hybrid vehicle can shift gears successfully.

[0014] In combination with the first aspect and the above implementations, in some implementations of the first aspect, adjusting the original requested torque value based on the difference between the recovery torque limit value and the target speed to obtain the target requested torque value includes:

[0015] Based on the target speed difference and the target mapping relationship, a first torque limit corresponding to the target speed difference is determined; wherein the target speed difference is positively correlated with the first torque limit; the target mapping relationship is used to represent the mapping relationship between the speed difference and the torque limit; based on the recovery torque limit and the first torque limit, the original requested torque value is adjusted to obtain a first target requested torque value; wherein the first target requested torque is less than the target requested torque value.

[0016] In the embodiment of the present application, when the torque limit value corresponding to the target speed difference value is obtained (i.e., the first torque limit value), the original requested torque value of the engine can be adjusted by recovering the torque limit value and the first torque limit value to obtain a first target requested torque value that is less than the target requested torque value; that is, the first target requested torque value is less than the above-mentioned target requested torque value, so as to ensure that the target motor can completely recover the torque of the engine, so that the front axle torque value can be reduced to the preset torque value, further ensuring that the hybrid vehicle can shift gears successfully.

[0017] In combination with the first aspect and the above implementations, in some implementations of the first aspect, adjusting the original requested torque value based on the recovery torque limit value and the first torque limit value to obtain the first target requested torque value includes:

[0018] Acquire a preset torque change gradient; and adjust the original requested torque value to a first target requested torque value based on the recovery torque limit, the first torque limit and the preset torque change gradient.

[0019] In combination with the first aspect and the above implementations, in some implementations of the first aspect, adjusting the original requested torque value to obtain the target requested torque value includes:

[0020] Obtain a preset torque change gradient; and adjust the original requested torque value to a target requested torque value based on the preset torque change gradient.

[0021] In the embodiment of the present application, the original requested torque value of the engine is adjusted to the target requested torque value by presetting the torque change gradient, thereby avoiding the problem of the engine's requested torque value suddenly changing when the original requested torque value is directly adjusted to the target requested torque value, causing the vehicle to lose control, thereby improving the driving safety of the vehicle.

[0022] In combination with the first aspect and the above implementations, in some implementations of the first aspect, if a shift request of a hybrid vehicle is received, obtaining an original requested torque value of an engine in the hybrid vehicle and a recovery torque limit value of a target motor includes:

[0023] If a gear shift request is received, the current gear of the hybrid vehicle and the current state of the engine are obtained; if the current gear is different from the target gear, and the target gear is not the neutral gear, and the current state is the driving state, the original requested torque value and the recovery torque limit value are obtained.

[0024] In combination with the first aspect and the foregoing implementations, in some implementations of the first aspect, the method further includes:

[0025] If the original requested torque value is less than or equal to the recovery torque limit value, the original requested torque value is determined as the target requested torque value.

[0026] In the embodiment of the present application, when the original requested torque value of the engine is less than or equal to the recovery torque limit value of the target motor, the target motor can completely recover the torque of the engine, so that the front axle torque value can be reduced to the preset torque value. Therefore, the original requested torque value of the engine can be directly determined as the target requested torque value, further ensuring that the hybrid vehicle can shift gears successfully.

[0027] In a second aspect, a hybrid vehicle shift control device is provided, the device comprising:

[0028] an acquisition module, for acquiring an original requested torque value of an engine in the hybrid vehicle and a recovery torque limit value of a target motor if a shift request of the hybrid vehicle is received;

[0029] A processing module, configured to adjust an original requested torque value based on a recovery torque limit value to obtain a target requested torque value; wherein the target requested torque value is less than or equal to the recovery torque limit value;

[0030] The control module is used to control the front axle torque value of the hybrid vehicle to decrease to a preset torque value based on the target requested torque value, so that the gear of the hybrid vehicle is switched to the target gear corresponding to the gear shift request.

[0031] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0032] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0033] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of a vehicle gear switching scenario in the related art.

[0035] Figure 2 It is a schematic diagram of the vehicle power architecture provided in an embodiment of the present application.

[0036] Figure 3 It is a flow chart of a hybrid vehicle shifting control method provided in an embodiment of the present application.

[0037] Figure 4 It is a flow chart of another hybrid vehicle shifting control method provided in an embodiment of the present application.

[0038] Figure 5 It is a schematic diagram of the structure of a hybrid vehicle shifting control device provided in an embodiment of the present application.

[0039] Figure 6 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0041] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0042] Figure 1 It is a schematic diagram of a vehicle gear switching scenario in the related art.

[0043] For example, Figure 1 As shown, Figure 1The vehicle 110 is a hybrid vehicle equipped with a dedicated hybrid transmission (DHT), for example, a new energy vehicle of the DHT-2 architecture. The operation mode and power architecture of the vehicle 110 can be determined by Figure 2 Provide explanation.

[0044] Figure 2 It is a schematic diagram of the vehicle power architecture provided in an embodiment of the present application.

[0045] For example, Figure 2 As shown, the vehicle 110 includes an engine 201, a clutch 202, a front drive motor 203, a front axle transmission 204, a front axle differential 205, a left front wheel 206, a right front wheel 207, a rear drive motor 208, a rear axle transmission 209, a rear axle differential 210, a left rear wheel 211 and a right rear wheel 212.

