Gearbox shifting method, device, equipment and storage medium

Abstract

The present invention discloses a gearbox shifting method, device, equipment and storage medium. The present invention relates to the field of vehicle control technology. The gearbox shifting method comprises: obtaining the vehicle speed, the ath gear of the first gearbox, the bth gear of the second gearbox and the required torque in real time; determining the first output torque and the second output torque according to the ath gear, the first target gear of the first gearbox, the bth gear, the second target gear of the second gearbox, the first preset shifting speed and the preset motor speed-gear-vehicle speed correspondence; when the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shifting speed, controlling the first gearbox to change from the ath gear to the first target gear, and controlling the second gearbox to change from the bth gear to the second target gear. The technical solution of the present invention effectively reduces the shifting frequency while ensuring the vehicle power, prolongs the service life of the gearbox, and reduces the vehicle energy consumption.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a gearbox shifting method, device, equipment and storage medium. Background Art

[0002] The Automated Mechanical Transmission (AMT) is an automatic transmission with an electronic unit installed on the original mechanical manual transmission without changing its basic structure, which realizes the automation of the shifting process. The power-uninterrupted gearbox is based on the AMT and achieves smooth shifting and power continuity through coordinated control of the gear positions on both sides.

[0003] However, the shifting strategy of the power-uninterrupted gearbox in the prior art mainly focuses on the requirement of power uninterrupted, without considering the protection of mechanical hardware and gear efficiency, thereby affecting the reliability, power and economy of the vehicle. Summary of the invention

[0004] The present invention provides a gearbox shifting method, device, equipment and storage medium to solve the problem that the prior art power-uninterrupted gearbox only considers the power performance but does not consider the protection of mechanical hardware and the gear efficiency.

[0005] According to a first aspect of the present invention, a gearbox shifting method is provided, the gearbox comprising a first gearbox and a second gearbox;

[0006] The gearbox shifting methods include:

[0007] Real-time acquisition of vehicle speed, ath gear position of the first gearbox, bth gear position of the second gearbox and required torque;

[0008] determining a first output torque of the first gearbox and a second output torque of the second gearbox according to the ath gear, the first target gear of the first gearbox, the bth gear, the second target gear of the second gearbox, the first preset shift speed, and a preset motor speed-gear-vehicle speed correspondence relationship; wherein the gear difference between the first target gear and the ath gear is different from the gear difference between the second target gear and the bth gear;

[0009] When the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed, the first gearbox is controlled to shift from the ath gear to the first target gear, and the second gearbox is controlled to shift from the bth gear to the second target gear.

[0010] Optionally, determining the first output torque of the first gearbox and the second output torque of the second gearbox according to the ath gear, the first target gear of the first gearbox, the bth gear, the second target gear of the second gearbox, the first preset shift speed, and the preset motor speed-gear-vehicle speed correspondence relationship includes:

[0011] Determining a first preset shift speed according to the a-th gear position and the b-th gear position;

[0012] Determine a first motor speed corresponding to the first target gear position according to the first target gear position of the first gearbox, the first preset shift speed, and the preset motor speed-gear position-vehicle speed correspondence relationship;

[0013] determining a first output torque according to a first motor speed;

[0014] Determine a second motor speed corresponding to the second target gear position according to the second target gear position of the second gearbox, the first preset shift speed, and a preset motor speed-gear position-vehicle speed correspondence relationship;

[0015] A second output torque is determined based on the second motor speed.

[0016] Optionally, determining the first output torque according to the first motor speed includes:

[0017] determining a first motor torque according to a first motor speed;

[0018] Determining a first output torque according to the first motor torque and a transmission ratio between the ath gear and the first target gear;

[0019] Determining a second output torque according to a second motor speed includes:

[0020] determining a second motor torque according to a second motor speed;

[0021] The second output torque is determined according to the second motor torque and the transmission ratio between the b-th gear and the second target gear.

[0022] Optionally, the first target gear is the a+1th gear; the second target gear is the b+2th gear;

[0023] When the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed, the first gearbox is controlled to shift from the ath gear to the first target gear, and the second gearbox is controlled to shift from the bth gear to the second target gear, including:

[0024] When the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed, the first gearbox is controlled to shift from the ath gear to the a+1th gear, and the second gearbox is controlled to shift from the bth gear to the b+2th gear.

[0025] Optionally, the gear box shifting method further includes:

[0026] When the sum of the first output torque and the second output torque is less than or equal to the required torque and the vehicle speed is greater than or equal to the first preset shift speed, the first gearbox is controlled to shift from the ath gear to the a+1th gear, and the second gearbox is controlled to shift from the bth gear to the b+1th gear.

[0027] Optionally, after controlling the first gearbox to change from the ath gear to the a+1th gear and controlling the second gearbox to change from the bth gear to the b+1th gear, the method further includes:

[0028] The third output torque of the first gearbox and the fourth output torque of the second gearbox are determined according to the a+1th gear, the third target gear of the first gearbox, the b+1th gear, the fourth target gear of the second gearbox, the second preset shift speed and the preset motor speed-gear-vehicle speed correspondence relationship; wherein the gear difference between the third target gear and the a+1th gear is different from the gear difference between the fourth target gear and the b+1th gear;

[0029] When the sum of the third output torque and the fourth output torque is greater than the required torque and the vehicle speed is greater than or equal to the second preset shift speed, the first gearbox is controlled to shift from the a+1th gear to the third target gear, and the second gearbox is controlled to shift from the b+1th gear to the fourth target gear.

[0030] Optionally, the gear difference between the first target gear and the a-th gear is smaller than the gear difference between the second target gear and the b-th gear;

[0031] After controlling the first gearbox to change from the ath gear position to the first target gear position and controlling the second gearbox to change from the bth gear position to the second target gear position, the method further includes:

[0032] Determining a fifth output torque of the first gearbox and a sixth output torque of the second gearbox according to the first target gear, the fifth target gear of the first gearbox, the second target gear, the sixth target gear of the second gearbox, the third preset shift speed, and the preset motor speed-gear-vehicle speed correspondence relationship; wherein the gear difference between the first target gear and the fifth target gear is greater than the gear difference between the second target gear and the sixth target gear;

[0033] When the sum of the fifth output torque and the sixth output torque is greater than the required torque and the vehicle speed is greater than or equal to the third preset shift speed, the first gearbox is controlled to change from the first target gear to the fifth target gear, and the second gearbox is controlled to change from the second target gear to the sixth target gear.

