Gear switching method, gear switching device, vehicle and storage medium

Abstract

The present application discloses a gear shifting method, a gear shifting device, a vehicle and a storage medium, which relate to the field of vehicle technology, and specifically include: determining a target shifting position corresponding to a shifting hub according to a target engine gear included in a gear shifting instruction, and controlling the shifting hub to move to the target shifting position; determining a target speed regulating parameter according to the target engine gear, and regulating the actual motor speed of the motor to the target motor speed corresponding to the target speed regulating parameter according to the target speed regulating parameter; when the actual motor speed of the motor reaches the target motor speed, regulating the hybrid power system to switch the real-time engine gear of the engine to the target engine gear. The present application enables the vehicle to smoothly complete the gear shifting operation.

Description

Technical Field

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

[0002] With the continuous development of the automobile industry, new energy vehicles have become the preferred means of transportation for more and more users in their daily travel. In order to meet the growing driving needs of users, more and more new energy vehicles are equipped with hybrid power systems including engines and motors to cope with increasingly complex driving conditions.

[0003] In the related art, when a new energy vehicle receives a gear switching command triggered by a user, it usually directly adjusts the engine speed to complete the gear switching operation, thereby switching the engine gear to the target gear required by the user.

[0004] However, during the gear shifting operation, the vehicle usually directly adjusts the speed without completely disengaging the clutch, which causes a large impact on the vehicle during the gear shifting process, greatly reducing the driver's driving experience. Summary of the invention

[0005] The main purpose of the present application is to provide a gear switching method, a gear switching device, a vehicle and a storage medium, aiming to solve the technical problem in the related art that the vehicle has a large impact during the gear shifting process.

[0006] To achieve the above object, the present application proposes a gear switching method, which is applied to a vehicle including a hybrid power system, wherein the hybrid power system includes a shift hub, an engine, and a motor, and the gear switching method includes:

[0007] Determining a target shift position corresponding to the shift hub according to a target engine gear included in the gear shift instruction, and controlling the shift hub to move to the target shift position;

[0008] Determining a target speed regulation parameter according to the target engine gear, and regulating the actual motor speed of the motor to the target motor speed corresponding to the target speed regulation parameter according to the target speed regulation parameter;

[0009] When the actual motor speed of the motor reaches the target motor speed, the hybrid power system is adjusted so that the real-time engine gear of the engine is switched to the target engine gear.

[0010] In one embodiment, the hybrid power system further comprises a shift motor, and the step of controlling the shift hub to move to the target shift position comprises:

[0011] Determining the shift positions in each stage corresponding to the target shift position;

[0012] Detecting an actual shift position of the shift hub, and determining each target duty cycle parameter according to the actual shift position and each stage shift position;

[0013] The target duty cycle parameters are sent to the shift motor, so that the shift motor controls the shift hub to move to the target shift position through the stage shift positions in sequence according to the target duty cycle parameters.

[0014] In one embodiment, the step of determining each target duty cycle parameter according to the actual shift position and each stage shift position comprises:

[0015] Screening each of the stage shift positions to determine a target stage shift position that matches the actual shift position;

[0016] Determining a position deviation parameter generated between the actual shift position and the target stage shift position;

[0017] The target duty cycle parameter corresponding to the target stage shift position is determined according to the position deviation parameter.

[0018] In one embodiment, the step of determining the target speed regulation parameter according to the target engine gear position comprises:

[0019] Determining a target motor speed corresponding to the motor according to the target engine gear, and detecting a first actual motor speed corresponding to the motor;

[0020] Calculating a motor speed difference according to the first actual motor speed and the target motor speed, and determining a speed regulation time parameter according to a vehicle operating condition parameter of the vehicle;

[0021] A target speed regulation parameter is determined based on the motor speed difference and the speed regulation time parameter.

[0022] In one embodiment, the step of adjusting the actual motor speed of the motor to the target motor speed corresponding to the target speed parameter according to the target speed regulation parameter includes:

[0023] Determining a motor torque intervention capability parameter corresponding to the motor;

[0024] When it is detected that the target speed regulation parameter is less than the motor torque intervention capability parameter, the actual motor speed of the motor is regulated to the target motor speed according to the target speed regulation parameter.

[0025] In one embodiment, the step of adjusting the hybrid power system so as to switch the real-time engine gear of the engine to the target engine gear comprises:

[0026] Controlling a clutch in the hybrid power system to enter an engaged state;

[0027] The motor torque parameter corresponding to the motor is adjusted from the first torque parameter to zero, and the engine torque parameter corresponding to the engine is adjusted from zero to the first torque parameter, so that the real-time engine gear of the engine is switched to the target engine gear.

[0028] In one embodiment, before the step of determining the target shift position corresponding to the shift hub according to the target engine gear included in the gear switching instruction, the method further includes:

[0029] receiving a gear shift instruction, and detecting the hybrid power system to determine a power mode corresponding to the vehicle, wherein the power mode includes a series mode and a parallel mode;

[0030] When it is detected that the power mode is the parallel mode, the hybrid power system is adjusted to control the vehicle to enter the series mode, and the step of determining the target shift position corresponding to the shift hub according to the target engine gear included in the gear switching instruction is performed.

[0031] In one embodiment, the step of adjusting the hybrid powertrain system to control the vehicle to enter the series mode comprises:

[0032] adjusting an engine torque parameter corresponding to the engine from a preset first torque parameter to zero;

[0033] The motor torque parameter corresponding to the motor is adjusted from zero to the first torque parameter, and the clutch in the hybrid power system is controlled to enter a disengaged state, so that the vehicle is switched from the parallel mode to the series mode.

[0034] In one embodiment, the power mode further includes a pure electric mode. After the step of detecting the hybrid power system to determine the power mode corresponding to the vehicle, the method further includes:

[0035] In the case where it is detected that the power mode is the pure electric mode, detecting a real-time driving parameter of the vehicle;

[0036] determining a target shift position according to the real-time driving parameter and the gear switching instruction, and controlling the shift hub to move to the target shift position;

[0037] The power mode is controlled to switch from the pure electric mode to the parallel mode, so that the actual engine gear of the engine is switched to the target engine gear.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a gear switching device, characterized in that the gear switching device is applied to a vehicle including a hybrid power system, the hybrid power system including a shift hub, an engine and a motor, and the device includes:

[0039] a gear shift position calculation module, used to determine a target gear shift position corresponding to the gear shift hub according to a target engine gear position included in a gear shift instruction, and control the gear shift hub to move to the target gear shift position;

[0040] a speed regulation parameter calculation module, configured to determine a target speed regulation parameter according to the target engine gear, and to regulate the actual motor speed of the motor to a target motor speed corresponding to the target speed regulation parameter according to the target speed regulation parameter;

[0041] The gear switching control module is used to adjust the hybrid power system when the actual motor speed of the motor reaches the target motor speed, so that the real-time engine gear of the engine is switched to the target engine gear.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle, which includes: a hybrid power system, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the gear switching method described above.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the gear switching method described above are implemented.