[0046] The front drive motor 203 is arranged on the front axle, and is used to provide power to the left front wheel 206 and the right front wheel 207 through the front drive shaft to drive the vehicle 110. The first end of the clutch 202 is connected to the engine 201, and the second end of the clutch 202 is connected to the first end of the front drive motor 203. The first end of the front axle transmission 204 is connected to the front drive motor 203, and the second end of the front axle transmission 204 is connected to the front axle differential 205, and the front axle differential 205 is arranged between the left front wheel 206 and the right front wheel 207.

[0047] The rear drive motor 208 is arranged on the rear axle, and is used to provide power to the left rear wheel 211 and the right rear wheel 212 through the rear drive shaft to drive the vehicle 110. The rear drive motor 208 is connected to a first end of a rear axle transmission 209, and a second end of the rear axle transmission 209 is connected to a rear axle differential 210, and the rear axle differential 210 is arranged between the left rear wheel 211 and the right rear wheel 212.

[0048] The vehicle adopting the above-mentioned architecture is equipped with a front-wheel drive motor 203, a rear-wheel drive motor 208 and an engine 201 at the same time. Therefore, in order to adapt to different road conditions and driving requirements, multiple operating modes including direct drive mode, pure electric four-wheel drive mode and series mode are usually provided, which is not limited in the embodiments of the present application.

[0049] For example, when a hybrid vehicle shifts gears, it needs to respond to the intervention of the Transmission Control Unit (TCU), requesting the engine's ignition angle to be released and the engine's fast-path torque (i.e., ignition-path torque) to be filtered to 0N through the Hybrid Control Unit (HCU), and the torque of the front-drive motor to be filtered to 0N as well, so that the shaft-end torque of the hybrid vehicle (which can be understood as "front-axle torque") is reduced to 0, that is, both the engine torque and the front-drive motor torque are reduced to 0, and then the clutch is opened to shift gears.

[0050] When the clutch is open, the TCU can request to adjust the engine speed. In response to the request, the HCU can adjust the engine's quick torque according to the engine speed corresponding to the 2nd gear and the target gear corresponding to the gear shift (for example, 3rd gear). The engine's quick torque can be adjusted using the application PI. At the same time, when the clutch is open, the TCU can control the shift mechanism in the vehicle to perform gear shifting, that is, the vehicle's gear is switched from the current gear (for example, 2nd gear) to the neutral gear (Neutral, N).

[0051] After the TCU controls the shift mechanism to disengage the gear successfully, it can request to adjust the speed of the front-drive motor. After the speed of the front-drive motor is adjusted from the speed corresponding to the 2nd gear to the speed corresponding to the 3rd gear, the shift mechanism can be controlled to engage the gear to switch the vehicle's gear from the N gear to the 3rd gear. When the engine speed and the front-drive motor speed are both adjusted to the speed corresponding to the 3rd gear, the clutch can be switched from open to closed, so that if the P2 motor has sufficient capacity, the power generation torque of the P2 motor can be used for P4 driving during the hybrid vehicle shifting process to improve the problem of power interruption during the shifting process, thereby improving the driving performance of the hybrid vehicle.

[0052] However, when the hybrid vehicle is in hybrid mode, the driving power of the rear-drive motor can be provided by the power battery and the front-drive motor. When the torque of the front-drive motor drops to 0, the front-drive motor cannot provide driving power to the rear-drive motor, and can only provide driving power to the rear-drive motor through the power battery, which may reduce the driving power of the rear-drive motor, causing the rear-drive motor to be unable to meet the torque requirements of the vehicle, and easily causing the problem of power interruption of the hybrid vehicle, thereby affecting the normal driving of the hybrid vehicle.

[0053] In the related technology, in order to avoid power interruption of hybrid vehicles, the front-drive motor can recover the engine torque so that the shaft end torque is reduced to 0 while the front-drive motor can provide driving power to the rear-drive motor normally. However, when the front-drive motor recovers the engine torque, there may be too much torque to be recovered, which exceeds the available torque range of the front-drive motor, resulting in the shaft end torque not being able to be reduced to 0, the front-drive motor failing to reduce torque, and then causing the hybrid vehicle to fail to shift gears.

[0054] For example, the engine torque value is 40N, but the front drive motor can only recover up to 30N, then there is still 10N of engine torque that cannot be recovered, making the front axle torque value 10N, that is, the shaft end torque value cannot be reduced to 0.

[0055] Therefore, in order to solve the problem of failure of the front drive motor to reduce torque, which in turn leads to failure of the hybrid vehicle to shift gears, the present application proposes a hybrid vehicle shift control method, device, hybrid vehicle and storage medium.

[0056] Combine the following Figure 3 to Figure 4 The hybrid vehicle shifting control method provided in the embodiment of the present application is described in detail.

[0057] Figure 3 is a flow chart of a hybrid vehicle shift control method provided by an embodiment of the present application. The method can be Figure 1 The method is executed by the hybrid vehicle 110 in the hybrid vehicle 110 , or by the VCU or TCU in the hybrid vehicle 110 .

