Vehicle gear shifting control method and device, vehicle and computer readable storage medium

Abstract

The invention provides a vehicle gear shifting control method and device, a vehicle and a computer readable storage medium, and relates to the technical field of vehicle control. The method comprises the steps that under the condition that the gear shifting condition that a first forward gear is switched to a second forward gear is met, the first forward gear is switched to a neutral gear, and multiple pieces of detection data are obtained; each piece of detection data is used for calculating the rotating speed of the motor, the calculation modes of each piece of detection data for calculating the rotating speed of the motor are different, the multiple pieces of detection data carry priorities, the higher the priorities of the detection data are, the higher the accuracy of the rotating speed of the motor calculated by the detection data is, and vice versa; determining target data from the multiple pieces of detection data according to the priority; determining a target rotating speed of the driving motor according to the target data; and the rotating speed of the driving motor is adjusted according to the target rotating speed, and under the condition that the rotating speed of the driving motor reaches the target rotating speed, the neutral gear is switched to the second forward gear. The gear shifting success rate of the new energy vehicle can be increased.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and more specifically, to a vehicle shift control method, device, vehicle and computer-readable storage medium in the field of vehicle control technology. Background Art

[0002] With the rapid development of new energy vehicles, drive motors of different powers and speed ranges have been widely used. Limited by the speed range and efficiency range of the motor, in order to achieve higher vehicle speed and electric drive system efficiency, two-speed gearboxes have gradually begun to be used in large quantities in electric vehicles with higher configurations. Different from the gearbox of traditional fuel vehicles, the two-speed gearbox has only three gears: neutral, 1st gear and 2nd gear, and two transmission ratios, which can achieve full speed range shifting, large torque output at start, and make the whole vehicle run at the high efficiency range speed of the motor, thereby optimizing the power of the whole vehicle.

[0003] At present, the shift success rate of two-speed gearboxes is required to be high. Successful shifting can reduce the sense of frustration and make the driving process smoother, thereby improving the comfort of the driver and passengers. Therefore, how to improve the shift success rate of new energy vehicles has become an urgent problem to be solved. Summary of the invention

[0004] The present application provides a vehicle shift control method, device, vehicle and computer-readable storage medium. The present application can not only improve the shift success rate of new energy vehicles, but also reduce the risk of damaging the gearbox.

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

[0006] When the shifting conditions for switching from the first forward gear to the second forward gear are met, the first forward gear is switched to neutral, and multiple detection data are obtained; wherein each detection data is used to calculate the motor speed, and each detection data calculates the motor speed in a different way, and the multiple detection data all carry a priority, and the priority is positively correlated with the accuracy corresponding to the priority, and the accuracy corresponding to the priority is: the accuracy of the motor speed determined according to the detection data corresponding to the priority; determining the target data from the multiple detection data according to the priority; determining the target speed of the drive motor according to the target data; adjusting the speed of the drive motor according to the target speed, and when the speed of the drive motor reaches the target speed, switching from the neutral gear to the second forward gear.

[0007] In the above technical scheme, the embodiment of the present application adopts the method of switching the first forward gear to neutral when the shifting conditions for switching from the first forward gear to the second forward gear are met, and obtaining multiple detection data, each detection data is used to calculate the motor speed, and the calculation method of each detection data for calculating the motor speed is different. The multiple detection data all carry a priority. The higher the priority of the detection data, the higher the accuracy of the motor speed calculated, and vice versa. The target data is determined from the multiple detection data according to the priority, the target speed of the drive motor is determined according to the target data, and the speed of the drive motor is adjusted according to the target speed. When the speed of the drive motor reaches the target speed, the technical scheme of switching from neutral to the second forward gear is realized. The target speed of the drive motor is calculated by using the detection data with high priority first. When the detection data with high priority cannot be used, the target speed of the drive motor is calculated by using the detection data with low priority, so that the vehicle can downshift or upshift when the drive motor rotates according to the target speed. During vehicle downshift or upshift, if the priority of the target data used to determine the target speed is higher, the speed difference between the dog gear and the gear sleeve in the gearbox is smaller, the noise generated during the meshing of the dog gear and the gear sleeve is smaller, the wear of the dog gear and the gear sleeve during gear shift can be reduced, the gear sleeve can be better protected, and the risk of damaging the gearbox can be reduced. If the priority of the target data used to determine the target speed is lower, the normal gear shifting of the vehicle can be ensured, and the fault tolerance rate of the vehicle gear shifting can be further guaranteed, which is conducive to improving the gear shifting success rate of new energy vehicles. With the improvement of the gear shifting success rate, the driving process can be smoother, thereby improving driving comfort.

[0008] In combination with the first aspect, in some possible implementations, determining the target data from the multiple detection data according to the priority includes: if it is determined that at least one detection data among the multiple detection data is normal data, sorting the at least one detection data according to the priority to obtain a first sorting result from high to low priority; and determining the target data based on the first detection data in the first sorting result.

