Engineering vehicle gear shifting control method and device, electronic equipment, readable storage medium and program product

Abstract

The invention relates to an engineering vehicle gear shifting control method and device, electronic equipment, a readable storage medium and a program product. The TCU detects the vehicle speed when acquiring a gear shifting request, controls the vehicle to enter a static gear shifting mode when determining that the vehicle speed is smaller than or equal to a set vehicle speed threshold value and the duration reaches a set duration threshold value, performs gear shifting based on the static gear shifting mode, and performs gear shifting based on the static gear shifting mode when determining that the vehicle speed is larger than the set vehicle speed threshold value. And controlling the vehicle to enter the dynamic gear shifting mode under the condition that the duration reaches the set duration threshold value, and performing gear shifting based on the dynamic gear shifting mode so as to realize gear shifting by adopting different modes based on different states of the vehicle, thereby improving the gear shifting success rate. And in the static gear shifting mode, a torque closed-loop mode is adopted for speed regulation, and in the dynamic gear shifting mode, a rotating speed closed-loop mode is adopted for speed regulation, so that gear shifting impact can be reduced, the gear shifting response speed and the gear shifting success rate are improved, the condition of rotating speed regulation failure is avoided, and the gear shifting safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, electronic device, readable storage medium and program product for controlling gear shifting of an engineering vehicle. Background Art

[0002] With the maturity of electronic control technology and the development of the new energy industry, new energy off-road dump trucks are becoming more and more popular in the market due to their advantages such as large load capacity, strong power, fast response, energy saving and environmental protection.

[0003] However, due to the large tonnage and high load of new energy off-road dump trucks, and the very complex and harsh working environment, traditional technologies mainly use pneumatic shifting, hydraulic shifting and other methods. Although these methods can achieve shifting, there are problems such as slow shifting response, large shifting impact, and low shifting success rate. At the same time, these methods are prone to cause the gearbox to disengage when the oil circuit or gas circuit of the vehicle fails, causing the power of the vehicle to be interrupted, which poses certain safety hazards. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, electronic device, computer-readable storage medium and computer program product for a gear shift control of an engineering vehicle in order to solve the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a method for controlling a gear shift of an engineering vehicle, comprising:

[0006] When a gear shift request is obtained, detecting the speed of the vehicle;

[0007] When it is determined that the vehicle speed is less than or equal to a set vehicle speed threshold and the duration reaches a set duration threshold, controlling the vehicle to enter a static shift mode, performing gear shifting based on the static shift mode, and the static shift mode adopts a torque closed-loop method for speed regulation;

[0008] When it is determined that the vehicle speed is greater than the set vehicle speed threshold and the duration reaches the set duration threshold, the vehicle is controlled to enter a dynamic shift mode, and gears are shifted based on the dynamic shift mode, and the dynamic shift mode adopts a speed closed-loop method for speed regulation.

[0009] In one of the embodiments, the shifting based on the static shifting mode includes: sending a zero torque request to the drive motor, shifting the gear to neutral based on the PI control method, and controlling the gear selection motor to reach the target gear shifting position; adjusting the speed using a torque closed-loop method, and performing a torque compensation operation when the speed is determined to be adjusted to the target speed; and controlling the shifting motor to the target gear based on the PI algorithm.

[0010] In one of the embodiments, the shifting based on the dynamic shifting mode includes: sending a zero torque request to the drive motor, and when receiving zero torque feedback, shifting the gear to neutral based on the PI control method, and controlling the gear selection motor to reach the target gear position; speed regulation is performed in a speed closed-loop manner, and when receiving feedback on the completion of speed regulation, the shifting motor is controlled to the target gear based on the PI algorithm.

[0011] In one of the embodiments, the method further includes: sending a zero torque request to the drive motor during the process of controlling the shift motor to the target gear based on the PI algorithm; and outputting torque based on the current vehicle speed, accelerator pedal opening and current gear after controlling the shift motor to the target gear based on the PI algorithm.