[0034] According to a second aspect of the present invention, a gearbox shifting device is provided, which is used to perform a gearbox shifting method. The gearbox shifting device comprises:

[0035] A gear parameter acquisition module is used to acquire the vehicle speed, the ath gear of the first gearbox, the bth gear of the second gearbox and the required torque in real time;

[0036] a torque calculation module, for determining a first output torque of the first gearbox and a second output torque of the second gearbox according to the ath gear, the first target gear of the first gearbox, the bth gear, the second target gear of the second gearbox, the first preset shift speed, and a preset motor speed-gear-vehicle speed correspondence relationship; wherein a gear difference between the first target gear and the ath gear is different from a gear difference between the second target gear and the bth gear;

[0037] The shift module is used to control the first gearbox to shift from the ath gear to the first target gear, and control the second gearbox to shift from the bth gear to the second target gear when the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed.

[0038] According to a third aspect of the present invention, there is provided a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the computer device implements a gear shifting method when the processor executes the program.

[0039] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the program implements a gearbox shifting method when executed by a processor.

[0040] The technical solution of the present invention determines the first output torque of the first gearbox and the second output torque of the second gearbox by combining the current gear position and the target shifting gear position of the two gearboxes, the first preset shifting speed and the preset motor speed-gear position-vehicle speed correspondence, and at least one of the gearboxes is shifted when the sum of the first output torque and the second output torque meets the required torque, thereby effectively reducing the shifting frequency while ensuring the vehicle's power and extending the service life of the gearbox. Using this method, it is possible to shift to a high gear faster, reduce the number of shifts, and reduce vehicle energy consumption.

[0041] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 It is a schematic diagram of the baffle box structure in the prior art;

[0044] Figure 2 It is a schematic diagram of the gearbox shifting process in the prior art;

[0045] Figure 3 A flow chart of a first gearbox shifting method provided by an embodiment of the present invention;

[0046] Figure 4 A flow chart of a second gearbox shifting method provided by an embodiment of the present invention;

[0047] Figure 5 A flow chart of a third gearbox shifting method provided by an embodiment of the present invention;

[0048] Figure 6 A relationship diagram between a motor speed and a motor torque provided by an embodiment of the present invention;

[0049] Figure 7 A flow chart of a fourth gear box shifting method provided by an embodiment of the present invention;

[0050] Figure 8 A flow chart of a fifth gearbox shifting method provided by an embodiment of the present invention;

[0051] Fig. 9 A flow chart of a sixth gear box shifting method provided by an embodiment of the present invention;

[0052] Fig.10 A flow chart of a seventh gear box shifting method provided by an embodiment of the present invention;

[0053] Fig.11 A schematic diagram of the connection of a gearbox shifting device provided by an embodiment of the present invention;

[0054] Fig.12 The figure is a schematic diagram of the structure of an electronic device applied to a gear box shifting method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0056] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0057] The gearbox in the prior art includes a first gearbox and a second gearbox, that is, the gearbox is a power non-interruption gearbox. Figure 1 It is a schematic diagram of the baffle box structure in the prior art. Figure 2 Schematic diagram of the gearbox shifting process in the prior art. Figure 1 and Figure 2 As shown, the first gearbox A and the second gearbox B respectively include a gearbox control unit, a motor, a gear shaft and a corresponding transmission structure. When the vehicle is driving normally, the first gearbox A and the second gearbox B are in gear at the same time, and the vehicle drives normally in the non-shifting stage; when a shifting request is received, the first gearbox A first performs a shifting operation, and the first gearbox A enters the A shifting stage. Then the first gearbox A completes the shifting according to the required gear through the stages of clearing torque, disengaging gears, adjusting speed and engaging gears. During this process, the second gearbox B continues to maintain the original gear, thereby keeping the vehicle uninterrupted; when the first gearbox A completes the shifting, the second gearbox B enters the B shifting stage. Then the second gearbox B completes the shifting according to the required gear through the stages of clearing torque, disengaging gears, adjusting speed and engaging gears, thereby achieving uninterrupted power during the shifting process. However, this type of gearbox mainly focuses on the requirement of uninterrupted power, and does not consider the protection of mechanical hardware and gear efficiency. Therefore, the embodiment of the present invention proposes a gearbox shifting method based on the above-mentioned gearbox structure. Figure 3 A flow chart of a first gearbox shifting method provided by an embodiment of the present invention, such as Figure 3 As shown, the gearbox shifting method includes:

[0058] S10, acquiring the vehicle speed, the ath gear position of the first gearbox, the bth gear position of the second gearbox and the required torque in real time.

[0059] Among them, the vehicle speed may be the wheel speed during the driving process of the vehicle. In the embodiment of the present invention, the vehicle is driven by a first gearbox and a second gearbox together. The torque output by the motor in the first gearbox and the motor in the second gearbox is transmitted to the wheels through the corresponding transmission structure to drive the vehicle to drive.

[0060] The gear position of the first gearbox and the gear position of the second gearbox may be the same or different. When the vehicle speed is 0, in order to overcome problems such as static friction, the first gearbox and the second gearbox are both in first gear.

[0061] The required torque may be determined according to the driver's demand, and may be determined by the opening parameter of the accelerator pedal and then the driver's required torque may be calculated.

[0062] S11, determining a first output torque of the first gearbox and a second output torque of the second gearbox according to the ath gear, the first target gear of the first gearbox, the bth gear, the second target gear of the second gearbox, the first preset shift speed, and the preset motor speed-gear-vehicle speed correspondence relationship, wherein the gear difference between the first target gear and the ath gear is different from the gear difference between the second target gear and the bth gear.