[0044] The gear switching method provided in the embodiment of the present application is applied to a vehicle including a hybrid power system, wherein the hybrid power system includes a shift hub, an engine and a motor. The target shift position corresponding to the shift hub is determined according to the target engine gear included in the gear switching instruction, and the shift hub is controlled to move to the target shift position; a target speed regulation parameter is determined according to the target engine gear, and the actual motor speed of the motor is adjusted to the target motor speed corresponding to the target speed regulation parameter according to the target speed regulation parameter; when the actual motor speed of the motor reaches the target motor speed, the hybrid power system is adjusted to switch the real-time engine gear of the engine to the target engine gear.

[0045] In this embodiment, the vehicle first identifies the received gear switching instruction during driving to determine the target engine gear contained in the gear switching instruction, and determines the target shift position for controlling the shift hub according to the target engine gear. The vehicle then controls the shift hub to move to the target shift position. Thereafter, the vehicle calculates the target speed regulation parameters for speed regulation operation according to the target engine gear, and adjusts the actual motor speed of the motor to the target motor speed that matches the target speed regulation parameters according to the target speed regulation parameters. Finally, when the vehicle adjusts the actual motor speed to the target motor speed, the vehicle adjusts the hybrid power system to switch the real-time engine gear of the engine to the target engine gear.

[0046] In this way, the present application solves the technical problem in the related art that the vehicle has a large impact during the gear shifting process. That is, the present application obtains the target gear shift position and the target speed regulation parameters by calculating according to the target engine gear, thereby controlling the gear shift hub to move to the target gear shift position, and controls the actual motor speed of the motor to reach the target motor speed according to the target speed regulation parameters, so that the engine can accurately switch to the target engine gear during the gear shifting process, thereby achieving the technical effect of enabling the vehicle to complete the gear switching operation more smoothly, and further improving the vehicle's driving performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 This is a schematic diagram of the structure of a hybrid power system involved in an embodiment of the gear switching method of the present application;

[0050] Figure 2 A schematic diagram of a flow chart provided for the first embodiment of the gear switching method of the present application;

[0051] Figure 3 This is a schematic diagram of a target shift position involved in an embodiment of the gear shifting method of the present application;

[0052] Figure 4 A schematic diagram of each gear shifting stage involved in an embodiment of the gear shifting method of the present application;

[0053] Figure 5A schematic diagram of a flow chart provided for the second embodiment of the gear switching method of the present application;

[0054] Figure 6 This is a schematic diagram of the module structure of the gear switching device of the present application;

[0055] Figure 7 Schematic diagram of the device structure of the hardware operating environment involved in the gear switching method in the embodiment of the present application.

[0056] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0057] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0058] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0059] In this embodiment, for ease of description, please refer to Figure 1 , Figure 1 This is a schematic diagram of the hybrid power system structure involved in an embodiment of the gear shifting method of the present application. The following is an explanation of the vehicle with a hybrid power system configured inside, or a mobile terminal, a data storage control terminal, a PC and other terminals connected to an electronic control unit of the vehicle as the execution subject. Figure 1 As shown, the hybrid system includes an engine, a shift hub, a P1 motor, a P3 motor, a clutch, and a shift motor.

[0060] Based on the above-mentioned vehicle, the overall concept of the gear switching method of the present application is proposed here.

[0061] With the continuous development of the automobile industry, new energy vehicles have become the preferred means of transportation for more and more users in their daily travel. In order to meet the growing driving needs of users, more and more new energy vehicles are equipped with hybrid systems including engines and motors to cope with increasingly complex driving conditions. In related technologies, when a new energy vehicle receives a gear switching command triggered by a user, it usually directly adjusts the engine speed to complete the gear switching operation, so that the engine gear is switched to the target gear required by the user. However, during the gear switching operation, the vehicle usually directly adjusts the speed without completely disengaging the clutch, which causes the vehicle to have a large impact during the gear shifting process, greatly reducing the driver's driving experience.

[0062] In view of the above phenomenon, the present application provides a gear switching method, which is applied to a vehicle including a hybrid power system, wherein the hybrid power system includes a shift hub, an engine and a motor, and the gear switching method includes: determining a target shift position corresponding to the shift hub according to a target engine gear included in a gear switching instruction, and controlling the shift hub to move to the target shift position; determining a target speed regulation parameter according to the target engine gear, and adjusting the actual motor speed of the motor to the target motor speed corresponding to the target speed regulation parameter according to the target speed regulation parameter; when the actual motor speed of the motor reaches the target motor speed, adjusting the hybrid power system so that the real-time engine gear of the engine is switched to the target engine gear.

[0063] In this way, the present application solves the technical problem in the related art that the vehicle has a large impact during the gear shifting process. That is, the present application obtains the target gear shift position and the target speed regulation parameters by calculating according to the target engine gear, thereby controlling the gear shift hub to move to the target gear shift position, and controls the actual motor speed of the motor to reach the target motor speed according to the target speed regulation parameters, so that the engine can accurately switch to the target engine gear during the gear shifting process, thereby achieving the technical effect of enabling the vehicle to complete the gear switching operation more smoothly, and further improving the vehicle's driving performance.

[0064] Based on the overall concept of the gear switching method of the present application, the embodiment of the present application provides a gear switching method, referring to Figure 2 , Figure 2 This is a flow chart of the first embodiment of the gear shifting method of the present application. In this embodiment, the gear shifting method is applied to a vehicle including a hybrid power system, the hybrid power system including a shift hub, an engine and a motor, and the gear shifting method includes steps S10 to S30:

[0065] Step S10: determining a target shift position corresponding to the shift hub according to the target engine gear included in the gear shift instruction, and controlling the shift hub to move to the target shift position;

[0066] It should be noted that the target shift position is the position where the shift hub needs to move. For details, please refer to Figure 3 , Figure 3 Schematic diagram of target shift position involved in one embodiment of the gear switching method of the present application, such as Figure 3 As shown, each target engine gear N1, G1, N12, G2, N23, G3, N3 corresponds to a different target shift position. For example, when the user needs to switch to N3 gear, the shift hub needs to move to the 4786 position before the engine enters N3 gear.

[0067] In this embodiment, if the driver controls the clutch to change the engine gear during vehicle driving, the engine controller configured in the vehicle first generates a gear switching instruction, and sends the gear switching instruction to the vehicle controller configured in the vehicle. The vehicle controller inputs the gear switching instruction to the transmission controller, and the transmission controller reads the target engine gear contained in the gear switching instruction, and calculates the target shift position for controlling the shift hub based on the target engine gear. The transmission controller then sends the target shift position to the shift motor configured in the vehicle, and the shift motor controls the shift hub to move to the target shift position.

[0068] Exemplarily, for example, when the vehicle is driving, if the driver adjusts the clutch to trigger a gear shift command, at this time, the EMC (Engine Control Module) configured in the vehicle will send the generated gear shift command to the VCU (Vehicle Control Unit) configured in the vehicle, and the VCU will send the gear switch request to the PCM (Powertrain Control Module), and the PCM will determine the target shift position for controlling the shift hub according to the target engine gear included in the gear request, and the PCM will then send the target shift position to the shift motor, which will control the shift hub to move the shift hub from the current position to the target shift position.