[0009] Based on the above technical solution, by using the detection data with the highest priority among the detection data of normal data to determine the target data, it can be ensured that the target speed of the drive motor obtained by the target data is usable. When the target speed is used to control the drive motor in the subsequent process, it is beneficial to improve the safety of the vehicle's gear shifting.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining the target data based on the first detection data in the sorting result includes: using the second detection data in the first sorting result to verify the reliability of the first detection data; if the reliability verification of the first detection data passes, determining the first detection data as the target data.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after the second detection data in the first sorting result is used to verify the reliability of the first detection data, the vehicle shift control method also includes: if the reliability of the first detection data is not verified, the first detection data is deleted from the first sorting result to obtain a second sorting result; the second sorting result is used as the first sorting result, and the step of using the second detection data in the first sorting result to verify the reliability of the first detection data is performed, until the reliability of the lowest priority detection data among the at least one detection data cannot be verified, the lowest priority detection data is determined as the target data, or the current gear is kept in neutral, and a reminder message about the gear shift failure is output.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the use of the second detection data in the first sorting result to verify the reliability of the first detection data includes: determining the absolute value of the difference between the first speed and the second speed; wherein the first speed is the motor speed obtained according to the first detection data, and the second speed is the motor speed obtained according to the second detection data; if the absolute value of the difference is within the difference interval, it is determined that the reliability of the first detection data has been verified; if the absolute value of the difference is not within the difference interval, it is determined that the reliability of the first detection data has not been verified.

[0013] Based on the above technical solution, by using low-priority detection data to verify the reliability of high-priority detection data, it is possible to ensure that the obtained target data is reliable, and it is also possible to ensure that the calculated target speed of the drive motor is reliable, which is beneficial to improving the reliability of vehicle gear shifting.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining the target speed of the drive motor according to the target data includes: obtaining a preset correction coefficient corresponding to the target data; determining the initial speed of the drive motor according to the target data; and correcting the initial speed according to the preset correction coefficient to obtain the target speed.

[0015] Based on the above technical solution, when the drive motor is controlled by the corrected motor speed, the speed difference between the dog gear and the gear sleeve in the gearbox can be effectively reduced, thereby reducing the noise generated during the meshing of the dog gear and the gear sleeve, and also reducing the risk of damage to the gearbox.

[0016] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the multiple detection data include the output shaft speed of the gearbox, the wheel speed and the actual vehicle speed; the vehicle shift control method also includes: setting the priorities of the output shaft speed, the wheel speed and the actual vehicle speed to the first priority, the second priority and the third priority respectively; wherein the first priority>the second priority>the third priority.

[0017] In a second aspect, a vehicle shift control device is provided, the vehicle shift control device comprising:

[0018] A data acquisition module, used for switching the first forward gear to neutral when a shift condition for switching from the first forward gear to the second forward gear is met, and acquiring a plurality of detection data; wherein each detection data is used to calculate the motor speed, and each detection data calculates the motor speed in a different manner, and the plurality of detection data all carry a priority, and the priority is positively correlated with the accuracy corresponding to the priority, and the accuracy corresponding to the priority is: the accuracy of the motor speed determined according to the detection data corresponding to the priority;

[0019] A data selection module, used to determine target data from the plurality of detection data according to the priority;

[0020] A data calculation module, used to determine a target speed of the drive motor according to the target data;

[0021] The motor control module is used to adjust the speed of the drive motor according to the target speed, and switch from the neutral gear to the second forward gear when the speed of the drive motor reaches the target speed.

[0022] In conjunction with the second aspect, in some possible implementations, the data selection module includes:

[0023] A sorting unit, configured to sort the at least one detection data according to the priority level to obtain a first sorting result in descending order of priority level if it is determined that at least one detection data among the plurality of detection data is normal data;

[0024] A determination unit is used to determine the target data according to the first detection data in the first sorting result.

[0025] In combination with the second aspect and the foregoing implementation manner, in some possible implementation manners, the determining unit includes:

[0026] a verification subunit, configured to verify the reliability of the first detection data by using the second detection data in the first sorting result;

[0027] The first determining subunit is configured to determine the first detection data as the target data if the reliability verification of the first detection data passes.

[0028] In combination with the second aspect and the foregoing implementation manner, in some possible implementation manners, the determining unit includes:

[0029] The second determination subunit is used for deleting the first detection data from the first sorting result to obtain a second sorting result if the reliability of the first detection data has not been verified; using the second sorting result as the first sorting result, and executing the step of using the second detection data in the first sorting result to verify the reliability of the first detection data, until the reliability of the detection data with the lowest priority among the at least one detection data cannot be verified, determining the detection data with the lowest priority as the target data, or keeping the current gear position as neutral, and outputting a reminder message about a gear shift failure.

[0030] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the verification subunit is specifically used to determine the absolute value of the difference between the first speed and the second speed; wherein, the first speed is the motor speed obtained according to the first detection data, and the second speed is the motor speed obtained according to the second detection data; if the absolute value of the difference is within the difference interval, it is determined that the reliability of the first detection data has been verified; if the absolute value of the difference is not within the difference interval, it is determined that the reliability of the first detection data has not been verified.

[0031] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the data calculation module is specifically used to obtain a preset correction coefficient corresponding to the target data; determine the initial speed of the drive motor according to the target data; and correct the initial speed according to the preset correction coefficient to obtain the target speed.

[0032] In combination with the second aspect and the above implementations, in some possible implementations, the plurality of detection data includes an output shaft speed of the gearbox, a wheel speed, and an actual vehicle speed; and the vehicle shift control device further includes:

[0033] The setting unit is used to set the priorities of the output shaft rotation speed, the wheel speed and the actual vehicle speed to be the first priority, the second priority and the third priority respectively; wherein the first priority>the second priority>the third priority.

[0034] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle shift control method in the first aspect or any possible implementation of the first aspect.

[0035] In a fourth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the vehicle shift control method in the first aspect or any possible implementation of the first aspect.