[0063] The first preset shifting speed may be determined according to the gear position of the first gearbox and the gear position of the second gearbox. For example, when the first gearbox and the second gearbox are both in the first gear position, the first preset shifting speed may be a preset vehicle shifting speed for the first gearbox and the second gearbox to shift from the first gear to the second gear, that is, when the vehicle speed reaches the first preset shifting speed, both the first gearbox and the second gearbox need to shift up; when the first gearbox is in the second gear position and the second gearbox is in the third gear position, the first preset shifting speed may be a preset vehicle shifting speed for shifting from the second gear to the third gear, that is, when the vehicle speed reaches the first preset shifting speed, at least the first gearbox shifts up.

[0064] Among them, the first target gear of the first gearbox and the second target gear of the second gearbox can be set by themselves in combination with the current gears of the first gearbox and the second gearbox, and the principle is to ensure the driving dynamics of the vehicle and reduce the frequency of gear shifting. For example, if the a-th gear and the b-th gear are both the 1st gear, the first target gear can be the 3rd gear and the second target gear can be the 2nd gear; when the a-th gear is the 2nd gear and the b-th gear is the 3rd gear, the first target gear can be the 4th gear and the second target gear can be the 3rd gear, that is, the gear difference between the first target gear and the a-th gear is different from the gear difference between the second target gear and the b-th gear.

[0065] Among them, since the vehicle speed and the input shaft speed satisfy the following relationship:

[0066] Vehicle speed = (60*input shaft speed / gear ratio*final reduction ratio) *(tire circumference) / 1000;

[0067] The unit of input shaft speed is rpm; the unit of vehicle speed is kph.

[0068] The input shaft speed can be equivalent to the motor speed, the gear ratio can be determined according to the current gear of the first gearbox and the second gearbox, the main reduction ratio and the tire circumference are fixed, and the corresponding vehicle speed in each gear can be calculated according to the motor speed. For example, if the 1st gear ratio is 15, the 2nd gear ratio is 10, the 3rd gear ratio is 7, the 4th gear ratio is 4, the main reduction ratio is 16, and the tire radius is 0.6m, then when the motor speed is 5000rpm, the 1st gear vehicle speed is 4.7kph, and the 2nd gear vehicle speed is 7.1kph. At the same time, according to the maximum motor speed of 10000rpm, the maximum speed of the 1st gear is 9.4kph, and the maximum speed of the 2nd gear is 14.1kph. Therefore, the preset motor speed-gear-vehicle speed correspondence can be obtained by pre-calibrating the first gearbox and the second gearbox.

[0069] In some embodiments, the first preset shift speed can also be determined according to the preset motor speed-gear-vehicle speed correspondence. The vehicle speed corresponding to the motor speed of 10000rpm is used as the first preset shift speed. The first gear is based on the motor not overspeeding. If the maximum speed of the motor is 10000rpm, the shift point from 1st gear to 2nd gear must be before 9.4kph to prevent the motor from overspeeding and affecting normal driving.

[0070] Among them, since there is a corresponding relationship between the motor speed and the motor torque, the motor torque of the first gearbox and the second gearbox can be determined through the ath gear, the first target gear of the first gearbox, the bth gear, the second target gear of the second gearbox, the first preset shift speed and the preset motor speed-gear-vehicle speed correspondence relationship, and the output end torque of the first gearbox, that is, the first output torque, and the output end torque of the second gearbox, that is, the second output torque, can be determined according to the motor torque.

[0071] S12. When the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed, the first gearbox is controlled to shift from the ath gear to the first target gear, and the second gearbox is controlled to shift from the bth gear to the second target gear.

[0072] Among them, the sum of the first output torque and the second output torque can represent the sum of the torque under the dual-motor drive. By comparing the sum of the first output torque and the second output torque with the required torque, it can be determined whether the torque after shifting can meet the driver's needs to drive the vehicle. If so, the gear shift is performed when the vehicle speed meets the first preset shift speed.

[0073] It can be understood that the embodiment of the present invention sets the first target gear and the second target gear, and the gear difference between the first target gear and the a-th gear is different from the gear difference between the second target gear and the b-th gear, that is, there is at least one gearbox to perform a gear jump shift, and judge whether the torque of the gear jump gear meets the required torque. When the required torque is met, the gear is jumped, and the gear jump shift is completed, thereby reducing the gear shifting times of the gearbox and improving the life of the gear shift actuator in the gearbox.

[0074] For example, the first gearbox and the second gearbox are both set to 4 gears, and Table 1 is a preset motor speed-gear-vehicle speed correspondence table. Table 2 is a preset shift sequence table.

[0075] Table 1

[0076] Motor speed 1st gear speed 2nd gear speed 3rd gear speed 4 speed gears 3000 2.8 4.2 6.1 10.6 4000 3.8 5.7 8.1 14.1 5000 4.7 7.1 10.1 17.7 6000 5.7 8.5 12.1 21.2 6500 6.1 9.2 13.1 23.0 7000 6.6 9.9 14.1 24.7 8000 7.5 11.3 16.1 28.3 9000 8.5 12.7 18.2 31.8 9500 8.9 13.4 19.2 33.6 10000 9.4 14.1 20.2 35.3

[0077] Table 2

[0078] First gearbox shift sequence 1 2 4 4 Second gearbox shift sequence 1 3 3 4

[0079] The specific method is: obtain the current vehicle speed, the first gear of the first gearbox, the first gear of the second gearbox and the required torque; it can be seen from Table 2 that when the first gearbox and the second gearbox are both in gear 1, the first target gear is the second gear, and the second target gear is the third gear. Set the first preset shift speed from the first gear to the second gear to 9.4kph, then determine the corresponding motor speed according to the vehicle speed of 9.4kph and the gear of 2 in Table 1, and determine the first output torque according to the motor speed and the transmission ratio of the first gear to the second gear; determine the second output torque according to the motor speed corresponding to the vehicle speed of 9.4kph and the gear of 3 in Table 1, and determine the second output torque according to the motor speed and the transmission ratio of the first gear to the third gear. It is judged whether the sum of the first output torque and the second output torque is greater than the required torque. When the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed, the first gearbox is controlled to shift from the first gear to the second gear, and the second gearbox is controlled to shift from the first gear to the third gear, that is, the first gearbox and the second gearbox meet the vehicle drive while completing the second gearbox jump, thereby reducing the number of gear shifts and increasing the service life of the gear shift actuator in the gearbox. At the same time, the high gear has high mechanical efficiency, and the jump gear helps to reduce vehicle energy consumption.