[0069] In this way, the vehicle can determine the target shift position corresponding to the target engine gear according to the gear request instruction, and by switching the power mode to the series mode, ensure that the shift hub is controlled to move to the target shift position when the clutch is fully disengaged, thereby avoiding the situation where the shift hub is performing a shift operation when the clutch is not fully disengaged, which will cause a large impact during the shifting process, and thus accurately complete the shifting operation.

[0070] In a feasible implementation manner, the hybrid power system further includes a shift motor, and the step of "controlling the shift hub to move to the target shift position" in the above step S10 may specifically include steps S101 to S103:

[0071] Step S101: determining the shift positions of each stage corresponding to the target shift position;

[0072] Step S102: detecting the actual shift position of the shift hub, and determining each target duty cycle parameter according to the actual shift position and each stage shift position;

[0073] Step S103: sending the target duty cycle parameters to the shift motor, so that the shift motor controls the shift hub to move to the target shift position through the stage shift positions in sequence according to the target duty cycle parameters.

[0074] Please note that, please refer to Figure 4 , Figure 4 Schematic diagram of each shifting stage involved in an embodiment of the gear switching method of the present application, such as Figure 4 As shown, during the gear switching process, when the shift hub is in the O position, it is the neutral position. Similarly, when the shift hub is in the A position, the GA mechanism enters the pre-synchronization start stage. At this time, the gear sleeve slider and the synchronizer ring are in contact. Similarly, when the shift hub enters the B position, the shift hub enters the synchronization position. Similarly, when the shift hub enters the C position, the synchronizer gear sleeve and the coupling tooth begin to contact and enter the secondary impact stage. Similarly, when the shift hub enters the D position, the gear switching operation is completed, that is, the D position is the target shift position. In addition, the stage shift position is a displacement parameter used to determine the shift stage of the gear switching operation. It can be understood that by controlling the shift hub to move to different stage shift positions, the gear switching operation can be switched to different shift stages more smoothly, thereby further improving the driving performance of the vehicle. In addition, the target duty cycle parameter is the ratio between the upper software signal and the shift motor interface signal. It can be understood that the size of the target duty cycle parameter directly affects the shift motor speed and the shift motor phase current, thereby affecting whether the shift motor can control the shift hub to enter the target shift position.

[0075] In this embodiment, after determining the target shift position, the transmission controller first reads the storage module configured in the vehicle to determine the shift positions of each stage corresponding to the target shift position. Thereafter, the transmission controller detects the actual shift position of the shift hub, and compares the actual shift position with the shift positions of each stage, thereby determining the shift stages corresponding to the shift hub according to the actual shift position of the shift hub and the shift positions of each stage, and determining the target duty cycle parameters corresponding to each shift stage. Finally, the transmission controller sends the acquired target duty cycle parameters to the shift motor in the hybrid power system, thereby controlling the shift motor to move the shift hub according to the target duty cycle parameters to pass through the shift positions of each stage in sequence and finally reach the target shift position.

[0076] Exemplarily, for example, after determining the target shift position D, the PCM first reads the storage module configured in the vehicle to determine the shift stages OA, AB, BC, and CD corresponding to the target shift position D, and determines the stage shift position A corresponding to the shift stage OA, the stage shift position B corresponding to the shift stage AB, the stage shift position C corresponding to the shift stage BC, and the stage shift position D corresponding to the shift stage CD. Afterwards, the PCM detects the shift hub to determine the actual shift position of the shift hub, and determines the target duty cycle parameters OutPID corresponding to the shift stages OA, AB, BC, and CD according to the actual shift position and the stage shift positions. Finally, the PCM sends the target duty cycle parameters OutPID to the shift motor in the hybrid system, and the shift motor controls the shift hub to move from the actual position O according to the target duty cycle parameters OutPID, and passes through the stage shift positions A, B, C, and D in sequence to finally reach the target shift position D.

[0077] In this way, the vehicle can determine the stage shift position of the shift hub in different shift stages according to the target shift position, and determine the duty cycle parameters that the shift motor should adopt when the shift hub moves to different stage shift positions. Then, during the shift stage, the shift motor can accurately control the shift hub to pass through the shift positions of each stage in sequence, avoiding large impacts during the shift process and further improving the accuracy of the shift operation.

[0078] In a feasible implementation manner, the step of "determining each target duty cycle parameter according to the actual shift position and each stage shift position" in the above step S102 may specifically include steps S1021 to S1023:

[0079] Step S1021: screening the shift positions of each stage to determine the target shift position of the stage that matches the actual shift position;

[0080] Step S1022: determining a position deviation parameter generated between the actual shift position and the target stage shift position;

[0081] Step S1023: determining a target duty cycle parameter corresponding to the target stage shift position according to the position deviation parameter.

[0082] In this embodiment, after determining the shift position of each stage, the transmission controller first selects the target stage shift position that the shift hub is to reach next from the shift positions of each stage, and then calculates the position deviation parameter generated between the actual shift position and the target stage shift position. Finally, the transmission controller reads the above-mentioned storage module to obtain a preset position deviation parameter threshold, and compares the position deviation parameter with the position deviation parameter threshold to obtain a first comparison result. When the transmission controller further determines that the first comparison result is that the position deviation parameter is greater than the position deviation parameter threshold, the transmission controller calculates the target duty cycle parameter corresponding to the target stage shift position based on the position deviation parameter.

[0083] Exemplarily, for example, after determining the stage shift positions A, B, C, and D, the PCM first screens the stage shift positions A, B, C, and D. If the actual position of the shift hub is O at this time, the PCM calculates the displacement distances between the actual position O and the stage shift positions A, B, C, and D, and when it is determined that the stage shift position A is closest to the actual position O according to each displacement distance, the PCM determines that the stage shift position A is the target stage shift position that the shift hub needs to move to next. After that, the PCM calculates the first shift position deviation parameter generated between the actual shift position O and the target stage shift position A. Finally, the PCM reads the above-mentioned storage module to obtain a preset position deviation parameter threshold, and compares the first shift position deviation parameter with the position deviation parameter threshold to obtain a first comparison result. When the PCM determines that the first comparison result is that the first shift position deviation parameter is greater than the position deviation parameter threshold, the PCM performs PID calculation based on the position deviation parameter to calculate the target duty cycle parameter OutPID for controlling the shift hub to accurately move to position A.

[0084] Similarly, if the actual position of the shift hub is in the shift stage AB at this time, the PCM can screen the stage shift positions B, C, and D according to the above-mentioned displacement distances, and when it is determined that the shift position B is closest to the actual position O according to the displacement distances, the PCM determines that the shift position B is the target stage shift position that the shift hub needs to go to next. After that, the PCM calculates the second shift position deviation parameter generated between the actual shift position and the target stage shift position B. Finally, the PCM compares the second shift position deviation parameter with the position deviation parameter threshold to obtain a second comparison result. When the PCM determines that the second comparison result is that the second shift position deviation parameter is greater than the position deviation parameter threshold, the PCM performs PID calculation based on the position deviation parameter to calculate the target duty cycle parameter OutPID for controlling the shift hub to accurately move to position B. It can be understood that if the actual position of the shift hub is in the shift stage AB and the target shift position is D, it means that the shift hub has passed the stage shift position A. The PCM then determines the stage shift position A as the stage shift position that has been passed, and only screens the stage shift positions B, C, and D.