[0036] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle shift control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic flow chart of a vehicle shift control method provided in an embodiment of the present application is shown;

[0038] Figure 2 A schematic structural diagram of a vehicle shift control device provided in an embodiment of the present application is shown;

[0039] Figure 3 A schematic structural diagram of a vehicle provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

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

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

[0042] With the rapid development of new energy vehicles, drive motors of different powers and speed ranges have been widely used. Limited by the speed range and efficiency range of the motor, in order to achieve higher vehicle speed and electric drive system efficiency, two-speed gearboxes have gradually begun to be used in large quantities in electric vehicles with higher configurations. Different from the gearbox of traditional fuel vehicles, the two-speed gearbox has only three gears: neutral, 1st gear and 2nd gear, and two transmission ratios, which can achieve full speed range shifting, large torque output at start, and make the whole vehicle run at the high efficiency range speed of the motor, thereby optimizing the power of the whole vehicle.

[0043] At present, the shift success rate of two-speed gearboxes is required to be high. Successful shifting can reduce the sense of frustration and make the driving process smoother, thereby improving the comfort of the driver and passengers. Among them, the shift mechanism used in the two-speed gearbox is a dog tooth structure, which can greatly reduce the cost of the gearbox compared to the synchronizer ring structure, but at the same time, the speed regulation process of shifting has strict requirements on the accuracy of the target speed of the drive motor. If the accuracy of the target speed of the drive motor is not high, it may increase the probability of vehicle shift failure and the risk of damaging the gear sleeve in the gearbox.

[0044] Based on the above problems, the embodiments of the present application provide a vehicle shift control method, device, vehicle and computer-readable storage medium. The present application obtains multiple detection data for calculating the target speed of the drive motor. The calculation method of the target speed of the drive motor for each detection data is different. Each detection data has a priority. The accuracy of the calculated target speed is represented by the priority. The higher the priority, the higher the accuracy, and the lower the priority, the lower the accuracy. The selection of the detection data for calculating the target speed is selected according to the priority, that is, the detection data for calculating the target speed is selected in order from high to low priority. The detection data with the highest priority is preferentially selected to calculate the target speed. When the detection data with the highest priority cannot be used, the detection data with the second highest priority is selected to calculate the target speed, and so on. After the target speed of the drive motor is obtained by the above method, the drive motor is controlled according to the target speed. When the vehicle downshifts or upshifts, if the accuracy of the target speed is higher, the drive motor is controlled by the target speed, so that the speed difference between the dog gear and the gear sleeve in the gearbox is smaller, and the noise generated during the meshing of the dog gear and the gear sleeve is smaller. This not only reduces the wear of the dog gear and the gear sleeve during gear shifting, but also better protects the gear sleeve, that is, reduces the risk of damaging the gearbox, and also reduces the situation where the speed is repeatedly adjusted to shift gears due to failure to meet the speed regulation window of the drive motor during gear shifting, which is beneficial to improving the shift success rate of new energy vehicles.

[0045] The following is an embodiment of a vehicle shift control method provided in an embodiment of the present application.

[0046] Figure 1 A schematic flow chart of a vehicle shift control method provided by an embodiment of the present application is shown, as Figure 1 As shown, the vehicle shift control method provided in the embodiment of the present application is applied to a vehicle, and the vehicle is a new energy vehicle, such as an electric vehicle or a hybrid vehicle. The drive motor of the vehicle can be a front drive motor or a rear drive motor (P4 motor). The drive motor can drive the vehicle alone or in conjunction with the engine to drive the vehicle. For example, the drive motor is a rear drive motor, and the rear drive motor is arranged on the rear drive axle. The gearbox configured for the vehicle is a 2-speed gearbox, or a gearbox with more than 2 gears, and the gearbox of the vehicle includes a dog gear and a gear sleeve. The embodiment of the present application takes a 2-speed gearbox as an example for explanation, and the 2-speed gearbox includes a 1st forward gear, a 2nd forward gear, and a neutral gear.

[0047] The above-mentioned vehicle shift control method includes the following schemes:

[0048] S110: When a shift condition for switching from the first forward gear to the second forward gear is satisfied, the first forward gear is switched to a neutral gear, and a plurality of detection data are acquired.

[0049] In an exemplary embodiment, during the driving of the vehicle, if it is determined that the shifting condition from the first forward gear to the second forward gear is satisfied, it indicates that the vehicle needs to shift from the first forward gear to the second forward gear. When the first forward gear is 1st gear and the second forward gear is 2nd gear, it indicates that the vehicle needs to shift up; when the second forward gear is 2nd gear and the second forward gear is 1st gear, it indicates that the vehicle needs to shift down. When the gear shifting conditions are met, the gear shift controller (ACU) controls the gearbox to switch the first forward gear to neutral. When the current gear of the vehicle is neutral, the drive motor controller (for example, the drive motor controller is the rear drive motor controller, the full English name is E-Motor Control Unit, abbreviated as P4M) obtains multiple detection data, the multiple detection data have different sources, each of the multiple detection data is used to calculate the motor speed, and each detection data calculates the motor speed in a different way, and the multiple detection data all carry a priority, and the priority is positively correlated with the accuracy corresponding to the priority. The accuracy corresponding to the priority is: the accuracy of the motor speed determined according to the detection data corresponding to the priority, that is, the higher the priority of the detection data, the higher the accuracy of the motor speed calculated, and vice versa.