[0080] It is understandable that the shifting sequence in Table 2 in the embodiment of the present invention can be set arbitrarily, and the embodiment of the present invention does not limit this.

[0081] It can be understood that the gear shifting in the embodiment of the present invention is also that one gearbox shifts gears first and the other gearbox keeps the power uninterrupted, and after one gearbox completes the gear shifting, the other gearbox shifts gears to ensure the vehicle's power.

[0082] The technical solution of the embodiment of the present invention determines the first output torque of the first gearbox and the second output torque of the second gearbox by combining the current gear position and the target shifting gear position of the two gearboxes, the first preset shifting speed and the preset motor speed-gear position-vehicle speed correspondence, and at least one of the gearboxes is shifted when the sum of the first output torque and the second output torque meets the required torque, thereby effectively reducing the shifting frequency while ensuring the vehicle's power and extending the service life of the gearbox. Using this method, a high gear position can be shifted faster, the number of shifts can be reduced, and the vehicle's energy consumption can be reduced.

[0083] Based on the above embodiments, Figure 4 A flow chart of a second gearbox shifting method provided by an embodiment of the present invention, such as Figure 4 As shown, the gear box shifting method includes:

[0084] S20, acquiring the vehicle speed, the ath gear position of the first gearbox, the bth gear position of the second gearbox and the required torque in real time.

[0085] S21. Determine a first preset shift speed according to the ath gear position and the bth gear position.

[0086] Among them, the low gear of the a-th gear and the b-th gear can be first determined by using the low gear priority upshifting principle, and then the shifting speed of the low gear is determined as the first preset shifting speed. For example, when the first gearbox is in the 2nd gear and the second gearbox is in the 3rd gear, the first preset shifting speed can be a preset vehicle shiftable speed from the 2nd gear to the 3rd gear. According to Table 1, the first preset shifting speed can be 14.1 kph.

[0087] S22, determining a first motor speed corresponding to the first target gear position according to a first target gear position of the first gearbox, a first preset shift speed, and a preset motor speed-gear position-vehicle speed correspondence relationship.

[0088] Among them, the motor speed corresponding to the gear and shift speed can be determined according to the first target gear and the first preset shift speed combined with the preset motor speed-gear-vehicle speed correspondence. For example, as shown in Table 1, the first preset shift speed is set to 14.1 kph, the first target gear is the third gear, and the corresponding motor speed in Table 1 is 7000 rpm.

[0089] S23. Determine a first output torque according to the first motor speed.

[0090] Among them, the first motor torque corresponding to the first motor speed can be determined according to the corresponding relationship between the torque and the motor speed, and the first output torque can be determined according to the first motor torque and the transmission ratio between the ath gear and the first target gear.

[0091] S24, determining a second motor speed corresponding to the second target gear position according to the second target gear position of the second gearbox, the first preset shift speed, and a preset motor speed-gear position-vehicle speed correspondence relationship.

[0092] Among them, the motor speed corresponding to the gear and shift speed can be determined according to the second target gear and the first preset shift speed combined with the preset motor speed-gear-vehicle speed correspondence. For example, as shown in Table 1, the first preset shift speed is set to 14.1 kph, and the second target gear is the third gear, then the corresponding motor speed in Table 1 is 7000 rpm.

[0093] S25. Determine a second output torque according to the second motor speed.

[0094] Among them, the second motor torque corresponding to the second motor speed can be determined according to the corresponding relationship between torque and motor speed, and the second output torque is determined according to the second motor torque and the transmission ratio between the bth gear and the second target gear.

[0095] S26. When the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed, the first gearbox is controlled to shift from the ath gear to the first target gear, and the second gearbox is controlled to shift from the bth gear to the second target gear.

[0096] The technical solution of the embodiment of the present invention pre-calibrates the correspondence between the motor speed, gear position and vehicle speed, and then determines the corresponding motor speed according to the gear skipping position and shifting speed, and then determines the corresponding torque according to the motor speed, which is convenient for subsequent gear skipping judgment based on the required torque, thereby reducing the number of gear shifting times and increasing the service life of the gear shift actuator.

[0097] Based on the above embodiments, Figure 5 A flow chart of a third gearbox shifting method provided by an embodiment of the present invention, such as Figure 5 As shown, the gear box shifting method includes:

[0098] S30, acquiring the vehicle speed, the ath gear position of the first gearbox, the bth gear position of the second gearbox, and the required torque in real time.

[0099] S31. Determine a first preset shift speed according to the ath gear position and the bth gear position.

[0100] S32, determining a first motor speed corresponding to the first target gear position according to a first target gear position of the first gearbox, a first preset shift speed, and a preset motor speed-gear position-vehicle speed correspondence relationship.

[0101] S33. Determine the first motor torque according to the first motor speed.

[0102] The relationship between the motor speed and the motor torque can be determined by pre-calibration. Figure 6 A relationship diagram between a motor speed and a motor torque is provided in an embodiment of the present invention, such as Figure 6 As shown, within a certain speed range, the motor torque remains basically unchanged, but after exceeding a certain speed, the motor torque will gradually decrease and the power will decrease. Therefore, shifting gears can also help output greater torque to meet vehicle driving needs.

[0103] The first motor torque at the first motor speed may be determined by looking up a table or the like.

[0104] S34. Determine a first output torque according to the first motor torque and a transmission ratio between the ath gear and the first target gear.