[0058] For example, Figure 3 As shown, the method 300 includes the following implementation process:

[0059] S310 : If a gear shift request of a hybrid vehicle is received, an original requested torque value of an engine in the hybrid vehicle and a recovery torque limit value of a target motor are obtained.

[0060] Among them, the target motor can be a motor that reduces the front axle torque to 0N, including but not limited to the front drive motor.

[0061] For example, when the gear of the hybrid vehicle needs to be switched from the 2nd gear to the 3rd gear, a shift request can be generated to switch the gear of the hybrid vehicle from the 2nd gear to the 3rd gear, so that when the shift request is received, the torque value corresponding to the original torque request of the engine in the hybrid vehicle (which may be referred to as the "original requested torque value") can be obtained, and the maximum recovery torque value (which may be referred to as the "recovery torque limit value") that the target motor (e.g., the front drive motor) in the hybrid vehicle can be used to recover the torque of the engine.

[0062] For example, if the original requested torque value of the engine is 40N, the output torque of the front-drive motor needs to be -40N to reduce the front-axle torque value to 0N; at this time, -40N can represent the recovery torque value of the front-drive motor. However, due to the configuration of the front-drive motor itself, it can only output -30N (i.e., the maximum recovery torque value), resulting in 10N of the original requested torque value of the engine that cannot be recovered by the front-drive motor, resulting in a front-axle torque value of 10N, i.e., the front-axle torque value cannot be reduced to 0, so that the vehicle gear cannot be switched from 2nd gear to 3rd gear and is still in 2nd gear.

[0063] For ease of understanding, in the embodiment of the present application, the absolute value of the maximum recovery torque value is taken as the recovery torque limit of the front axle motor, that is, the recovery torque limit ≥ 0N.

[0064] It should be noted that, in the embodiment of the present application, the gear shift request is described as a request for switching the gear of the hybrid vehicle from the 2nd gear to the 3rd gear. The gear shift request may also refer to a request for switching the gear of the hybrid vehicle from the 4th gear to the 5th gear, and the embodiment of the present application is not limited to this.

[0065] In a possible implementation, if a gear shift request of a hybrid vehicle is received, the original requested torque value of the engine in the hybrid vehicle and the recovery torque limit of the target motor are obtained, including: if a gear shift request is received, the current gear of the hybrid vehicle and the current state of the engine are obtained; if the current gear is different from the target gear, and the target gear is not a neutral gear, and the current state is a driving state, the original requested torque value and the recovery torque limit are obtained.

[0066] The gear position corresponding to the gear shift request is different from the current gear position of the vehicle. For example, the current gear position of the vehicle is the 4th gear, and the gear position corresponding to the gear shift request is the 5th gear.

[0067] For example, when a gear shift request of a hybrid vehicle is received, the current gear position (eg, 2nd gear position) of the hybrid vehicle and the current state of the engine may be acquired.

[0068] Furthermore, it can be determined whether the current gear of the hybrid vehicle is the same as the gear corresponding to the gear shift request (which can be called the "target gear", for example, the 3rd gear), whether the target gear is the N gear, and whether the current state of the engine is the driving state.

[0069] Optionally, when the current gear of the hybrid vehicle is the 2nd gear, which is different from the target gear 3rd gear, and the 3rd gear is not the N gear, and the current state of the engine is the driving state, the original requested torque value of the engine and the recovery torque limit value of the front drive motor can be obtained. At this time, the shift process flag is 1, indicating that S320 is allowed to be executed. On the contrary, the shift process flag is 0, indicating that the original requested torque value does not need to be adjusted.

[0070] Among them, when the current state of the engine is the driving state, it means that the torque value of the engine is greater than 0N, and the torque of the engine can be recovered by the front drive motor. Among them, the engine being in the driving state can indicate that the driving mode of the hybrid vehicle is a direct drive mode or a series mode. Also, the driving mode corresponding to the current gear of the hybrid vehicle can be a direct drive mode or a series mode, and the driving mode corresponding to the target gear can also be a direct drive mode or a series mode; the driving mode corresponding to the current gear of the hybrid vehicle and the driving mode corresponding to the target gear can be the same or different.

[0071] In addition, the operating state of the engine corresponding to the target gear can also be obtained. When the current state of the engine is the driving state and the operating state of the engine at the target gear is also the driving state, and the current gear of the hybrid vehicle is different from the target gear, and the target gear is not the N gear, the original requested torque value of the engine and the recovery torque limit of the front drive motor can be obtained.

[0072] Optionally, when the current gear and the target gear of the hybrid vehicle are both the 2nd gear, it means that the hybrid vehicle does not need to be shifted. Therefore, the original requested torque value of the engine and the recovery torque limit of the front drive motor may not be obtained. And / or, when the target gear of the hybrid vehicle is the N gear, it means that the hybrid vehicle needs to be parked; when the hybrid vehicle is parked, the rear drive motor is not required to provide power for the vehicle, and the front drive motor is not required to provide driving power for the rear drive motor, and the torque values ​​of the engine, the front drive motor and the rear drive motor are directly reduced to 0N. Therefore, the original requested torque value of the engine and the recovery torque limit of the front drive motor may not be obtained. And / or, when the current state of the engine is a non-driving state, that is, when it is in a stalled state, it is not necessary to recover torque through the front drive motor. Therefore, the original requested torque value of the engine and the recovery torque limit of the front drive motor may not be obtained.