[0050] In a possible implementation, the multiple detection data include the output shaft speed of the gearbox, the wheel speed and the actual vehicle speed. The output shaft speed of the gearbox is the same as the output shaft speed of the rear drive axle. The output shaft speed of the gearbox is acquired by the shaft speed sensor arranged on the rear drive axle. The wheel speed (in rpm) and the actual vehicle speed (also called the vehicle speed) are acquired by the vehicle body electronic stability program (ESP). Among them, the wheel speed includes the front wheel speed and / or the rear wheel speed. Regarding the priority setting of the output shaft speed of the gearbox, the wheel speed and the actual vehicle speed, the priorities of the output shaft speed of the gearbox, the wheel speed and the actual vehicle speed are set to the first priority, the second priority and the third priority respectively, that is, the priority of the output shaft speed of the gearbox is the first priority, the priority of the wheel speed is the second priority, and the priority of the actual vehicle speed is the third priority. Because the output shafts of the drive motor and the gearbox are close in mechanical connection, and the mechanical structure between the drive motor and the output shaft of the gearbox is less than that between the drive motor and the rear wheel, and the loss of mechanical transmission is also less, the accuracy of calculating the target speed of the drive motor through the output shaft speed of the gearbox is higher than the accuracy of calculating the target speed of the drive motor through the wheel speed, so the first priority is set higher than the second priority. In addition, because the wheel speed is directly collected by the vehicle body electronic stability system through the wheel speed sensor, and the actual vehicle speed is calculated by combining multiple data, the accuracy of calculating the target speed of the drive motor through the wheel speed is higher than the accuracy of calculating the target speed of the drive motor through the actual vehicle speed, so the second priority is set higher than the third priority, that is, the first priority> the second priority> the third priority.

[0051] S120: Determine target data from multiple detection data according to priority.

[0052] After obtaining multiple detection data, the respective priorities of the multiple detection data can be obtained, and the target data can be determined from the multiple detection data according to the priorities. The target data is one of the multiple detection data. The detection data with the highest priority is preferentially used as the target data. When the detection data with the highest priority cannot be used, the detection data with the second highest priority is used as the target data. When the detection data with the second highest priority cannot be used, the next detection data with a lower priority than the second highest priority is used as the target data, and so on. For example, the output shaft speed of the gearbox is preferentially used as the target data. If the output shaft speed of the gearbox cannot be used, the wheel speed is used as the target data. If the wheel speed cannot be used, the actual vehicle speed is used as the target number. By determining the target data for calculating the target speed in the above manner, the fault tolerance rate of the vehicle gear shifting can be guaranteed, and the vehicle can be ensured to shift gears normally as much as possible.

[0053] S130: Determine the target rotation speed of the drive motor according to the target data.

[0054] After the target data is determined, the target speed of the drive motor is calculated based on the target data.

[0055] S140: adjusting the speed of the driving motor according to the target speed, and switching from the neutral gear to the second forward gear when the speed of the driving motor reaches the target speed.

[0056] After obtaining the target speed, the actual speed of the drive motor is adjusted to the target speed. While the drive motor rotates at the target speed, the dog gear in the gearbox engages with the shift sleeve, thereby enabling the vehicle to switch from neutral to the second forward gear, that is, to achieve downshift or upshift.

[0057] The embodiment of the present application adopts a technical scheme of switching the first forward gear to neutral when the shifting condition for switching from the first forward gear to the second forward gear is met, and obtaining multiple detection data, each detection data is used to calculate the motor speed, and the calculation method of each detection data for calculating the motor speed is different. The multiple detection data all carry a priority. The detection data with a higher priority has a higher accuracy in calculating the motor speed, and vice versa. Target data is determined from the multiple detection data according to the priority, the target speed of the drive motor is determined according to the target data, the speed of the drive motor is adjusted according to the target speed, and when the speed of the drive motor reaches the target speed, the neutral gear is switched to the second forward gear. This technical scheme realizes the priority use of detection data with high priority to calculate the target speed of the drive motor. When the detection data with high priority cannot be used, the detection data with low priority is used to calculate the target speed of the drive motor, so that when the drive motor rotates according to the target speed, the vehicle can downshift or upshift. During vehicle downshift or upshift, if the priority of the target data used to determine the target speed is higher, the speed difference between the dog gear and the gear sleeve in the gearbox is smaller, the noise generated during the meshing of the dog gear and the gear sleeve is smaller, the wear of the dog gear and the gear sleeve during gear shift can be reduced, the gear sleeve can be better protected, and the risk of damaging the gearbox can be reduced. If the priority of the target data used to determine the target speed is lower, the normal gear shifting of the vehicle can be ensured, and the fault tolerance rate of the vehicle gear shifting can be further guaranteed, which is conducive to improving the gear shifting success rate of new energy vehicles. With the improvement of the gear shifting success rate, the driving process can be smoother, thereby improving driving comfort.

[0058] The following Figure 1 The specific implementation methods of each step in the illustrated embodiment are described as follows:

[0059] In a possible implementation, the above-mentioned determining the target data from the multiple detection data according to the priority includes the following scheme:

[0060] If it is determined that at least one of the multiple detection data is normal data, sort the at least one detection data according to the priority to obtain a first sorting result from high to low priority;

[0061] The target data is determined according to the first detection data in the first sorting result.

[0062] In order to ensure the reliability of vehicle shifting, it is necessary to ensure that the detection data is normal data. When the detection data is normal data, it can be ensured that the target speed of the drive motor calculated can be used. Therefore, after the drive motor controller obtains multiple detection data, it is determined which data in the multiple detection data are normal data and which data are abnormal data, and the abnormal data are filtered, the normal data are retained, and the detection data for calculating the target speed is selected from the normal data. Specifically, if it is detected that at least one detection data in the multiple detection data is normal data, at least one detection data is sorted according to the priority to obtain a first sorting result, and the detection data in the first sorting result are arranged according to the priority, with the high priority arranged in the front and the low priority arranged in the back. For example, when multiple detection data include the output shaft speed of the gearbox, the wheel speed and the actual vehicle speed, if the output shaft speed of the gearbox, the wheel speed and the actual vehicle speed are all normal data, the first sorting result obtained is: the output shaft speed of the gearbox, the wheel speed, and the actual vehicle speed. If the wheel speed and the actual vehicle speed are all normal data, the first sorting result obtained is: the wheel speed and the actual vehicle speed. If the actual vehicle speed is normal data, the first sorting result obtained is: actual vehicle speed.