[0012] In one of the embodiments, the method further includes: outputting fault prompt information when a transmission fault is detected in the vehicle.

[0013] In one of the embodiments, the method further includes: in the event that a transmission fault is detected in the vehicle, identifying a target fault level of the transmission fault based on a preset fault level classification strategy; determining a corresponding processing mechanism according to the target fault level, and performing fault processing based on the processing mechanism.

[0014] In one of the embodiments, the method further includes: when it is detected that the speed ratio difference of the vehicle transmission is greater than a set value, or when it is detected that the vehicle gear is out of the current gear of the transmission, triggering the gear anti-slip mechanism to control the vehicle to shift back into gear.

[0015] In one of the embodiments, the method further includes: triggering a forced upshift mechanism to control the vehicle to upshift when it is detected that the vehicle is heavily loaded and going downhill, and the motor speed of the vehicle reaches a set threshold.

[0016] In a second aspect, the present application also provides a gear shift control device for an engineering vehicle, the device comprising:

[0017] A request acquisition module, used to detect the speed of the vehicle when a gear shift request is obtained;

[0018] a shift module, for controlling the vehicle to enter a static shift mode when it is determined that the vehicle speed is less than or equal to a set vehicle speed threshold and the duration reaches a set duration threshold, and performing shifting based on the static shift mode, wherein the static shift mode adopts a torque closed-loop method for speed regulation;

[0019] The shift module is also used to control the vehicle to enter a dynamic shift mode when it is determined that the vehicle speed is greater than the set vehicle speed threshold and the duration reaches the set duration threshold, and to shift gears based on the dynamic shift mode, and the dynamic shift mode adopts a speed closed-loop method for speed regulation.

[0020] In a third aspect, the present application further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0021] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0022] In a fifth aspect, the present application also provides a computer program product, including a computer program, which implements the steps of the above method when executed by a processor.

[0023] The above-mentioned engineering vehicle shift control method, device, electronic device, computer-readable storage medium and computer program product detect the vehicle speed when a shift request is obtained. When it is determined that the vehicle speed is less than or equal to the set speed threshold and the duration reaches the set duration threshold, the vehicle is controlled to enter the static shift mode and shifts based on the static shift mode. When it is determined that the vehicle speed is greater than the set speed threshold and the duration reaches the set duration threshold, the vehicle is controlled to enter the dynamic shift mode and shifts based on the dynamic shift mode, so as to achieve different modes for shifting based on different vehicle states, thereby improving the shift success rate. In the static shift mode, the torque closed-loop method is used for speed regulation, and in the dynamic shift mode, the speed closed-loop method is used for speed regulation, so as to reduce the shift shock, improve the shift response speed and the shift success rate, avoid the speed regulation failure, and thus improve the safety of the shift process. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic flow chart of a method for controlling a gear shift of an engineering vehicle in one embodiment;

[0026] Figure 2 is a schematic flow chart of a static shifting step in one embodiment;

[0027] Figure 3 is a schematic flow chart of a dynamic shifting step in one embodiment;

[0028] Figure 4 is a structural block diagram of a gear shift control device for an engineering vehicle in one embodiment;

[0029] Figure 5 FIG. 4 is a diagram showing the internal structure of an electronic device in one embodiment. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0031] In one embodiment, Figure 1 As shown, a method is provided. This embodiment takes the method applied to a TCU (Transmission Control Unit) of an engineering vehicle as an example for illustration, wherein the engineering vehicle may be a heavy transport vehicle, a large crane, an excavator, etc. The method may specifically include the following steps:

[0032] Step 102: When a gear shift request is obtained, the vehicle speed is detected.