[0085] In this way, the vehicle can determine the stage shift position of the shift hub in different shift stages according to the target shift position, and determine the duty cycle parameters that the shift motor should adopt when the shift hub moves to different stage shift positions. Then, during the shift stage, the shift motor can accurately control the shift hub to pass through the shift positions of each stage in sequence, avoiding large impacts during the shift process and further improving the accuracy of the shift operation.

[0086] Step S20: determining a target speed regulation parameter according to the target engine gear, and regulating the actual motor speed of the motor to the target motor speed corresponding to the target speed regulation parameter according to the target speed regulation parameter;

[0087] In this embodiment, after the transmission controller controls the shift hub to move to the target shift position through the shift motor, the transmission controller further calculates the target speed regulation parameters based on the target engine gear position, and the transmission controller then adjusts the actual motor speed of the target motor according to the target speed regulation parameters to adjust the actual motor speed to the target motor speed that matches the target speed regulation parameters.

[0088] Exemplarily, for example, after the PCM controls the shift hub to move to the target shift position D through the shift motor, the PCM further calculates a target speed intervention torque parameter for regulating the speed of the P1 motor based on the above-mentioned target engine gear, and the PCM then adjusts the actual speed of the P1 motor according to the target speed intervention torque parameter to adjust the actual speed of the P1 motor to a target motor speed that matches the target speed intervention torque.

[0089] In this way, the vehicle can calculate the torque adjustment parameter after adjusting the shift hub to the target shift position, and adjust the motor speed according to the torque adjustment parameter.

[0090] In a feasible implementation manner, the step of "determining the target speed control parameter according to the target engine gear" in the above step S20 may specifically include steps S201 to S203:

[0091] Step S201: determining a target motor speed corresponding to the motor according to the target engine gear, and detecting a first actual motor speed corresponding to the motor;

[0092] Step S202: calculating a motor speed difference according to the first actual motor speed and the target motor speed, and determining a speed regulation time parameter according to a vehicle operating condition parameter of the vehicle;

[0093] Step S203: determining a target speed regulation parameter based on the motor speed difference and the speed regulation time parameter.

[0094] In this embodiment, after the transmission controller controls the shift hub to move to the target shift position through the shift motor, the transmission controller first calculates the target motor speed according to the target engine gear position. At the same time, the transmission controller detects the first actual motor speed of the target motor connected to the engine. Thereafter, the transmission controller calculates the difference between the first actual motor speed and the target motor speed to obtain the motor speed difference. At the same time, the transmission controller reads the vehicle's motion mode, driver behavior parameters and other vehicle-connected operating condition parameters, and determines the target speed regulation time according to the vehicle-connected operating condition parameters. Finally, the transmission controller calculates the target speed regulation intervention torque parameter according to the target speed regulation time and the motor speed difference.

[0095] Exemplarily, for example, after the PCM controls the shift hub to move to the target shift position D through the shift motor, the PCM first detects the hybrid system to determine the P1 motor connected to the engine, and the PCM then detects the first actual motor speed of the P1 motor. At the same time, the PCM calculates the target motor speed corresponding to the P1 motor after the vehicle switches to the target gear based on the output shaft speed of the P1 motor multiplied by the speed ratio of the target engine gear. Thereafter, the PCM calculates the difference between the first actual motor speed and the target motor speed to obtain the target speed difference. At the same time, the PCM reads the driver mode and driver behavior data, and queries the preset speed control time mapping table according to the preset driver mode and driver behavior data to determine the corresponding target speed control time. Finally, the PCM calculates the angular acceleration based on the target speed difference and the target speed control time, and multiplies the angular acceleration and the moment of inertia to obtain the target speed control intervention torque parameter.

[0096] In this way, the vehicle can calculate the torque adjustment parameter after adjusting the shift hub to the target shift position, and adjust the motor speed according to the torque adjustment parameter.

[0097] In a feasible implementation manner, the step of "adjusting the actual motor speed of the motor to the target motor speed corresponding to the target speed parameter according to the target speed regulation parameter" in the above step S20 may specifically include steps S204-S205:

[0098] Step S204: determining a motor torque intervention capability parameter corresponding to the motor;

[0099] Step S205: When it is detected that the target speed regulation parameter is less than the motor torque intervention capability parameter, the actual motor speed of the motor is regulated to the target motor speed according to the target speed regulation parameter.

[0100] It should be noted that, since the motor has the characteristics of fast response and high precision, after the target speed regulation intervention torque is calculated, the target speed regulation intervention torque should be preferentially allocated to the motor to enable the motor to perform lifting and lowering torque operations.

[0101] In this embodiment, after calculating the target speed intervention torque parameter, the transmission controller first determines the motor torque intervention capability parameter corresponding to the target motor. Thereafter, the transmission controller compares the target speed intervention torque parameter with the motor torque intervention capability parameter, and when detecting that the target speed intervention torque parameter is less than the motor torque intervention capability parameter, performs a torque distribution operation to distribute all the target speed intervention torque to the target motor, thereby adjusting the actual motor speed of the target motor to the above-mentioned target motor speed.

[0102] For example, after calculating the target speed regulation intervention torque parameter, the PCM first determines the unintervention P1 request torque and the P1 maximum torque capacity corresponding to the P1 motor. The PCM then calculates the motor torque intervention capacity parameter corresponding to the P1 motor according to the unintervention P1 request torque and the P1 maximum torque capacity as follows:

[0103] max (unintervention P1 request torque, P1 maximum torque capacity) - unintervention P1 request torque;

[0104] The PCM then compares the acquired target speed intervention torque with the motor torque intervention capability parameter to obtain a second comparison result. When the PCM determines that the second comparison result is that the target speed intervention torque is less than the motor torque intervention capability parameter, the PCM determines to allocate all the torque adjustment parameters to the P1 motor. The P1 motor is still able to process the speed intervention torque. The PCM then performs a torque allocation operation to allocate the target speed intervention torque to the P1 motor, and then causes the P1 motor to perform a torque increase or decrease operation to change the first actual motor speed of the P1 motor to the above-mentioned target motor speed.

[0105] In addition, in this embodiment and another embodiment, after calculating the motor torque intervention capability parameter, the PCM may also determine the non-intervention engine request torque corresponding to the engine, and calculate the engine torque intervention capability parameter corresponding to the engine according to the non-intervention engine request torque and the above-mentioned P1 maximum torque capability:

[0106] Max (unintervention engine request torque, P1 maximum torque capability) - unintervention engine request torque;

[0107] When the PCM determines that the target speed intervention torque is greater than the motor torque intervention capability parameter as a result of the second comparison, the PCM allocates the target speed intervention torque to the P1 motor, and calculates a first residual speed intervention torque. The PCM allocates the first residual speed intervention torque to the engine, so as to adjust the first actual motor speed of the P1 motor to the target engine speed through the engine.