[0063] Among them, to determine whether the output shaft speed of the gearbox is normal data, it is possible to determine whether the shaft speed sensor is abnormal (also called a fault). If the shaft speed sensor is not abnormal, that is, the shaft speed sensor is normal, the output shaft speed of the gearbox is considered to be normal data. The wheel speed and the actual vehicle speed are judged in the same way as to whether they are normal data. For example, the wheel speed and the actual vehicle speed each carry a data flag, and the data flag is used to indicate whether the data is valid data or invalid data. If the data flag indicates that the data is valid data, the data is considered to be normal data. If the data flag indicates that the data is invalid data, the data is considered to be abnormal data.

[0064] After obtaining the first sorting result, the target data is determined by the first detection data (the detection data with the highest priority) in the first sorting result. If the first sorting result is: the output shaft speed of the gearbox, the wheel speed, and the actual vehicle speed, the target data is determined by the output shaft speed of the gearbox; if the first sorting result is: the wheel speed and the actual vehicle speed, the target data is determined by the wheel speed; if the first sorting result is: the actual vehicle speed, the target data is determined by the actual vehicle speed.

[0065] Based on the above technical solution, by using the detection data with the highest priority among the detection data of normal data to determine the target data, it can be ensured that the target speed of the drive motor obtained by the target data is usable. When the target speed is used to control the drive motor in the subsequent process, it is beneficial to improve the safety of the vehicle's gear shifting.

[0066] In a possible implementation, the above-mentioned determining the target data according to the first detection data in the sorting result includes the following scheme:

[0067] The second test data in the first sorting result is used to verify the reliability of the first test data; if the reliability verification of the first test data is passed, the first test data is determined as the target data;

[0068] If the reliability of the first detection data fails to be verified, the first detection data is deleted from the first sorting result to obtain a second sorting result;

[0069] The second sorting result is used as the first sorting result, and the step of using the second detection data in the first sorting result to verify the reliability of the first detection data is performed, until the reliability of at least one detection data with the lowest priority among the remaining detection data cannot be verified, the detection data with the lowest priority is determined as the target data, or the current gear is kept in neutral, and a reminder message about the gear shift failure is output.

[0070] In order to ensure the reliability of the target data, the reliability of the first test data is verified by the second test data in the first sorting result. For example, the first sorting result is: the output shaft speed of the gearbox, the wheel speed, and the actual vehicle speed. The first test data is the output shaft speed of the gearbox, and the second test data is the wheel speed. That is, the reliability of the output shaft speed of the gearbox is verified by the wheel speed.

[0071] In a possible implementation, the above-mentioned use of the second detection data in the first sorting result to verify the reliability of the first detection data includes the following scheme:

[0072] Determine an absolute value of a difference between a first rotational speed and a second rotational speed; wherein the first rotational speed is a motor rotational speed obtained according to the first detection data, and the second rotational speed is a motor rotational speed obtained according to the second detection data;

[0073] If the absolute value of the difference is within the difference interval, it is determined that the reliability verification of the first test data has passed; wherein both the first test data and the second test data correspond to the difference interval;

[0074] If the absolute value of the difference is not within the difference interval, it is determined that the reliability of the first test data has not been verified.

[0075] In order to ensure the reliability of the target data, a plurality of preset detection data for calculating the motor speed of the drive motor are obtained in advance through actual vehicle testing, and a preset motor speed of the drive motor is calculated through each preset detection data, thereby obtaining a plurality of preset motor speeds, that is, each preset detection data corresponds to a preset motor speed, and then the absolute value of the difference between every two preset motor speeds is calculated, thereby obtaining the range of the absolute value of the difference between every two preset motor speeds, that is, the difference interval, and the difference interval corresponding to every two preset motor speeds is associated with the corresponding two preset detection data, that is, any two preset detection data in the plurality of preset detection data correspond to a difference interval. If the absolute value of the difference between the two preset motor speeds obtained by any two preset detection data is respectively located in the difference interval corresponding to the two preset detection data, then the two preset detection data are considered to be reliable.

[0076] The process of using the second detection data in the first sorting result to verify the reliability of the first detection data is illustrated by way of an example. For example, the first detection data is the output shaft speed of the gearbox, and the second detection data is the wheel speed. The first speed is calculated by the output shaft speed of the gearbox, and the second speed is calculated by the wheel speed. Then, the absolute value of the difference between the first speed and the second speed is calculated, and then it is determined whether the absolute value of the difference is within the difference interval corresponding to the output shaft speed of the gearbox and the wheel speed. If so, it is considered that the output shaft speed of the gearbox is reliable, that is, the reliability of the output shaft speed of the gearbox has been verified; if not, it is considered that the output shaft speed of the gearbox is unreliable, that is, the reliability of the output shaft speed of the gearbox has not been verified.

[0077] By determining that the reliability verification of the first detection data has passed, the first detection data is determined as the target data, so that the target speed of the drive motor is calculated by the first detection data in the first sorting result, for example, the target speed of the drive motor is calculated by the output shaft speed of the gearbox.

[0078] By determining that the reliability of the first detection data has not been verified, the first detection data is deleted from the first sorting result, and the first sorting result is updated to the second sorting result, that is, the second sorting result includes other detection data in the first sorting result except the first detection data. For example, the first sorting result is: the output shaft speed of the gearbox, the wheel speed, and the actual vehicle speed. After deleting the output shaft speed of the gearbox from the first sorting result, the wheel speed is the first detection data in the second sorting result, and the actual vehicle speed is the second detection data, that is, the second sorting result is: wheel speed, actual vehicle speed.