[0105] Among them, the transmission ratio between the ath gear and the first target gear is a known parameter, and the torque at the output end of the first gearbox, that is, the first output torque, can be determined according to the first motor torque and the transmission ratio between the ath gear and the first target gear.

[0106] Exemplarily, the current motor speed is 9000 rpm, corresponding to a first motor torque of 250 Nm, and combined with the transmission ratio 15 between the first gear and the second gear, the first output torque is determined to be 3750 Nm.

[0107] S35, determining a second motor speed corresponding to the second target gear position according to the second target gear position of the second gearbox, the first preset shift speed, and a preset motor speed-gear position-vehicle speed correspondence relationship.

[0108] S36. Determine the second motor torque according to the second motor speed.

[0109] The relationship between the motor speed and the motor torque may be determined by pre-calibration, and then the second motor torque at the second motor speed may be determined by table lookup or the like.

[0110] S37. Determine the second output torque according to the second motor torque and the transmission ratio between the bth gear and the second target gear.

[0111] Among them, the transmission ratio between the bth gear and the second target gear is a known parameter, and the torque at the output end of the second gearbox, that is, the second output torque, can be determined according to the second motor torque and the transmission ratio between the bth gear and the second target gear.

[0112] S38. When the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed, the first gearbox is controlled to shift from the ath gear to the first target gear, and the second gearbox is controlled to shift from the bth gear to the second target gear.

[0113] The technical solution of the embodiment of the present invention determines the motor torque corresponding to the motor speed after determining the motor speed, and determines the torque at the output end of the transmission in combination with the target gear and the current gear, and then determines whether to skip gears and shift up, thereby ensuring the accuracy of judging the gear shifting process.

[0114] Based on the above embodiment, the first target gear is the a+1th gear; the second target gear is the b+2th gear, Figure 7 A flowchart of a fourth gearbox shifting method provided by an embodiment of the present invention, such as Figure 7 As shown, the gear box shifting method includes:

[0115] S40, acquiring the vehicle speed, the ath gear position of the first gearbox, the bth gear position of the second gearbox, and the required torque in real time.

[0116] S41, determining a first output torque of the first gearbox and a second output torque of the second gearbox according to the ath gear, the first target gear of the first gearbox, the bth gear, the second target gear of the second gearbox, the first preset shift speed, and the preset motor speed-gear-vehicle speed correspondence relationship, wherein the gear difference between the first target gear and the ath gear is different from the gear difference between the second target gear and the bth gear.

[0117] S42. When the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed, the first gearbox is controlled to shift from the ath gear to the a+1th gear, and the second gearbox is controlled to shift from the bth gear to the b+2th gear.

[0118] Among them, the first target gear is set to the a+1 gear; the second target gear is set to the b+2 gear, that is, the first gearbox jumps gears and the second gearbox shifts up normally, that is, a unilateral jump is performed, which reduces the number of gear shifts and increases the service life of the gear shift actuator.

[0119] For example, the current gear positions of the first gearbox and the second gearbox are both the first gear position, the first target gear position is the second gear position, and the second target gear position is the third gear position. Then, the second gearbox shifts from the first gear position to the third gear position, and the first gearbox shifts from the first gear position to the second gear position during normal upshifting. In some gearboxes, the first gear position and the second gear position are often immersed in oil, while the third gear position and the fourth gear position are not immersed in oil. Then, the corresponding first gear position and the second gear position have lower mechanical efficiency than the third gear position and the fourth gear position. Therefore, in the embodiment of the present invention, the gearbox performs a shifting operation when it is in a low gear position, and the gear position is quickly changed to a high gear position, thereby improving the mechanical efficiency of the gearbox.

[0120] Based on the above embodiments, Figure 8 A flowchart of a fifth gearbox shifting method provided by an embodiment of the present invention, such as Figure 8 As shown, the gear box shifting method includes:

[0121] S50, obtaining the vehicle speed, the ath gear position of the first gearbox, the bth gear position of the second gearbox, and the required torque in real time.

[0122] S51, determining a first output torque of the first gearbox and a second output torque of the second gearbox according to the ath gear, the first target gear of the first gearbox, the bth gear, the second target gear of the second gearbox, the first preset shift speed, and the preset motor speed-gear-vehicle speed correspondence relationship, wherein the gear difference between the first target gear and the ath gear is different from the gear difference between the second target gear and the bth gear.

[0123] S52. When the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed, the first gearbox is controlled to shift from the ath gear to the a+1th gear, and the second gearbox is controlled to shift from the bth gear to the b+2th gear.

[0124] S53. When the sum of the first output torque and the second output torque is less than or equal to the required torque and the vehicle speed is greater than or equal to the first preset shift speed, control the first gearbox to change from the ath gear to the a+1th gear, and control the second gearbox to change from the bth gear to the b+1th gear.

[0125] Among them, when the sum of the first output torque and the second output torque is less than or equal to the required torque, it means that the torque after gear jumping cannot meet the required torque. In order to prioritize the vehicle driving needs, the first gearbox and the second gearbox are controlled to shift up normally and gear jumping is stopped.

[0126] Exemplarily, the current gear positions of the first gearbox and the second gearbox are both the first gear, the first target gear position is the second gear position, and the second target gear position is the third gear position. When the sum of the first output torque and the second output torque is less than or equal to the required torque and the vehicle speed is greater than or equal to the first preset shifting speed, the first gearbox is controlled to shift from the first gear to the second gear, and the second gearbox is controlled to shift from the first gear to the second gear and stop shifting gears, so as to meet the driver's driving needs and ensure the driver's experience.

[0127] Based on the above embodiments, Fig. 9 A flowchart of a sixth gearbox shifting method provided by an embodiment of the present invention, such as Fig. 9 As shown, the gear box shifting method includes:

[0128] S60. Acquire vehicle speed, ath gear position of the first gearbox, bth gear position of the second gearbox, and required torque in real time.