[0073] S320: Based on the recovery torque limit value, adjust the original requested torque value to obtain a target requested torque value.

[0074] The target requested torque value is less than or equal to the recovery torque limit value.

[0075] For example, when the original requested torque value of the engine and the recovery torque limit value of the front drive motor are obtained through S310, the original requested torque value can be adjusted by the recovery torque limit value to obtain a requested torque value (which can be called a "target requested torque value") that is less than or equal to the recovery torque limit value, that is, the target requested torque value ≤ the recovery torque limit value. It can be understood that the original requested torque value is reduced by the recovery torque limit value so that the reduced original requested torque value (that is, the target requested torque value) ≤ the recovery torque limit value.

[0076] For example, the original requested torque value is 40 N, and the recovery torque limit value is 30 N. When 30 N is reduced to 40 N, the target requested torque value ≤ 30 N can be obtained, that is, the target requested torque value is 0 N-30 N, and the target requested torque is greater than 0 N.

[0077] In one possible implementation, it is determined whether the original requested torque value is greater than the recovery torque limit value; the above-mentioned adjusting the original requested torque value based on the recovery torque limit value to obtain the target requested torque value includes: if the original requested torque value is greater than the recovery torque limit value, adjusting the original requested torque value based on the recovery torque limit value to obtain the target requested torque value.

[0078] For example, when the original requested torque value of the engine and the recovery torque limit value of the front drive motor are obtained through S310, it can be determined whether the original requested torque value is greater than the recovery torque limit value of the front drive motor. When the original requested torque value is greater than the recovery torque limit value, the original requested torque value is adjusted by the recovery torque limit value so that the target requested torque value is less than or equal to the recovery torque limit value.

[0079] In the embodiment of the present application, when the original requested torque value of the engine is greater than the recovery torque limit value of the target motor, the target motor cannot completely recover the torque of the engine, so that the front axle torque value is greater than the preset torque value, resulting in a failure of the hybrid vehicle to shift gears. Therefore, the original requested torque value of the engine can be adjusted to a target requested torque value that is less than or equal to the recovery torque limit value through the recovery torque limit value, so as to ensure that the target motor can completely recover the torque of the engine, so that the front axle torque value can be reduced to the preset torque value, further ensuring that the hybrid vehicle can shift gears successfully.

[0080] Alternatively, if the original request torque value is less than or equal to the regeneration torque limit value, the original request torque value is determined as the target request torque value.

[0081] For example, when the original request torque value is ≤ the recovery torque limit value, that is, the original request torque value is 0N-30N, it is not necessary to adjust the original request torque value through the recovery torque limit value, and the original request torque value can be directly determined as the target request torque value. This is because, when the original request torque value is adjusted through the recovery torque limit value, since the original request torque value is adjusted to a smaller target request torque value, the recovery torque value output by the front drive motor will also be reduced accordingly, thereby reducing the driving power provided to the rear drive motor. Therefore, in order to avoid reducing the driving power provided by the front drive motor to the rear drive motor, the original request torque value can be directly determined as the target request torque value.

[0082] In the embodiment of the present application, when the original requested torque value of the engine is less than or equal to the recovery torque limit value of the target motor, the target motor can completely recover the torque of the engine, so that the front axle torque value can be reduced to the preset torque value. Therefore, the original requested torque value of the engine can be directly determined as the target requested torque value, further ensuring that the hybrid vehicle can shift gears successfully.

[0083] Optionally, the current speed of the engine and the target speed corresponding to the engine in the target gear are obtained; based on the current speed and the target speed, a target speed difference is obtained; the above-mentioned adjustment of the original requested torque value based on the recovery torque limit to obtain the target requested torque value includes: based on the recovery torque limit and the target speed difference, adjusting the original requested torque value to obtain the target requested torque value.

[0084] For example, when a gear shift request of a hybrid vehicle is received, the current speed of the engine in the 2nd gear (which can be recorded as "speed 1") and the corresponding speed of the engine in the 3rd gear (which can be called "target speed", which can be recorded as "speed 2") can also be obtained.

[0085] Optionally, the difference between speed 1 and speed 2 can be calculated, and the absolute value of the difference can be used as the corresponding target speed difference. For example, the target speed difference = .

[0086] For example, on the basis of adjusting the original requested torque value by the recovery torque limit value, the original requested torque value may also be adjusted by the target speed difference value to obtain the above target requested torque value.

[0087] In the embodiment of the present application, on the basis of adjusting the original requested torque value of the engine by means of the recovery torque limit, the original requested torque value can also be adjusted in combination with the speed difference between the current speed of the engine and the target speed corresponding to the engine in the target gear, so that the obtained target requested torque value can be less than or equal to the recovery torque limit while still meeting the engine speed, thereby providing more guarantees for the gear shifting of the hybrid vehicle and further ensuring that the hybrid vehicle can shift gears successfully.