[0079] After the second sorting result is obtained, the second sorting result is used as the first sorting result, and the step of verifying the reliability of the first detection data using the second detection data in the first sorting result is repeated.

[0080] For example, the first detection data is the wheel speed, and the second detection data is the actual vehicle speed. The first rotation speed is calculated by the wheel speed, and the second rotation speed is calculated by the actual vehicle speed. Then, the absolute value of the difference between the first rotation speed and the second rotation speed is calculated, and then it is determined whether the absolute value of the difference is within the difference interval corresponding to the wheel speed and the actual vehicle speed. If it is, the wheel speed is considered to be reliable, that is, the reliability verification of the wheel speed has passed; if not, the wheel speed is considered to be unreliable, that is, the reliability verification of the wheel speed has not passed. By determining that the reliability verification of the first detection data has passed, the first detection data is determined as the target data, so that the target rotation speed of the drive motor is calculated by the first detection data in the first sorting result, for example, the target rotation speed of the drive motor is calculated by the wheel speed.

[0081] Based on the above method, if the reliability of all the test data verified as normal data except the test data with the lowest priority cannot be verified, and the reliability of other test data has not been verified, the test data with the lowest priority is determined as the target data, and the target speed of the drive motor is calculated by the test data with the lowest priority, so as to ensure that the vehicle can shift gears successfully. Alternatively, keep the current gear position as neutral, and output a reminder message about the gear shift failure to remind the user to stop the vehicle in time for vehicle maintenance to avoid traffic accidents.

[0082] Based on the above technical solution, by using low-priority detection data to verify the reliability of high-priority detection data, it is possible to ensure that the obtained target data is reliable, and it is also possible to ensure that the calculated target speed of the drive motor is reliable, which is beneficial to improving the reliability of vehicle gear shifting.

[0083] In a possible implementation, the above-mentioned determination of the target speed of the driving motor according to the target data includes the following schemes:

[0084] Obtaining a preset correction coefficient corresponding to the target data;

[0085] determining an initial speed of the driving motor according to target data;

[0086] The initial speed is corrected according to the preset correction coefficient to obtain the target speed.

[0087] Since the motor speed of the drive motor calculated by each test data is different in multiple test data, the speed difference between the dog-tooth gear and the gear sleeve in the gearbox is different when different motor speeds are used to control the drive motor. In order to reduce the speed difference between the dog-tooth gear and the gear sleeve in the gearbox, a preset correction coefficient corresponding to each test data is obtained through actual vehicle testing. After the motor speed obtained from the test data is corrected by the preset correction coefficient, when the drive motor is controlled by the corrected motor speed, the speed difference between the dog-tooth gear and the gear sleeve in the gearbox can be effectively reduced, thereby reducing the noise generated during the meshing of the dog-tooth gear and the gear sleeve, and also reducing the risk of damage to the gearbox.

[0088] If the target data is the output shaft speed of the gearbox, the output shaft speed of the gearbox is expressed as v 输出 , the initial speed is represented by v 初始 , v 初始 =v 输出 ×I, I represents the reduction ratio corresponding to the second forward gear, and the reduction ratio corresponding to the second forward gear is different from the reduction ratio corresponding to the first forward gear.

[0089] If the target data is wheel speed, for example, the wheel speed includes the left rear wheel speed and the right rear wheel speed, the left rear wheel speed is represented by v 左后 , the right rear wheel speed is represented by v 右后 The rolling radius of the vehicle's tire is expressed as R 滚 ,So:

[0090]

[0091] The above formula calculates v by the average of the left rear wheel speed and the right rear wheel speed. 初始 You can also calculate v by the average of the left front wheel speed and the right front wheel speed. 初始 , v can also be calculated by the average of the left rear wheel speed, the right rear wheel speed, the left front wheel speed and the right front wheel speed 初始 .

[0092] If the target data is the actual vehicle speed, the actual vehicle speed is represented by v 实际 , through v 实际 Calculate the wheel speed of the vehicle, deduce the initial speed through the calculated wheel speed of the vehicle, and use v实际 The calculated wheel speed of the vehicle is expressed as vvehicle, that is:

[0093]

[0094] After obtaining the initial speed, the product of the initial speed and the preset correction coefficient corresponding to the target data is determined as the target speed, and then the actual speed of the drive motor is adjusted to the target speed. This can reduce the speed difference between the dog gear and the gear sleeve in the gearbox, which can not only reduce the noise generated during the meshing of the dog gear and the gear sleeve in the gearbox, but also reduce the risk of damage to the gearbox.

[0095] The following is another embodiment of a vehicle shift control method provided in an embodiment of the present application.

[0096] The vehicle shift control method provided in the embodiment of the application is applied to a vehicle, and the vehicle shift control method includes the following schemes:

[0097] Step 210: When the shifting conditions from the first forward gear to the second forward gear are met, the first forward gear is switched to neutral, and the output shaft speed of the gearbox, the wheel speed and the actual vehicle speed are obtained. The priorities of the output shaft speed of the gearbox, the wheel speed and the actual vehicle speed decrease in sequence. The higher the priority of the output shaft speed of the gearbox, the wheel speed and the actual vehicle speed, the higher the accuracy of the motor speed of the drive motor calculated, and vice versa.