[0129] S61, determining a first output torque of the first gearbox and a second output torque of the second gearbox according to the ath gear, the first target gear of the first gearbox, the bth gear, the second target gear of the second gearbox, the first preset shift speed, and the preset motor speed-gear-vehicle speed correspondence relationship, wherein the gear difference between the first target gear and the ath gear is different from the gear difference between the second target gear and the bth gear.

[0130] S62. When the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed, the first gearbox is controlled to shift from the ath gear to the a+1th gear, and the second gearbox is controlled to shift from the bth gear to the b+2th gear.

[0131] S63. When the sum of the first output torque and the second output torque is less than or equal to the required torque and the vehicle speed is greater than or equal to the first preset shift speed, control the first gearbox to shift from the ath gear to the a+1th gear, and control the second gearbox to shift from the bth gear to the b+1th gear.

[0132] S64, determining the third output torque of the first gearbox and the fourth output torque of the second gearbox according to the a+1th gear, the third target gear of the first gearbox, the b+1th gear, the fourth target gear of the second gearbox, the second preset shift speed, and the preset motor speed-gear-vehicle speed correspondence relationship, wherein the gear difference between the third target gear and the a+1th gear is different from the gear difference between the fourth target gear and the b+1th gear.

[0133] The third target gear and the fourth target gear can also be set according to the a+1 gear and the b+1 gear to ensure the vehicle's driving dynamics and reduce the shifting frequency. The second preset shifting speed is also determined according to the current gear of the first gearbox and the gear of the second gearbox.

[0134] For example, the a+1th gear and the b+1th gear are both the second gear, the third target gear is the third gear, and the fourth target gear is the fourth gear. The third output torque of the first gearbox and the fourth output torque of the second gearbox are determined according to the a+1th gear, the third gear of the first gearbox, the b+1th gear, the fourth gear of the second gearbox, the second preset shift speed, and the preset motor speed-gear-vehicle speed correspondence.

[0135] S65. When the sum of the third output torque and the fourth output torque is greater than the required torque and the vehicle speed is greater than or equal to the second preset shift speed, control the first gearbox to shift from the a+1th gear to the third target gear, and control the second gearbox to shift from the b+1th gear to the fourth target gear.

[0136] Among them, when the sum of the third output torque and the fourth output torque is greater than the required torque, it means that the gear can be skipped at this time. Then, when the vehicle speed is greater than or equal to the second preset shifting speed, the first gearbox is controlled to change from the second gear to the third gear, and the second gearbox is controlled to change from the second gear to the fourth gear.

[0137] The technical solution of the embodiment of the present invention can continue to determine the gear jump after sequential upshifting, and continue to jump gear when the gear jump conditions are met, thereby reducing the number of gear shifts, increasing the service life of the gear shift actuator, and reducing vehicle energy consumption.

[0138] On the basis of the above embodiment, the gear difference between the first target gear and the a-th gear is smaller than the gear difference between the second target gear and the b-th gear. Fig.10 A flow chart of a seventh gearbox shifting method provided by an embodiment of the present invention, such as Fig.10 As shown, the gear box shifting method includes:

[0139] S70. Acquire vehicle speed, the ath gear position of the first gearbox, the bth gear position of the second gearbox, and required torque in real time.

[0140] S71, determining a first output torque of the first gearbox and a second output torque of the second gearbox according to the ath gear, the first target gear of the first gearbox, the bth gear, the second target gear of the second gearbox, the first preset shift speed, and the preset motor speed-gear-vehicle speed correspondence relationship, wherein the gear difference between the first target gear and the ath gear is different from the gear difference between the second target gear and the bth gear.

[0141] S72. When the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed, the first gearbox is controlled to shift from the ath gear to the first target gear, and the second gearbox is controlled to shift from the bth gear to the second target gear.

[0142] S73, determining the fifth output torque of the first gearbox and the sixth output torque of the second gearbox according to the first target gear, the fifth target gear of the first gearbox, the second target gear, the sixth target gear of the second gearbox, the third preset shift speed, and the preset motor speed-gear-vehicle speed correspondence relationship, wherein the gear difference between the first target gear and the fifth target gear is greater than the gear difference between the second target gear and the sixth target gear.

[0143] Among them, after the first gear jump is completed, the first gearbox gear becomes the first target gear, and the second gearbox gear becomes the second target gear.

[0144] Among them, the fifth target gear and the sixth target gear, the first target gear and the second target gear are set based on the principle of ensuring the vehicle's driving dynamics and reducing the frequency of gear shifting.

[0145] Specifically, after the first gear jump is completed, it is determined whether the gear jump can be continued according to the current gear. Since the gear difference between the first target gear and the a-th gear is greater than the gear difference between the second target gear and the b-th gear, that is, the second gearbox jumps gear, the first gearbox is prioritized when making the second gear jump judgment. The gear difference between the first target gear and the fifth target gear is less than the gear difference between the second target gear and the sixth target gear. In this way, the alternating gear jumps between the first gearbox and the second gearbox can be completed, which not only reduces the number of gear shifting times, but also avoids the excessive gear difference between the first gearbox and the second gearbox affecting the normal driving of the vehicle.

[0146] S74. When the sum of the fifth output torque and the sixth output torque is greater than the required torque and the vehicle speed is greater than or equal to the third preset shift speed, control the first gearbox to change from the first target gear to the fifth target gear, and control the second gearbox to change from the second target gear to the sixth target gear.

[0147] For example, the first gearbox and the second gearbox are both set to 4 gears, and Table 1 is a preset motor speed-gear-vehicle speed correspondence. Table 2 is a preset shifting sequence.