[0088] Further, the above-mentioned adjusting the original requested torque value based on the recovery torque limit value and the target speed difference to obtain the target requested torque value includes: determining a first torque limit value corresponding to the target speed difference value based on the target speed difference value and the target mapping relationship; wherein the target speed difference value is positively correlated with the first torque limit value; the target mapping relationship is used to represent the mapping relationship between the speed difference value and the torque limit value; based on the recovery torque limit value and the first torque limit value, adjusting the original requested torque value to obtain the first target requested torque value; wherein the first target requested torque is less than the target requested torque value.

[0089] For example, when the target speed difference is obtained, a torque limit value (which may be referred to as a "first torque limit value") corresponding to the target speed difference value may be determined in a pre-calibrated mapping relationship (which may be referred to as a "target mapping relationship"), that is, the target speed difference value corresponds to the first torque limit value one by one.

[0090] Among them, multiple speed differences and multiple torque limits in the target mapping relationship are mapped to each other, for example, speed difference 1 and torque limit 1 are mapped to each other, speed difference 2 and torque limit 2 are mapped to each other..., and the embodiment of the present application is not limited to this.

[0091] The target speed difference is positively correlated with the first torque limit, which means that the larger the target speed difference is, the larger the first torque limit is; conversely, the smaller the target torque difference is, the smaller the first torque limit is. And the first torque limit is less than or equal to the recovery torque limit.

[0092] Furthermore, the original requested torque value of the engine may be adjusted by the recovery torque limit value of the front drive motor and the first torque limit value to obtain an adjusted target requested torque value (which may be referred to as a “first target requested torque value”).

[0093] Optionally, when the original requested torque value>the recovery torque limit value≥the first torque limit value, the torque difference between the recovery torque limit value and the first torque limit value may be calculated, that is, the torque difference value=the recovery torque limit value−the first torque limit value.

[0094] Exemplarily, since the first torque limit is obtained by calibrating the target speed difference of the engine, the requested torque of the engine becomes "target requested torque value + first torque limit value". At this time, the front drive motor recovers the first torque limit value while recovering the target requested torque value. However, the recovery torque limit value of the front drive motor cannot be increased. Therefore, in order to avoid "target requested torque value + first torque limit value" > recovery torque limit value, the target requested torque value can be adjusted again to further reduce the target requested torque value, and the reduced target requested torque value (i.e., the first target requested torque value) ≤ torque difference value. Among them, the first target requested torque value = recovery torque limit value - first torque limit value.

[0095] For example, the recovery torque limit is 30N, the target request torque value is also 30N, and the first torque limit is 10N. 30N+10N=40N>30N, at this time there will be 10N that cannot be recovered by the front drive motor. In order to ensure that the front drive motor can recover all the torque of the engine, the torque difference between the recovery torque limit and the first torque limit can be calculated, that is, the torque difference = 30N-10N=20N. The sum of the torque difference and the first torque limit (that is, the first target request torque value) is up to 30N, so that 0N<first target request torque value can always be ≤ recovery torque limit.

[0096] Optionally, when the original requested torque value>the recovery torque limit value<the first torque limit value, the sum of the recovery torque limit value and the torque of the first torque limit (which may be recorded as “torque sum value”) may be calculated, that is, torque sum value=target requested torque+first torque limit value.

[0097] Exemplarily, since the target requested torque value and the first torque limit are both greater than the recovery torque limit, in order to ensure that the front-drive motor can recover all the torque of the engine, the sum of the torques can be adjusted by using the recovery torque limit so that the adjusted sum of the torques (which can be called the "second target requested torque value") is ≤ the recovery torque limit, thereby ensuring that the target motor can completely recover the torque of the engine and that the front axle torque value can be reduced to the preset torque value, further ensuring that the hybrid vehicle can shift gears successfully.

[0098] In the embodiment of the present application, when the torque limit value corresponding to the target speed difference value is obtained (i.e., the first torque limit value), the original requested torque value of the engine can be adjusted by recovering the torque limit value and the first torque limit value to obtain a first target requested torque value that is less than the target requested torque value; that is, the first target requested torque value is less than the above-mentioned target requested torque value, so as to ensure that the target motor can completely recover the torque of the engine, so that the front axle torque value can be reduced to the preset torque value, further ensuring that the hybrid vehicle can shift gears successfully.

[0099] Optionally, the above-mentioned adjustment of the original requested torque value to obtain the target requested torque value includes: obtaining a preset torque change gradient; and adjusting the original requested torque value to the target requested torque value based on the preset torque change gradient.

[0100] Among them, the preset torque change gradient is the torque change gradient calibrated by the actual hybrid vehicle, which can make the process of adjusting the original requested torque value to the target requested torque value smoother, avoiding the problem of sudden change of the requested torque value causing the vehicle to lose control, thereby improving the driving safety of the vehicle.

[0101] For example, a preset torque change gradient may be obtained, and when the preset torque change gradient is obtained, the original request torque value is gradually reduced to the target request torque value according to the preset torque change gradient. Alternatively, the original request torque value may be gradually reduced to the first target request torque value according to the preset torque change gradient based on the recovery torque limit, the first torque limit and the preset torque change gradient.

[0102] It should be noted that the preset torque change gradient is related to factors such as the gear change of the hybrid vehicle and the model of the hybrid vehicle, and the embodiment of the present application does not limit this.