[0098] Step 220: If it is determined that the output shaft speed of the gearbox is normal data, the output shaft speed of the gearbox is used as the target data and step 230 is executed; if it is determined that the output shaft speed of the gearbox is abnormal data and the wheel speed is normal data, the wheel speed is used as the target data and step 230 is executed; if it is determined that the output shaft speed of the gearbox and the wheel speed are both abnormal data and the actual vehicle speed is normal data, the actual vehicle speed is used as the target data and step 230 is executed; if it is determined that the output shaft speed of the gearbox, the wheel speed and the actual vehicle speed are all abnormal data, step 250 is executed.

[0099] Step 230: Determine the target speed of the drive motor according to the target data.

[0100] Step 240: adjusting the speed of the drive motor according to the target speed, and switching from the neutral gear to the second forward gear when the speed of the drive motor reaches the target speed.

[0101] Step 250: Keep the current gear position as neutral, and output a reminder message about a gear shift failure.

[0102] Based on the above technical solution, the present application realizes the priority use of the output shaft speed of the gearbox, the wheel speed and the actual vehicle speed data with high priority to calculate the target speed of the drive motor. When the data with high priority cannot be used, the data with low priority is used to calculate the target speed of the drive motor, so that when the drive motor rotates according to the target speed, the vehicle can be downshifted or upshifted. During the vehicle downshift or upshift, if the priority of the target data used to determine the target speed is higher, the speed difference between the dog gear and the gear sleeve in the gearbox is smaller, and the noise generated during the meshing of the dog gear and the gear sleeve is smaller, the wear of the dog gear and the gear sleeve during the gear shift can be reduced, and the gear sleeve can be better protected, which is conducive to reducing the risk of damaging the gearbox. If the priority of the target data used to determine the target speed is low, the normal gear shifting of the vehicle can be ensured, and the fault tolerance rate of the vehicle gear shifting can be further guaranteed, which is conducive to improving the gear shifting success rate of new energy vehicles.

[0103] In addition, the present application also has the following advantages: 1. The vehicle shift control method provided by the present application can cover vehicle models with different rolling radius of the tires of the whole vehicle, which is conducive to the platformization of vehicle models, and the scheme is simple to implement, simplifies the shifting process, and is conducive to reducing vehicle costs. 2. By adding the shaft speed sensor of the rear drive axle and combining it with the internal software shift control strategy, on the one hand, it can protect the gear sleeve in the gearbox; on the other hand, the vehicle shift test can be realized without the need for external workstations and external debugging equipment, saving production time of the production line, improving production line efficiency, and being conducive to software platformization. It can also ensure the normal shifting of various models equipped with P4 motors under different tire specifications, and improve the reliability and success rate of shifting.

[0104] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0105] Figure 2 FIG. 4 shows a schematic structural diagram of a vehicle shift control device provided by an embodiment of the present application, such as Figure 2 As shown, the vehicle shift control device 200 includes:

[0106] The data acquisition module 210 is used to switch the first forward gear to neutral when the shifting condition of switching from the first forward gear to the second forward gear is met, and to acquire a plurality of detection data; wherein each detection data is used to calculate the motor speed, and each detection data calculates the motor speed in a different manner, and the plurality of detection data all carry a priority, and the priority is positively correlated with the accuracy corresponding to the priority, and the accuracy corresponding to the priority is: the accuracy of the motor speed determined according to the detection data corresponding to the priority;

[0107] A data selection module 220, configured to determine target data from the plurality of detection data according to the priority;

[0108] A data calculation module 230, configured to determine a target rotation speed of the drive motor according to the target data;

[0109] The motor control module 240 is configured to adjust the speed of the drive motor according to the target speed, and switch from the neutral gear to the second forward gear when the speed of the drive motor reaches the target speed.

[0110] In a possible implementation, the data selection module 220 includes:

[0111] A sorting unit, configured to sort the at least one detection data according to the priority level to obtain a first sorting result in descending order of priority level if it is determined that at least one detection data among the plurality of detection data is normal data;

[0112] A determination unit is used to determine the target data according to the first detection data in the first sorting result.

[0113] In a possible implementation manner, the determining unit includes:

[0114] a verification subunit, configured to verify the reliability of the first detection data by using the second detection data in the first sorting result;

[0115] The first determining subunit is configured to determine the first detection data as the target data if the reliability verification of the first detection data passes.

[0116] In a possible implementation manner, the determining unit includes:

[0117] The second determination subunit is used for deleting the first detection data from the first sorting result to obtain a second sorting result if the reliability of the first detection data has not been verified; using the second sorting result as the first sorting result, and executing the step of using the second detection data in the first sorting result to verify the reliability of the first detection data, until the reliability of the detection data with the lowest priority among the at least one detection data cannot be verified, determining the detection data with the lowest priority as the target data, or keeping the current gear position as neutral, and outputting a reminder message about a gear shift failure.

[0118] In one possible implementation, the verification subunit is specifically used to determine the absolute value of the difference between a first speed and a second speed; wherein the first speed is the motor speed obtained according to the first detection data, and the second speed is the motor speed obtained according to the second detection data; if the absolute value of the difference is within the difference interval, it is determined that the reliability of the first detection data has been verified; if the absolute value of the difference is not within the difference interval, it is determined that the reliability of the first detection data has not been verified.

[0119] In a possible implementation, the data calculation module 230 is specifically used to obtain a preset correction coefficient corresponding to the target data; determine the initial speed of the drive motor according to the target data; and correct the initial speed according to the preset correction coefficient to obtain the target speed.

[0120] In a possible implementation, the plurality of detection data includes the output shaft speed of the gearbox, the wheel speed and the actual vehicle speed; the vehicle shift control device 200 further includes:

[0121] The setting unit is used to set the priorities of the output shaft rotation speed, the wheel speed and the actual vehicle speed to be the first priority, the second priority and the third priority respectively; wherein the first priority>the second priority>the third priority.