[0148] The specific method is as follows: obtain the current vehicle speed, the first gear of the first gearbox, the first gear of the second gearbox and the required torque; it can be seen from Table 2 that when both the first gearbox and the second gearbox are in the first gear, the first target gear is the second gear and the second target gear is the third gear. Set the first preset shift speed from the first gear to the second gear to 9.4 kph, then determine the corresponding motor speed according to the vehicle speed of 9.4 kph and the gear of 2 in Table 1, and determine the first output torque according to the motor speed and the transmission ratio of the first gear and the second gear; determine the second output torque according to the motor speed corresponding to the vehicle speed of 9.4 kph and the gear of 3 in Table 1, and determine the second output torque according to the motor speed and the transmission ratio of the first gear and the third gear. Determine whether the sum of the first output torque and the second output torque is greater than the required torque. When the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed, control the first gearbox to change from the first gear to the second gear, and control the second gearbox to change from the first gear to the third gear. Continue to obtain the current vehicle speed. Since the first gearbox gear changes to the second gear and the second gearbox speed changes to the third gear, it can be seen from Table 2 that the fifth target gear is the fourth gear and the sixth target gear is the third gear. Set the third preset shift speed from the second gear to the fourth gear to be 14.1 kph, then determine the corresponding motor speed according to the vehicle speed of 14.1 kph and the gear of 4 in Table 1, and determine the fifth output torque according to the motor speed and the transmission ratio between the second gear and the fourth gear; determine the corresponding motor speed according to the vehicle speed of 14.1 kph and the gear of 3 in Table 1, and determine the sixth output torque according to the motor speed and the transmission ratio between the third gear and the third gear. When the sum of the fifth output torque and the sixth output torque is greater than the required torque and the vehicle speed is greater than or equal to the third preset shift speed, control the first gearbox to change from the second gear to the fourth gear, and control the second gearbox gear to remain unchanged, thereby completing the jump of the first gearbox.

[0149] The technical solution of the embodiment of the present invention continues to judge whether to continue to jump gears based on the current gear position after the first gear jump is completed, so that the first gearbox and the second gearbox alternately jump gears, which not only reduces the number of gear shifting times, but also avoids the excessive gear position difference between the first gearbox and the second gearbox affecting the normal driving of the vehicle, reduces the gear shifting frequency, and extends the life of the gear shifting components.

[0150] Based on the same inventive concept, Fig.11 A schematic diagram of a connection of a gearbox shifting device provided by an embodiment of the present invention is shown in FIG. Fig.11 As shown, an embodiment of the present invention further provides a gear box shifting device, which is used to execute the gear box shifting method, and the gear box shifting device includes:

[0151] The gear parameter acquisition module 100 is used to acquire the vehicle speed, the ath gear of the first gearbox, the bth gear of the second gearbox and the required torque in real time.

[0152] The torque calculation module 200 is used to determine the first output torque of the first gearbox and the second output torque of the second gearbox according to the ath gear, the first target gear of the first gearbox, the bth gear, the second target gear of the second gearbox, the first preset shift speed and the preset motor speed-gear-vehicle speed correspondence; wherein the gear difference between the first target gear and the ath gear is different from the gear difference between the second target gear and the bth gear.

[0153] The shift module 300 is used to control the first gearbox to shift from the ath gear to the first target gear, and control the second gearbox to shift from the bth gear to the second target gear when the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed.

[0154] Specifically, first, the vehicle speed, the ath gear of the first gearbox, the bth gear of the second gearbox and the required torque are acquired in real time according to the gear parameter acquisition module 100; then, the torque calculation module 200 is used to determine the first output torque of the first gearbox and the second output torque of the second gearbox according to the ath gear, the first target gear of the first gearbox, the bth gear, the second target gear of the second gearbox, the first preset shifting speed and the preset motor speed-gear-vehicle speed correspondence; and then, when the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shifting speed, the shifting module 300 is used to control the first gearbox to change from the ath gear to the first target gear, and to control the second gearbox to change from the bth gear to the second target gear.

[0155] The technical solution of the embodiment of the present invention utilizes a gear parameter acquisition module, a torque calculation module and a gear shifting module to jump gears for at least one of the gearboxes when the sum of the first output torque and the second output torque meets the required torque, thereby effectively reducing the gear shifting frequency while ensuring the vehicle's power, extending the gearbox's service life and reducing the vehicle's energy consumption.

[0156] Based on the same inventive concept, an embodiment of the present invention further provides a computer device, Fig.12 FIG. 1 is a schematic diagram of the structure of an electronic device applied to a gearbox shifting method according to an embodiment of the present invention. Fig.12 As shown, it includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, a gear shifting method is implemented.

[0157] Among them, electronic devices are 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. Electronic devices can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, 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 only examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0158] like Fig.12 As shown, the electronic device 50 includes at least one processor 51, and a memory connected to the at least one processor 51 in communication, such as a read-only memory (ROM) 52, a random access memory (RAM) 53, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 51 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 52 or the computer program loaded from the storage unit 58 to the random access memory (RAM) 53. In the RAM 53, various programs and data required for the operation of the electronic device 50 can also be stored. The processor 51, the ROM 52, and the RAM 53 are connected to each other through a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0159] A number of components in the electronic device 50 are connected to the I / O interface 55, including: an input unit 56, such as a keyboard, a mouse, etc.; an output unit 57, such as various types of displays, speakers, etc.; a storage unit 58, such as a disk, an optical disk, etc.; and a communication unit 59, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0160] The processor 51 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 51 executes the various methods and processes described above, such as being applied to the gearbox shifting method.

[0161] Based on the same inventive concept, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, a gear box shifting method is implemented.

[0162] Of course, the computer-executable instructions of a computer-readable storage medium provided in an embodiment of the present invention are not limited to the method operations described above, and can also execute related operations in the gearbox shifting method provided in any embodiment of the present invention. Fig.12 As shown, it is tangibly included in a computer-readable storage medium, such as a storage unit 58. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 50 via the ROM 52 and / or the communication unit 59. When the computer program is loaded into the RAM 53 and executed by the processor 51, one or more steps of the gearbox shifting method described above can be performed. Alternatively, in other embodiments, the processor 51 can be configured to execute the gearbox shifting method in any other appropriate manner (for example, by means of firmware).