[0103] In the embodiment of the present application, the original requested torque value of the engine is adjusted to the target requested torque value by presetting the torque change gradient, thereby avoiding the problem of the engine's requested torque value suddenly changing when the original requested torque value is directly adjusted to the target requested torque value, causing the vehicle to lose control, thereby improving the driving safety of the vehicle.

[0104] S330: Based on the target requested torque value, control the front axle torque value of the hybrid vehicle to be reduced to a preset torque value, so that the gear of the hybrid vehicle is switched to the target gear corresponding to the gear shift request.

[0105] The preset torque value may represent the torque value corresponding to the front axle torque that enables the hybrid vehicle to successfully switch gears, and it only needs to be close to 0 N, and does not need to be equal to 0 N. For example, 0 N, ±2 or ±5, which is not limited in the present embodiment.

[0106] For example, when the target requested torque value of the engine is obtained, the front drive motor can be controlled to output a corresponding recovery torque value to recover the target requested torque value and reduce the front axle torque value to 0N, so that the gear of the hybrid vehicle can be successfully switched from the 2nd gear to the 3rd gear to complete the gear switching.

[0107] Optionally, when the front axle torque value drops to 0 N, the engine torque value is greater than 0 N. Therefore, there is no need to open the clutch to shift gears, and the gear of the hybrid vehicle can be directly shifted from the 2nd gear to the N gear, which simplifies the shifting process and improves the shifting efficiency.

[0108] Afterwards, a request is made to adjust the speed of the front-drive motor so as to adjust the speed of the front-drive motor from the speed corresponding to the 2nd gear to the speed corresponding to the 3rd gear.

[0109] Furthermore, when the speed of the front-drive motor is adjusted to a speed close to that corresponding to the 3rd gear, the shift mechanism can be controlled to shift the gear to change the gear of the hybrid vehicle from the N gear to the 3rd gear to complete the gear switching.

[0110] In such Figure 3In the method 300 shown, when a shift request of a hybrid vehicle is received, the original requested torque value of the engine and the recovery torque limit value of the target motor can be obtained, and the original requested torque value can be adjusted by the recovery torque limit value to obtain a requested torque value (i.e., a target requested torque value) that is less than or equal to the recovery torque limit value; and then the front axle torque value of the hybrid vehicle is reduced to a preset torque value by the target requested torque value, so that the hybrid vehicle shifts successfully. Since the original requested torque value of the engine is adjusted to a target requested torque value that is less than or equal to the recovery torque limit value by the recovery torque limit value, the target motor can completely recover the torque of the engine when recovering the torque of the engine, so that the front axle torque value can be reduced to the preset torque value, thereby avoiding the problem that the front axle torque value cannot be reduced to the preset torque value, i.e., the front axle torque value>the preset torque value, which leads to the failure of the hybrid vehicle to shift, thereby ensuring that the hybrid vehicle can shift successfully.

[0111] Figure 4 It is a flow chart of another hybrid vehicle shifting control method provided in an embodiment of the present application.

[0112] For example, Figure 4 As shown, the method 400 includes the following implementation process:

[0113] S401: If a gear shift request of a hybrid vehicle is received, a current gear position of the hybrid vehicle and a current state of an engine in the hybrid vehicle are obtained.

[0114] For example, when a gear shift request of a hybrid vehicle is received, the current gear position (eg, 2nd gear position) of the hybrid vehicle and the current state of the engine may be acquired.

[0115] S402, if the current gear is different from the target gear corresponding to the gear shift request, and the target gear is not the neutral gear, and the current state of the engine is the driving state, obtain the original requested torque value of the engine and the recovery torque limit value of the front drive motor.

[0116] For example, it can be determined whether the current gear of the hybrid vehicle is the same as the gear corresponding to the gear shift request (which can be called the "target gear", for example, the 3rd gear), whether the target gear is the N gear, and whether the current state of the engine is the driving state.

[0117] Optionally, when the current gear of the hybrid vehicle is 2nd gear, which is different from the target gear 3rd gear, and 3rd gear is not N gear, and the current state of the engine is driving state, the original requested torque value of the engine and the recovery torque limit of the front drive motor can be obtained.

[0118] S403, determine whether the original requested torque value is greater than the recovery torque limit value. If yes, execute S404; if no, execute S409.

[0119] For example, when the shift flag is 1, when the original requested torque value of the engine and the recovery torque limit value of the front drive motor are obtained, it can be determined whether the original requested torque value is greater than the recovery torque limit value. When the shift flag changes from 0 to 1, the torque value of the engine can be smoothly reduced from the original requested torque value to the target requested torque value according to the negative value of the preset torque gradient (i.e. -preset torque gradient).

[0120] In addition, when the gear shift flag is 1, the target torque request of the engine can be locked so that the engine torque will not change before the gear shift is completed, and it will always be the target torque request, avoiding the problem of vehicle loss of control caused by sudden changes in the engine's requested torque during adjustment of the speed of the front drive motor and during the process of shifting and shifting gears, thereby improving the vehicle's driving safety.

[0121] S404, obtaining the current speed of the engine and the target speed of the engine corresponding to the target gear.

[0122] For example, if the original requested torque value obtained in S403 is greater than the recovery torque limit value, the speed 1 corresponding to the engine in the 2nd gear and the speed 2 corresponding to the engine in the 3rd gear can be obtained.