[0108] In addition, in the present embodiment and another embodiment, after calculating the first remaining speed intervention torque, the PCM may also compare the first remaining speed intervention torque with the engine torque intervention capability parameter to obtain a third comparison result. When the PCM determines that the third comparison result is that the first remaining speed intervention torque is greater than the engine torque intervention capability parameter, it determines that after allocating the target speed torque parameter to the P1 motor and the engine to change the engine speed, there is still a remaining speed torque parameter, and at this time the actual speed of the P1 motor still does not reach the target motor speed, the PCM calculates the second remaining speed intervention torque parameter based on the first remaining speed intervention torque and the engine torque intervention capability parameter, and the PCM further allocates the second remaining speed intervention torque parameter to the clutch, so that the clutch performs a torque lifting and lowering operation to further increase the first actual speed of the P1 motor to the target motor speed.

[0109] In addition, in this embodiment and another embodiment, after adjusting the P1 motor to the target motor speed, the PCM determines the target motor speed as the second actual motor speed. The PCM further subtracts the requested speed of the P1 motor from the second actual motor speed of the P1 motor to obtain the P1 motor speed difference. At the same time, the PCM calculates the second motor speed difference between the second actual motor speed after adjustment of the P1 motor and the actual speed of the P3 motor. When the PCM detects that the P1 motor speed difference is less than a preset P1 motor speed difference threshold, and the second motor speed difference is less than a preset P3 motor speed difference threshold, it determines that the speed regulation operation is completed and continues to control the VCU to switch the power mode.

[0110] In this way, the vehicle can calculate the torque adjustment parameters after adjusting the shift hub to the target shift position, and adjust the motor speed according to the torque adjustment parameters. At the same time, the vehicle can also distribute the remaining torque adjustment parameters to other motors and clutches in the hybrid system when the torque intervention capability of the motor is insufficient to process the torque adjustment parameters, thereby more efficiently completing the adjustment of the motor speed and further improving the stability of the shifting process.

[0111] Step S30: When the actual motor speed of the motor reaches the target motor speed, the hybrid power system is adjusted to switch the real-time engine gear of the engine to the target engine gear.

[0112] In this embodiment, after adjusting the actual motor speed of the target motor to the target motor speed, the transmission controller adjusts the clutch in the hybrid system to switch the power mode from parallel mode to series mode, and performs torque interaction operations on the hybrid system, thereby switching the actual gear of the engine to the target engine gear.

[0113] Exemplarily, for example, after the PCM adjusts the P1 motor to the target motor speed, the PCM controls the clutch to change the vehicle's power mode from series mode to parallel mode. At the same time, the PCM controls the P1 motor, the P3 motor, and the engine to perform torque interaction operations to distribute the first torque parameter on the P3 motor to the engine, thereby switching the actual engine gear of the engine to the target engine gear.

[0114] In a feasible implementation manner, the above step S30 may specifically include steps S301-S302:

[0115] Step S301: controlling the clutch in the hybrid power system to enter an engaged state;

[0116] Step S302: adjusting the motor torque parameter corresponding to the motor from the first torque parameter to zero, and adjusting the engine torque parameter corresponding to the engine from zero to the first torque parameter, so that the real-time engine gear of the engine is switched to the target engine gear.

[0117] In this embodiment, after adjusting the actual motor speed of the target motor to the target motor speed, the transmission controller first controls the clutch to make the clutch enter the engaged state. Thereafter, the transmission controller controls the motor and the engine to perform torque interaction operations to change the motor torque parameter corresponding to the motor from the first torque parameter to 0, and to change the engine torque parameter of the engine from 0 to the first torque parameter, thereby switching the real-time engine gear of the engine to the above-mentioned target engine gear.

[0118] Exemplarily, for example, after the PCM adjusts the actual motor speed of the P1 motor to the above-mentioned target motor speed, the PCM further controls the clutch in the hybrid system to make the clutch enter the engaged state, thereby switching the vehicle's power mode from the parallel mode to the series mode. Afterwards, the PCM controls the P1 motor, the P3 motor, and the engine to perform torque interaction operations to compensate the first torque on the P3 motor to the engine, thereby switching the actual engine gear of the engine to the above-mentioned target engine gear, thereby ending the gear switching operation.

[0119] In this embodiment, if the driver controls the clutch to change the gear of the engine during vehicle driving, the engine controller configured in the vehicle first generates a gear switching instruction, and sends the gear switching instruction to the vehicle controller configured in the vehicle. When the vehicle controller detects that the power mode of the vehicle is the parallel mode, the transmission controller controls the transmission controller according to the gear switching instruction to switch the power mode of the vehicle from the parallel mode to the series mode. After determining that the power mode of the vehicle is switched from the parallel mode to the series mode, the transmission controller reads the target engine gear included in the gear switching instruction, and calculates the target shift gear for controlling the shift hub according to the target engine gear. The transmission controller then sends the target shift position to the shift motor configured in the vehicle, and the shift motor controls the shift hub to move to the target shift position. Thereafter, the transmission controller further calculates the target speed regulation parameters according to the target engine gear, and the transmission controller then adjusts the actual motor speed of the target motor according to the target speed regulation parameters, so as to adjust the actual motor speed to the target motor speed that matches the target speed regulation parameters. Finally, the transmission controller adjusts the clutch in the hybrid power system to switch the power mode from the parallel mode to the series mode, and performs torque interaction operations on the hybrid power system, so as to switch the actual gear of the engine to the target engine gear.

[0120] In this way, the present application solves the technical problem in the related art that the vehicle has a large impact during the gear shifting process, that is, the present application obtains the target gear shift position and the target speed regulation parameters by calculating according to the target engine gear, thereby controlling the shift hub to move according to the target gear shift position, and adjusting the actual motor speed of the motor according to the target speed regulation parameters, and when the shift hub moves to the target gear shift position and the actual motor speed of the motor reaches the target motor speed, the hybrid power system is adjusted to enable the engine to complete the gear switching, thereby achieving the technical effect of enabling the vehicle to complete the gear switching operation more smoothly, and further improving the driving performance of the vehicle.

[0121] Based on the first embodiment of the present application, a second embodiment of the present application is proposed. In the second embodiment of the present application, the same or similar contents as those of the above embodiments can be referred to the above description and will not be described in detail later. On this basis, before the above step S10, the gear switching method of the present application can also include steps A10 to A20:

[0122] Step A10: receiving a gear shift instruction, and detecting the hybrid power system to determine a power mode corresponding to the vehicle, wherein the power mode includes a series mode and a parallel mode;

[0123] Step A20: When it is detected that the power mode is the parallel mode, the hybrid power system is adjusted to control the vehicle to enter the series mode, and the step of determining the target shift position corresponding to the shift hub according to the target engine gear included in the gear switching instruction is executed.