[0163] Various implementations 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 chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0164] Computer programs for implementing 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, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0165] In the context of an embodiment of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0166] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0167] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A gearbox shifting method, characterized in that: The gearbox includes a first gearbox and a second gearbox; The gear box shifting method comprises: acquiring the vehicle speed, the ath gear position of the first gearbox, the bth gear position of the second gearbox and the required torque in real time; determining a first output torque of the first gearbox and a second output torque of the second gearbox according to the ath gear, the first target gear of the first gearbox, the bth gear, the second target gear of the second gearbox, a first preset shift speed and a preset motor speed-gear-vehicle speed correspondence relationship; wherein a gear difference between the first target gear and the ath gear is different from a gear difference between the second target gear and the bth gear; When the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed, the first gearbox is controlled to shift from the ath gear to the first target gear, and the second gearbox is controlled to shift from the bth gear to the second target gear; Determining a first output torque of the first gearbox and a second output torque of the second gearbox according to the ath gear, the first target gear of the first gearbox, the bth gear, the second target gear of the second gearbox, a first preset shift speed, and a preset motor speed-gear-vehicle speed correspondence relationship includes: determining a first preset shift speed according to the a-th gear position and the b-th gear position; Determining a first motor speed corresponding to the first target gear position according to the first target gear position of the first gearbox, the first preset shift speed, and a preset motor speed-gear-vehicle speed correspondence relationship; determining a first output torque according to the speed of the first motor; Determining a second motor speed corresponding to the second target gear position according to the second target gear position of the second gearbox, the first preset shift speed, and the preset motor speed-gear position-vehicle speed correspondence relationship; A second output torque is determined according to the second motor speed.

2. The gearbox shifting method according to claim 1, characterized in that: Determining a first output torque according to the first motor speed includes: determining a first motor torque according to the first motor speed; Determining a first output torque according to the first motor torque and a transmission ratio between the ath gear and the first target gear; Determining a second output torque according to the second motor speed includes: determining a second motor torque according to the second motor speed; A second output torque is determined according to the second motor torque and a gear ratio between the b-th gear and the second target gear.

3. The gearbox shifting method according to claim 1, characterized in that: The first target gear is the a+1th gear; the second target gear is the b+2th gear; When the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed, controlling the first gearbox to shift from the ath gear to the first target gear, and controlling the second gearbox to shift from the bth gear to the second target gear, comprises: When the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed, the first gearbox is controlled to shift from the ath gear to the a+1th gear, and the second gearbox is controlled to shift from the bth gear to the b+2th gear.

4. The gearbox shifting method according to claim 3, characterized in that: The gear box shifting method further includes: When the sum of the first output torque and the second output torque is less than or equal to the required torque and the vehicle speed is greater than or equal to the first preset shift speed, the first gearbox is controlled to shift from the ath gear to the a+1th gear, and the second gearbox is controlled to shift from the bth gear to the b+1th gear.

5. The gearbox shifting method according to claim 4, characterized in that: After controlling the first gearbox to change from the ath gear position to the a+1th gear position, and controlling the second gearbox to change from the bth gear position to the b+1th gear position, the method further includes: The third output torque of the first gearbox and the fourth output torque of the second gearbox are determined according to the a+1th gear, the third target gear of the first gearbox, the b+1th gear, the fourth target gear of the second gearbox, the second preset shift speed and the preset motor speed-gear-vehicle speed correspondence relationship; wherein the gear difference between the third target gear and the a+1th gear is different from the gear difference between the fourth target gear and the b+1th gear; When the sum of the third output torque and the fourth output torque is greater than the required torque and the vehicle speed is greater than or equal to the second preset shift speed, the first gearbox is controlled to shift from the a+1th gear to the third target gear, and the second gearbox is controlled to shift from the b+1th gear to the fourth target gear.

6. The gearbox shifting method according to claim 1, characterized in that: The gear difference between the first target gear and the a-th gear is smaller than the gear difference between the second target gear and the b-th gear; After controlling the first gearbox to change from the a-th gear position to the first target gear position, and controlling the second gearbox to change from the b-th gear position to the second target gear position, the method further includes: determining a fifth output torque of the first gearbox and a sixth output torque of the second gearbox according to the first target gear, the fifth target gear of the first gearbox, the second target gear, the sixth target gear of the second gearbox, a third preset shift speed, and the preset motor speed-gear-vehicle speed correspondence relationship; wherein the gear difference between the first target gear and the fifth target gear is greater than the gear difference between the second target gear and the sixth target gear; When the sum of the fifth output torque and the sixth output torque is greater than the required torque and the vehicle speed is greater than or equal to the third preset shift speed, the first gearbox is controlled to change from the first target gear to the fifth target gear, and the second gearbox is controlled to change from the second target gear to the sixth target gear.

7. A gearbox shifting device, characterized in that: Used to execute the gearbox shifting method according to any one of claims 1 to 6, the gearbox shifting device comprises: A gear parameter acquisition module, used for acquiring the vehicle speed, the ath gear of the first gearbox, the bth gear of the second gearbox and the required torque in real time; a torque calculation module, for determining a first output torque of the first gearbox and a second output torque of the second gearbox according to the ath gear, the first target gear of the first gearbox, the bth gear, the second target gear of the second gearbox, a first preset shift speed, and a preset motor speed-gear-vehicle speed correspondence relationship; wherein a gear difference between the first target gear and the ath gear is different from a gear difference between the second target gear and the bth gear; a shift module, configured to control the first gearbox to shift from the a-th gear to the first target gear, and control the second gearbox to shift from the b-th gear to the second target gear when the sum of the first output torque and the second output torque is greater than the required torque and the vehicle speed is greater than or equal to the first preset shift speed; The torque calculation module also includes: determining a first preset shift speed according to the ath gear and the bth gear; determining a first motor speed corresponding to the first target gear according to the first target gear of the first gearbox, the first preset shift speed and a preset motor speed-gear-vehicle speed correspondence; determining a first output torque according to the first motor speed; determining a second motor speed corresponding to the second target gear according to the second target gear of the second gearbox, the first preset shift speed and the preset motor speed-gear-vehicle speed correspondence; and determining a second output torque according to the second motor speed.

8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the gear box shifting method as described in any one of claims 1-6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the gearbox shifting method as described in any one of claims 1-6 is implemented.

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