[0123] S405, obtaining a target speed difference based on the current speed and the target speed.

[0124] For example, when the rotational speed 1 and the rotational speed 2 are obtained, the difference between the rotational speed 1 and the rotational speed 2 may be calculated, and the absolute value of the difference may be obtained, and the absolute value may be determined as the target rotational speed difference.

[0125] S406: Determine a first torque limit value corresponding to the target speed difference based on a target mapping relationship between the target speed difference and the target.

[0126] For example, when the target speed difference is obtained, a first torque limit corresponding to the target speed difference may be determined in a pre-calibrated target mapping relationship.

[0127] S407 : Based on the recovery torque limit value and the first torque limit value, the original requested torque value is adjusted to the target requested torque value.

[0128] Exemplarily, when the shift flag is 0, a preset torque change gradient may be obtained, and when the preset torque change gradient is obtained, the original requested torque value is smoothly reduced to the target requested torque value according to the preset torque change gradient.

[0129] S408: Determine the original requested torque value as the target requested torque value.

[0130] For example, if the original requested torque value is less than the recovery torque limit value obtained in S403 , the original requested torque value may be directly determined as the target requested torque value.

[0131] Optionally, after S407 or S408, S407 may be executed.

[0132] S409 , based on the target requested torque value, controlling the front axle torque value of the hybrid vehicle to be reduced to 0, so that the gear of the hybrid vehicle is switched to the target gear corresponding to the gear shift request.

[0133] For example, when the target requested torque value of the engine is obtained, the recovery torque value corresponding to the output of the front-drive motor can be controlled to recover the target requested torque value and reduce the front axle torque value to 0N, so that the gear of the hybrid vehicle can be successfully switched from the 2nd gear to the 3rd gear to complete the gear switching. In the case that the capacity of the P2 motor itself is insufficient, the requested torque value of the engine can be actively reduced through the torque limit of the P2 motor itself, and a certain torque range can be reserved for the front-drive motor speed adjustment to achieve successful gear shifting of the hybrid vehicle.

[0134] Optionally, when the torque value is recovered by the front drive motor, it can be output smoothly according to a preset torque gradient, so that the front axle torque value can also be smoothly reduced to 0N according to the preset torque gradient. Optionally, after the hybrid vehicle successfully shifts gears, the shift flag bit can be changed from 1 to 0, and the engine torque value can be smoothly increased from the target requested torque value to the original requested torque value according to the preset torque gradient.

[0135] It should be noted that Figure 4 All steps in Figure 3 The corresponding embodiments are described in detail in the embodiment, which will not be repeated here.

[0136] It should be understood that the above examples are intended to help those skilled in the art understand the embodiments of the present application, rather than to limit the embodiments of the present application to the specific numerical values ​​or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the above examples, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0137] Combination of the above Figures 1 to 4 The hybrid vehicle shift control method provided by the embodiment of the present application is described in detail; Figure 5 and Figure 6 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0138] Figure 5It is a schematic diagram of the structure of a hybrid vehicle shifting control device provided in an embodiment of the present application.

[0139] For example, Figure 5 As shown, the device 500 includes:

[0140] The acquisition module 510 is used to acquire the original requested torque value of the engine in the hybrid vehicle and the recovery torque limit value of the target motor if a shift request of the hybrid vehicle is received;

[0141] A processing module 520 is used to adjust the original requested torque value based on the recovery torque limit value to obtain a target requested torque value; wherein the target requested torque value is less than or equal to the recovery torque limit value;

[0142] The control module 530 is used to control the front axle torque value of the hybrid vehicle to decrease to a preset torque value based on the target requested torque value, so as to switch the gear of the hybrid vehicle to the target gear corresponding to the gear shift request.

[0143] In one possible implementation, the processing module 520 is further used to: determine whether the original requested torque value is greater than the recovery torque limit value; the processing module 520 is specifically used to: if the original requested torque value is greater than the recovery torque limit value, adjust the original requested torque value based on the recovery torque limit value to obtain a target requested torque value.

[0144] In one possible implementation, the acquisition module 510 is also used to: obtain the current speed of the engine and the target speed corresponding to the engine in the target gear; the processing module 520 is specifically used to: adjust the original requested torque value based on the difference between the recovery torque limit and the target speed to obtain the target requested torque value.

[0145] In one possible implementation, the processing module 520 is specifically used to: determine a first torque limit corresponding to the target speed difference based on a target mapping relationship between the target speed difference and the target; wherein the target speed difference is positively correlated with the first torque limit; the target mapping relationship is used to represent a mapping relationship between the speed difference and the torque limit; based on the recovery torque limit and the first torque limit, adjust the original requested torque value to obtain a first target requested torque value; wherein the first target requested torque is less than the target requested torque value.

[0146] In a possible implementation, the processing module 520 is specifically used to: obtain a preset torque change gradient; and adjust the original requested torque value to a target requested torque value based on the preset torque change gradient.

[0147] In one possible implementation, the acquisition module 510 is specifically used to: if a gear shift request is received, obtain the current gear of the hybrid vehicle and the current state of the engine; if the current gear is different from the target gear, and the target gear is not the neutral gear, and the current state is the driving state, obtain the original requested torque value and the recovery torque limit value.