[0124] It should be noted that the series mode is a power mode in which the vehicle drives the wheels through the above-mentioned P3 motor. It can be understood that in the series mode, the clutch is in a separated state where the active plate and the driven plate are not in contact. At this time, the engine charges the battery in the hybrid system through the P1 motor, and the battery powers the P3 motor to enable the P3 motor to drive the wheels. In addition, the parallel mode is a power mode in which the vehicle directly drives the wheels through the above-mentioned engine. It can be understood that in the parallel mode, the clutch is in a contact state where the active plate and the driven plate are in contact. At this time, the engine can directly drive the wheels.

[0125] In this embodiment, if the driver controls the clutch to change the gear of the engine during vehicle driving, the engine controller configured in the vehicle first generates a gear switching instruction, and sends the gear switching instruction to the vehicle controller configured in the vehicle, and the vehicle controller detects the hybrid power system in the vehicle to determine whether the power mode of the vehicle itself is in series mode or parallel mode. Thereafter, the vehicle controller sends the series connection request to the transmission controller configured in the vehicle, and the transmission controller controls the hybrid power system to switch the power mode of the vehicle from parallel mode to series mode, and after controlling the power mode to switch to series mode, reads the target engine gear contained in the gear switching instruction, and calculates the target shift position for controlling the shift hub according to the target engine gear.

[0126] For example, when the vehicle is driving, if the user adjusts the clutch to trigger a gear switching command, the EMC (Engine Control Module) configured in the vehicle will send the generated gear switching command to the VCU configured in the vehicle, and the VCU will detect the clutch in the hybrid system, so as to determine whether the vehicle's power mode is in series mode or parallel mode according to the state of the clutch. After that, when the VCU detects that the vehicle's power mode is in parallel mode, it will further perform torque interaction operations on the P1 motor, P3 motor and engine in the hybrid system. At the same time, the VCU generates a series request and sends the series request to the PCM configured in the vehicle. The PCM adjusts the clutch to switch the vehicle's power mode from parallel mode to series mode. When the PCM determines that the vehicle has switched to series mode, it sends feedback information to the VCU, and the VCU detects the CAN (Controller Area Network) of the feedback information. When the delay of the controller area network (Controller Area Network) meets the preset delay judgment threshold, the gear shift request is sent to the PCM, so that the PCM determines the target shift position for controlling the shift hub according to the target engine gear included in the gear request.

[0127] In this way, when the vehicle receives the gear switching command issued by the driver, it can first detect the hybrid power system to determine its own power mode, and then determine the appropriate gear switching process according to the power mode. At the same time, during the gear shifting operation, the vehicle can completely disengage the clutch and then control the vehicle's power mode to switch to the series mode, so as to avoid a large impact during the speed adjustment process due to the clutch not being completely disengaged.

[0128] In a feasible implementation manner, the above step A20 may specifically include steps A201-A202:

[0129] Step A201: adjusting the engine torque parameter corresponding to the engine from a preset first torque parameter to zero;

[0130] Step A202: Adjust the motor torque parameter corresponding to the motor from zero to the first torque parameter, and control the clutch in the hybrid power system to enter a disengaged state, so that the vehicle switches from the parallel mode to the series mode.

[0131] In this embodiment, when the vehicle controller determines that the power mode is the parallel mode, it first controls the first motor, the second motor and the engine in the hybrid power system to perform torque interaction operations to adjust the engine torque parameter of the engine from a preset first torque parameter to 0. Thereafter, the vehicle controller supplements the torque parameter lost by the engine to the second motor, thereby adjusting the motor torque parameter of the second motor from 0 to the first torque parameter. At the same time, the vehicle controller generates a series connection request and sends the series connection request to the transmission controller, which controls the clutch to enter a disengaged state to switch the power mode of the vehicle from the parallel mode to the series mode.

[0132] Exemplarily, for example, when the VCU detects that the vehicle's own power mode is in parallel mode, it first performs torque interaction processing on the P1 motor, P3 motor and engine in the hybrid system to adjust the engine torque parameter of the engine from the preset first torque parameter to 0. After that, the VCU compensates the torque parameter lost by the engine to the P3 motor to adjust the motor torque parameter of the P3 motor from 0 to the first torque parameter. When the VCU determines that the torque of the engine is 0, it generates a series request and sends the series request to the PCM, which controls the clutch to enter the disengaged state according to the series request, so that the P3 motor directly controls the wheels to switch the vehicle's power mode from parallel mode to series mode. It can be understood that the specific value of the first torque parameter is consistent with the value of the first torque parameter compensated to the engine when the P3 motor compensates for the torque interaction operation to the engine.

[0133] In this way, the vehicle can control the engine torque to return to 0 during the gear shifting operation, thereby ensuring that the clutch can be completely disengaged and avoiding forced disengagement of the clutch when the engine torque is not 0, which may cause damage to the clutch.

[0134] Based on the first embodiment and / or the second embodiment of the present application, the third embodiment of the present application is proposed here. In the third embodiment of the present application, the same or similar contents as those of the above embodiments can be referred to the above introduction and will not be described in detail later. Figure 5 , Figure 5The flowchart of the second embodiment of the gear switching method of the present application is provided as follows: Figure 5 As shown, after the above step A10, the gear switching method of the present application may further include steps B10 to B30:

[0135] Step B10: when it is detected that the power mode is the pure electric mode, detecting the real-time driving parameters of the vehicle;

[0136] Step B20: determining a target shift position according to the real-time driving parameter and the gear switching instruction, and controlling the shift hub to move to the target shift position;

[0137] Step B30: Control the power mode to switch from the pure electric mode to the parallel mode, so that the actual engine gear of the engine is switched to the target engine gear.

[0138] In this embodiment, when the vehicle controller detects that the power mode of the vehicle is the pure electric mode, it first reads the real-time driving parameters of the vehicle. Thereafter, the vehicle controller queries a preset gear mapping table to determine the target shift position corresponding to the real-time driving parameters. The vehicle controller then sends the target shift position to the above-mentioned transmission controller, which controls the shift hub to move to the target shift position. Finally, the transmission controller adjusts the above-mentioned transmission to control the power mode of the vehicle to switch from the pure electric mode to the parallel mode, thereby switching the actual engine gear of the engine to the target engine gear contained in the gear switching instruction.

[0139] Exemplarily, for example, after the VCU detects the power mode of the vehicle, if it determines that the power mode is the EV (Electric Vehicle) mode, the VCU first detects the actual vehicle speed parameter of the vehicle. Then, when the VCU detects that the actual vehicle speed parameter is less than 70 km / h, it determines that the vehicle is in a low-speed condition, and determines that the target engine gear under the low-speed condition is the N1 / N12 / N23 gear. Then, the VCU sends the target engine gear to the above-mentioned PCM, and the PCM controls the shift hub to move to the target shift position according to the target engine gear. Finally, after determining that the shift hub moves to the target shift position, the PCM controls the clutch in the hybrid power system to enter the engaged state, thereby switching the power mode from the EV mode to the parallel mode, and then switching the actual engine gear of the engine to the target engine gear to complete the shift operation.

[0140] In this way, the vehicle can directly control the shift hub to enter the target shift position in pure electric mode, and then quickly complete the gear switching operation without adjusting the clutch, further improving the efficiency of the gear switching operation.