[0122] It should be noted that the vehicle shift control device provided in the above embodiment only uses the division of the above functional modules as an example when executing the vehicle shift control method. In actual applications, the above functional distribution can be completed by different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle shift control device provided in the above embodiment and the vehicle shift control method embodiment belong to the same concept, so for details not disclosed in the device embodiment of the present application, please refer to the above-mentioned vehicle shift control method embodiment of the present application, and no further description will be given here.

[0123] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0124] Figure 3 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application is shown. Figure 3 As shown, the vehicle 300 includes: a memory 301 and a processor 302, wherein the memory 301 stores an executable program code 3011, and the processor 302 is used to call and execute the executable program code 3011 to perform a vehicle shift control method.

[0125] In this embodiment, the functional modules of the vehicle can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0126] In the case of dividing each functional module according to each function, the vehicle may include: a data acquisition module, a data selection module, a data calculation module, a motor control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0127] The vehicle provided in this embodiment is used to execute the above-mentioned vehicle shift control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0128] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes and data.

[0129] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0130] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle shift control method in the above-mentioned embodiment.

[0131] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle shift control method in the above-mentioned embodiment.

[0132] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes a vehicle shift control method in the above-mentioned embodiments.

[0133] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding vehicle shift control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle shift control method provided above, and will not be repeated here.

[0134] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0135] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0136] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle shift control method, characterized in that: The vehicle shift control method comprises: When a shift condition from the first forward gear to the second forward gear is met, the first forward gear is switched to neutral, and a plurality of detection data are acquired; wherein each detection data is used to calculate the motor speed, and each detection data calculates the motor speed in a different manner, and the plurality of detection data all carry a priority, and the priority is positively correlated with the accuracy corresponding to the priority, and the accuracy corresponding to the priority is: the accuracy of the motor speed determined according to the detection data corresponding to the priority; Determining target data from the plurality of detection data according to the priority; Determining a target speed of the drive motor according to the target data; The rotation speed of the drive motor is adjusted according to the target rotation speed, and when the rotation speed of the drive motor reaches the target rotation speed, the gear is switched from the neutral gear to the second forward gear.

2. The vehicle shift control method according to claim 1, characterized in that: Determining the target data from the plurality of detection data according to the priority comprises: If it is determined that at least one of the plurality of detection data is normal data, sorting the at least one detection data according to the priority to obtain a first sorting result from high to low priority; The target data is determined according to the first detection data in the first sorting result.

3. The vehicle shift control method according to claim 2, characterized in that: Determining the target data according to the first detection data in the sorting result includes: Using the second test data in the first sorting result to verify the reliability of the first test data; If the reliability verification of the first detection data passes, the first detection data is determined as the target data.

4. The vehicle shift control method according to claim 3, characterized in that: After verifying the reliability of the first detection data by using the second detection data in the first sorting result, the vehicle shift control method further includes: If the reliability of the first detection data fails to be verified, the first detection data is deleted from the first sorting result to obtain a second sorting result; The second sorting result is used as the first sorting result, and the step of using the second detection data in the first sorting result to verify the reliability of the first detection data is performed, until the reliability of the detection data with the lowest priority among the at least one detection data cannot be verified, and the detection data with the lowest priority is determined as the target data, or the current gear is kept in neutral, and a reminder message about a gear shift failure is output.

5. The vehicle shift control method according to claim 3, characterized in that: The using the second detection data in the first sorting result to verify the reliability of the first detection data includes: Determine an absolute value of a difference between a first speed and a second speed; wherein the first speed is a motor speed obtained according to the first detection data, and the second speed is a motor speed obtained according to the second detection data; If the absolute value of the difference is within the difference interval, it is determined that the reliability verification of the first detection data has passed; If the absolute value of the difference is not within the difference interval, it is determined that the reliability of the first detection data has not been verified.

6. The vehicle shift control method according to any one of claims 1 to 5, characterized in that: Determining the target speed of the drive motor according to the target data comprises: Obtaining a preset correction coefficient corresponding to the target data; determining an initial rotation speed of the driving motor according to the target data; The initial rotation speed is corrected according to the preset correction coefficient to obtain the target rotation speed.

7. The vehicle shift control method according to any one of claims 1 to 5, characterized in that: The plurality of detection data include the output shaft speed of the gearbox, the wheel speed and the actual vehicle speed; The vehicle shift control method further includes: The priorities of the output shaft rotation speed, the wheel speed and the actual vehicle speed are set to be the first priority, the second priority and the third priority respectively; wherein the first priority>the second priority>the third priority.

8. A vehicle shift control device, characterized in that: The vehicle shift control device comprises: A data acquisition module, used for switching the first forward gear to neutral when a shift condition for switching from the first forward gear to the second forward gear is met, and acquiring a plurality of detection data; wherein each detection data is used to calculate the motor speed, and each detection data calculates the motor speed in a different manner, and the plurality of detection data all carry a priority, and the priority is positively correlated with the accuracy corresponding to the priority, and the accuracy corresponding to the priority is: the accuracy of the motor speed determined according to the detection data corresponding to the priority; A data selection module, used to determine target data from the plurality of detection data according to the priority; A data calculation module, used to determine a target speed of the drive motor according to the target data; The motor control module is used to adjust the speed of the drive motor according to the target speed, and switch from the neutral gear to the second forward gear when the speed of the drive motor reaches the target speed.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory so that the vehicle executes the vehicle shift control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the vehicle shift control method according to any one of claims 1 to 7 is implemented.

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