[0148] In a possible implementation, the processing module 520 is further configured to: if the original requested torque value is less than or equal to the recovery torque limit value, determine the original requested torque value as the target requested torque value.

[0149] It should be noted that the above device 500 is embodied in the form of a functional module. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0150] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0151] Therefore, the modules of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0152] Figure 6 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0153] For example, Figure 6 As shown, the vehicle 600 includes: a memory 610 and a processor 620, wherein the memory 610 stores an executable program code 6101, and the processor 620 is used to call and execute the executable program code 6101 to perform a hybrid vehicle shift control method.

[0154] The present application can divide the functional modules of the vehicle according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0155] In the case of dividing each functional module according to each function, the vehicle may include: an acquisition module, a processing module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0156] The vehicle provided in the present application is used to execute the above-mentioned hybrid vehicle shifting control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0157] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related program codes and data.

[0158] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in combination with the contents disclosed in this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0159] The present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method of any of the above embodiments are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD (Digital Video Disc), a CD-ROM (Compact Disc Read-Only Memory), a microdrive, and a magneto-optical disk, a ROM (Read-Only Memory), a RAM (Random Access Memory), an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read Only Memory), a DRAM (Dynamic Random Access Memory), a VRAM (Video Random Access Memory), a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0160] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a hybrid vehicle shifting control method in the above-mentioned embodiment.

[0161] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes a hybrid vehicle shifting control method in the above-mentioned embodiment.

[0162] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0163] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0164] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0165] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A hybrid vehicle shift control method, characterized in that: The method comprises: If a shift request of a hybrid vehicle is received, obtaining an original requested torque value of an engine in the hybrid vehicle and a recovery torque limit value of a target motor; determining whether the original requested torque value is greater than the recovery torque limit value; If the original requested torque value is greater than the recovery torque limit value, the original requested torque value is adjusted based on the recovery torque limit value to obtain a target requested torque value; wherein the target requested torque value is less than or equal to the recovery torque limit value; Based on the target requested torque value, controlling the front axle torque value of the hybrid vehicle to be reduced to a preset torque value, so that the gear position of the hybrid vehicle is switched to the target gear position corresponding to the gear shift request; Obtaining a current speed of the engine and a target speed corresponding to the engine at the target gear; obtaining a target speed difference based on the current speed and the target speed; The adjusting the original requested torque value based on the recovery torque limit value to obtain a target requested torque value includes: The original requested torque value is adjusted based on the difference between the recovery torque limit value and the target speed to obtain the target requested torque value.

2. The method according to claim 1, characterized in that The adjusting the original requested torque value based on the difference between the recovery torque limit value and the target speed to obtain the target requested torque value includes: Based on the target speed difference and the target mapping relationship, determining a first torque limit corresponding to the target speed difference; wherein the target speed difference is positively correlated with the first torque limit; and the target mapping relationship is used to represent a mapping relationship between the speed difference and the torque limit; Based on the recovery torque limit value and the first torque limit value, the original request torque value is adjusted to obtain a first target request torque value; wherein the first target request torque value is less than the target request torque value.

3. The method according to claim 1 or 2, characterized in that: The adjusting the original requested torque value to obtain a target requested torque value includes: Obtaining a preset torque change gradient; Based on the preset torque change gradient, the original request torque value is adjusted to the target request torque value.

4. The method according to claim 1 or 2, characterized in that: If a shift request of a hybrid vehicle is received, obtaining an original requested torque value of an engine in the hybrid vehicle and a recovery torque limit value of a target motor includes: If the gear shift request is received, obtaining a current gear position of the hybrid vehicle and a current state of the engine; If the current gear is different from the target gear, and the target gear is not a neutral gear, and the current state is a driving state, the original requested torque value and the recovery torque limit value are obtained.

5. The method according to claim 1 or 2, characterized in that: The method further comprises: If the original requested torque value is less than or equal to the regeneration torque limit value, the original requested torque value is determined as the target requested torque value.

6. A hybrid vehicle shift control device, characterized in that: The device comprises: an acquisition module, configured to acquire, upon receiving a gear shift request of a hybrid vehicle, an original requested torque value of an engine in the hybrid vehicle and a recovery torque limit value of a target motor; and acquire a current speed of the engine and a target speed of the engine corresponding to a target gear position corresponding to the gear shift request; a processing module, configured to determine whether the original requested torque value is greater than the recovery torque limit value; if the original requested torque value is greater than the recovery torque limit value, adjusting the original requested torque value based on the recovery torque limit value to obtain a target requested torque value; wherein the target requested torque value is less than or equal to the recovery torque limit value; obtaining a target speed difference value based on the current speed and the target speed; adjusting the original requested torque value based on the recovery torque limit value to obtain a target requested torque value, including: adjusting the original requested torque value based on the difference between the recovery torque limit value and the target speed to obtain the target requested torque value; The control module is used to control the front axle torque value of the hybrid vehicle to decrease to a preset torque value based on the target requested torque value, so that the gear of the hybrid vehicle is switched to the target gear corresponding to the gear shift request.

7. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method as claimed in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 5 is implemented.

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