[0141] In addition, in this embodiment and another embodiment, when the VCU detects that the power mode of the vehicle is the parallel mode, it can also first control the P1 motor, the P3 motor, and the engine in the hybrid power system to perform torque interaction to return the engine torque to 0 and compensate the engine torque to the P3 motor. After that, the VCU generates a series request and sends the series request to the PCM. The PCM adjusts the clutch to enter a disengaged state according to the series request to switch the power mode from the parallel mode to the series mode, and then determines the target engine gear according to the gear switching instruction in the series mode, and determines the target shift position according to the target engine gear. The PCM then controls the shift hub to move to the target shift position to switch the actual engine gear of the engine to the target engine gear, thereby completing the gear switching operation.

[0142] In this way, the vehicle can directly control the wheels through the P3 motor after completing the gear switching operation.

[0143] This application also provides a gear switching device, please refer to Figure 6 The gear switching device is applied to a vehicle including a hybrid power system, wherein the hybrid power system includes a shift hub, an engine and a motor, and the device includes

[0144] A gear shift position calculation module 10, for determining a target gear shift position corresponding to the gear shift hub according to a target engine gear position included in a gear shift instruction, and controlling the gear shift hub to move to the target gear shift position;

[0145] A speed control parameter calculation module 20, for determining a target speed control parameter according to the target engine gear, and adjusting the actual motor speed of the motor to a target motor speed corresponding to the target speed control parameter according to the target speed control parameter;

[0146] The gear switching control module 30 is used to adjust the hybrid power system when the actual motor speed of the motor reaches the target motor speed, so that the real-time engine gear of the engine is switched to the target engine gear.

[0147] In a feasible implementation manner, the hybrid power system further includes a shift motor, and the shift position calculation module 10 is further used for:

[0148] Determining the shift positions in each stage corresponding to the target shift position;

[0149] Detecting an actual shift position of the shift hub, and determining each target duty cycle parameter according to the actual shift position and each stage shift position;

[0150] The target duty cycle parameters are sent to the shift motor, so that the shift motor controls the shift hub to move to the target shift position through the stage shift positions in sequence according to the target duty cycle parameters.

[0151] In a feasible implementation manner, the above-mentioned shift position calculation module 10 is further used for:

[0152] Screening each of the stage shift positions to determine a target stage shift position that matches the actual shift position;

[0153] Determining a position deviation parameter generated between the actual shift position and the target stage shift position;

[0154] The target duty cycle parameter corresponding to the target stage shift position is determined according to the position deviation parameter.

[0155] In a feasible implementation manner, the speed control parameter calculation module 20 is further used for:

[0156] Determining a target motor speed corresponding to the motor according to the target engine gear, and detecting a first actual motor speed corresponding to the motor;

[0157] Calculating a motor speed difference according to the first actual motor speed and the target motor speed, and determining a speed regulation time parameter according to a vehicle operating condition parameter of the vehicle;

[0158] A target speed regulation parameter is determined based on the motor speed difference and the speed regulation time parameter.

[0159] In a feasible implementation manner, the speed control parameter calculation module 20 is further used for:

[0160] Determining a motor torque intervention capability parameter corresponding to the motor;

[0161] When it is detected that the target speed regulation parameter is less than the motor torque intervention capability parameter, the actual motor speed of the motor is regulated to the target motor speed according to the target speed regulation parameter.

[0162] In a feasible implementation manner, the gear shift control module 30 is further used for:

[0163] Controlling a clutch in the hybrid power system to enter an engaged state;

[0164] The motor torque parameter corresponding to the motor is adjusted from the first torque parameter to zero, and the engine torque parameter corresponding to the engine is adjusted from zero to the first torque parameter, so that the real-time engine gear of the engine is switched to the target engine gear.

[0165] In a feasible implementation manner, the above-mentioned shift position calculation module 10 is further used for:

[0166] receiving a gear shift instruction, and detecting the hybrid power system to determine a power mode corresponding to the vehicle, wherein the power mode includes a series mode and a parallel mode;

[0167] When it is detected that the power mode is the parallel mode, the hybrid power system is adjusted to control the vehicle to enter the series mode, and the step of determining the target shift position corresponding to the shift hub according to the target engine gear included in the gear switching instruction is performed.

[0168] In a feasible implementation manner, the above-mentioned shift position calculation module 10 is further used for:

[0169] adjusting an engine torque parameter corresponding to the engine from a preset first torque parameter to zero;

[0170] The motor torque parameter corresponding to the motor is adjusted from zero to the first torque parameter, and the clutch in the hybrid power system is controlled to enter a disengaged state, so that the vehicle is switched from the parallel mode to the series mode.

[0171] In a feasible implementation manner, the above-mentioned shift position calculation module 10 is further used for:

[0172] In the case where it is detected that the power mode is the pure electric mode, detecting a real-time driving parameter of the vehicle;

[0173] determining a target shift position according to the real-time driving parameter and the gear switching instruction, and controlling the shift hub to move to the target shift position;

[0174] The power mode is controlled to switch from the pure electric mode to the parallel mode, so that the actual engine gear of the engine is switched to the target engine gear.

[0175] The gear switching device provided by the present application adopts the gear switching method in the above embodiment, which can solve the technical problem of the large impact of the vehicle during the gear shifting process in the related art. Compared with the prior art, the beneficial effects of the gear switching device provided by the present application are the same as the beneficial effects of the gear switching method provided by the above embodiment, and the other technical features of the gear switching device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0176] The present application provides a vehicle, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the gear switching method in the above-mentioned embodiment one.

[0177] Reference below Figure 7 , which shows a schematic diagram of the structure of a vehicle suitable for implementing the embodiment of the present application. The vehicle in the embodiment of the present application may include but is not limited to a vehicle with a hybrid power system configured inside, or a mobile terminal, a data storage control terminal, a PC, etc. connected to an electronic control unit of the vehicle. Figure 7 The vehicle shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0178] like Figure 7 As shown, the vehicle may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for vehicle operation are also stored in RAM1004. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0179] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0180] The vehicle provided by the present application adopts the gear switching method in the above embodiment, which can solve the technical problem of the vehicle having a large impact during the gear shifting process in the related art. Compared with the prior art, the beneficial effects of the vehicle provided by the present application are the same as the beneficial effects of the gear switching method provided by the above embodiment, and the other technical features of the vehicle are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0181] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0182] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present 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.

[0183] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, the computer-readable program instructions being used to execute the gear switching method in the above-mentioned embodiment.

[0184] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0185] The computer-readable storage medium may be included in the vehicle, or may exist independently without being installed in the vehicle.

[0186] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by a vehicle, the vehicle: receives a gear switching instruction, and detects the hybrid power system to determine the power mode corresponding to the vehicle, wherein the power mode includes a series mode and a parallel mode; when it is detected that the power mode is the parallel mode, the hybrid power system is adjusted to control the vehicle to enter the series mode; determines a target shift position corresponding to the shift hub according to the target engine gear included in the gear switching instruction, and controls the shift hub to move to the target shift position; determines a target speed regulation parameter according to the target engine gear, and adjusts the actual motor speed of the motor to the target motor speed corresponding to the target speed regulation parameter according to the target speed regulation parameter; adjusts the hybrid power system to control the vehicle to enter the parallel mode, so that the real-time engine gear of the engine is switched to the target engine gear.

[0187] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0188] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0189] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0190] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned gear shifting method, and can solve the technical problem of the vehicle having a large impact during the gear shifting process in the related art. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the gear shifting method provided in the above-mentioned embodiment, and will not be described in detail here.

[0191] The present application also provides a computer program product, including a computer program, which implements the steps of the gear switching method as described above when executed by a processor.

[0192] The computer program product provided by the present application can solve the technical problem of the large impact of the vehicle during the gear shifting process in the related art. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the gear shifting method provided by the above embodiment, which will not be repeated here.

[0193] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A gear switching method, characterized in that: The gear switching method is applied to a vehicle including a hybrid power system, wherein the hybrid power system includes a shift hub, an engine and a motor, and the gear switching method includes: Determining a target shift position corresponding to the shift hub according to a target engine gear included in the gear shift instruction, and controlling the shift hub to move to the target shift position; Determining a target motor speed corresponding to the motor according to the target engine gear, and detecting a first actual motor speed corresponding to the motor; Calculating a motor speed difference according to the first actual motor speed and the target motor speed, reading a driver mode and a driver behavior data, and determining a target speed regulation time parameter by querying a preset speed regulation time mapping table according to the driver mode and the driver behavior data; Determining a target speed regulation parameter based on the motor speed difference and the target speed regulation time parameter, and determining a motor torque intervention capability parameter corresponding to the motor; In a case where it is detected that the target speed regulation parameter is greater than the motor torque intervention capability parameter, determining a first remaining speed regulation intervention torque; allocating the first remaining speed regulation intervention torque to the engine, and allocating the speed regulation intervention torque to the motor according to the target speed regulation parameter, so as to adjust the actual motor speed of the motor to the target motor speed through the engine; When the actual motor speed of the motor reaches the target motor speed, the hybrid power system is adjusted so that the real-time engine gear of the engine is switched to the target engine gear.

2. The gear switching method according to claim 1, characterized in that: The hybrid power system further includes a shift motor, and the step of controlling the shift hub to move to the target shift position includes: Determining the shift positions in each stage corresponding to the target shift position; Detecting an actual shift position of the shift hub, and determining each target duty cycle parameter according to the actual shift position and each stage shift position; The target duty cycle parameters are sent to the shift motor, so that the shift motor controls the shift hub to move to the target shift position through the stage shift positions in sequence according to the target duty cycle parameters.

3. The gear switching method according to claim 2, characterized in that: The step of determining each target duty cycle parameter according to the actual shift position and each stage shift position comprises: Screening each of the stage shift positions to determine a target stage shift position that matches the actual shift position; Determining a position deviation parameter generated between the actual shift position and the target stage shift position; The target duty cycle parameter corresponding to the target stage shift position is determined according to the position deviation parameter.

4. The gear switching method according to claim 1, characterized in that: The step of adjusting the actual motor speed of the motor to the target motor speed corresponding to the target speed parameter according to the target speed regulation parameter comprises: Determining a motor torque intervention capability parameter corresponding to the motor; When it is detected that the target speed regulation parameter is less than the motor torque intervention capability parameter, the actual motor speed of the motor is regulated to the target motor speed according to the target speed regulation parameter.

5. The gear switching method according to any one of claims 1 to 4, characterized in that: The step of adjusting the hybrid power system so as to switch the real-time engine gear of the engine to the target engine gear comprises: Controlling a clutch in the hybrid power system to enter an engaged state; The motor torque parameter corresponding to the motor is adjusted from the first torque parameter to zero, and the engine torque parameter corresponding to the engine is adjusted from zero to the first torque parameter, so that the real-time engine gear of the engine is switched to the target engine gear.

6. The gear switching method according to any one of claims 1 to 4, characterized in that: Before the step of determining the target shift position corresponding to the shift hub according to the target engine gear included in the gear switching instruction, the method further includes: receiving a gear shift instruction, and detecting the hybrid power system to determine a power mode corresponding to the vehicle, wherein the power mode includes a series mode and a parallel mode; When it is detected that the power mode is the parallel mode, the hybrid power system is adjusted to control the vehicle to enter the series mode, and the step of determining the target shift position corresponding to the shift hub according to the target engine gear included in the gear switching instruction is performed.

7. The gear switching method according to claim 6, characterized in that: The step of adjusting the hybrid power system to control the vehicle to enter the series mode comprises: adjusting an engine torque parameter corresponding to the engine from a preset first torque parameter to zero; The motor torque parameter corresponding to the motor is adjusted from zero to the first torque parameter, and the clutch in the hybrid power system is controlled to enter a disengaged state, so that the vehicle is switched from the parallel mode to the series mode.

8. The gear switching method according to claim 6, characterized in that: The power mode further includes a pure electric mode. After the step of detecting the hybrid power system to determine the power mode corresponding to the vehicle, the method further includes: In the case where it is detected that the power mode is the pure electric mode, detecting a real-time driving parameter of the vehicle; determining a target shift position according to the real-time driving parameter and the gear switching instruction, and controlling the shift hub to move to the target shift position; The power mode is controlled to switch from the pure electric mode to the parallel mode, so that the actual engine gear of the engine is switched to the target engine gear.

9. A gear switching device, characterized in that: The gear switching device is applied to a vehicle including a hybrid power system, wherein the hybrid power system includes a shift hub, an engine and a motor, and the device includes: a gear shift position calculation module, used to determine a target gear shift position corresponding to the gear shift hub according to a target engine gear position included in a gear shift instruction, and control the gear shift hub to move to the target gear shift position; a speed control parameter calculation module, used to determine a target motor speed corresponding to the motor according to the target engine gear, and detect a first actual motor speed corresponding to the motor; Calculating a motor speed difference according to the first actual motor speed and the target motor speed, reading a driver mode and a driver behavior data, and determining a target speed regulation time parameter by querying a preset speed regulation time mapping table according to the driver mode and the driver behavior data; Determining a target speed regulation parameter based on the motor speed difference and the target speed regulation time parameter, and determining a motor torque intervention capability parameter corresponding to the motor; In a case where it is detected that the target speed regulation parameter is greater than the motor torque intervention capability parameter, determining a first remaining speed regulation intervention torque; allocating the first remaining speed regulation intervention torque to the engine, and allocating the speed regulation intervention torque to the motor according to the target speed regulation parameter, so as to adjust the actual motor speed of the motor to the target motor speed through the engine; The gear switching control module is used to adjust the hybrid power system when the actual motor speed of the motor reaches the target motor speed, so that the real-time engine gear of the engine is switched to the target engine gear.

10. A vehicle, characterized in that: The vehicle comprises: a hybrid power system, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the gear shifting method according to any one of claims 1 to 8.

11. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the gear switching method according to any one of claims 1 to 8 are implemented.

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