[0033] Among them, the gear shift request can be a request for shifting the vehicle triggered by the driver of the vehicle. Specifically, the driver can initiate the gear shift request by operating the gear shift handle. It can be understood that the gear shift request carries the target gear position of the gear shift, that is, the gear position corresponding to the target position reached by the driver operating the gear shift handle. The vehicle speed refers to the current driving speed of the vehicle, and current means the moment when the TCU obtains the gear shift request.

[0034] In this embodiment, when the TCU obtains a gear shift request, it can detect the real-time vehicle speed of the vehicle, and then perform gear shift control based on the detected real-time vehicle speed.

[0035] Step 104 , when it is determined that the vehicle speed is less than or equal to the set vehicle speed threshold and the duration reaches the set duration threshold, control the vehicle to enter the static shift mode and perform gear shifting based on the static shift mode.

[0036] Among them, setting the vehicle speed threshold may be a pre-set vehicle speed condition for triggering different shifting modes. Setting the duration threshold may be a pre-set condition for the vehicle speed duration for triggering different shifting modes. Specifically, setting the vehicle speed threshold and setting the duration threshold may be set based on actual conditions. The static shifting mode uses a torque closed-loop method for speed regulation. In this mode, the TCU requests the drive motor to enter the torque control mode throughout the shifting process, thereby achieving impact-free gear engagement during shifting.

[0037] In this embodiment, when the TCU receives a gear shift request, it detects the real-time speed of the vehicle. When it is determined that the vehicle speed is less than or equal to the set speed threshold and the duration reaches the set duration threshold, it controls the vehicle to enter the static gear shift mode and shifts gears based on the static gear shift mode.

[0038] Step 106, when it is determined that the vehicle speed is greater than the set vehicle speed threshold and the duration reaches the set duration threshold, control the vehicle to enter the dynamic shift mode and perform gear shifting based on the dynamic shift mode.

[0039] Among them, the dynamic shifting mode adopts a speed closed-loop method for speed regulation. In this mode, the TCU adopts a combination of drive motor torque control and speed control to shift gears in order to improve the success rate of shifting.

[0040] In this embodiment, when the TCU receives a gear shift request, it detects the real-time speed of the vehicle. When it is determined that the vehicle speed is greater than a set speed threshold and the duration reaches a set duration threshold, it controls the vehicle to enter a dynamic gear shift mode and shifts gears based on the dynamic gear shift mode.

[0041] For example, if the vehicle speed threshold is set to 2km / h (i.e. 2 kilometers per hour) and the duration threshold is set to 2s (s represents seconds), when the TCU receives a shift request, it can detect the vehicle's real-time speed. If the real-time speed is less than or equal to 2km / h and lasts for 2s, the vehicle is controlled to enter the static shift mode and shift gears based on the static shift mode; if the real-time speed is greater than 2km / h and lasts for 2s, the vehicle is controlled to enter the dynamic shift mode and shift gears based on the dynamic shift mode.

[0042] In the above-mentioned engineering vehicle shift control method, when the TCU obtains a shift request, it detects the vehicle speed. When it is determined that the vehicle speed is less than or equal to the set speed threshold and the duration reaches the set duration threshold, it controls the vehicle to enter the static shift mode and performs shifting based on the static shift mode. When it is determined that the vehicle speed is greater than the set speed threshold and the duration reaches the set duration threshold, it controls the vehicle to enter the dynamic shift mode and performs shifting based on the dynamic shift mode, so as to achieve different modes for shifting based on different vehicle states, thereby improving the shifting success rate. In the static shift mode, the torque closed-loop method is used for speed regulation, and in the dynamic shift mode, the speed closed-loop method is used for speed regulation, so as to reduce the shifting shock, improve the shifting response speed and the shifting success rate, avoid the speed regulation failure, and thus improve the safety of the shifting process.

[0043] In an exemplary embodiment, Figure 2 As shown, in step 104, shifting is performed based on the static shift mode, which may specifically include:

[0044] Step 202 , sending a zero torque request to the drive motor, shifting the gear to neutral based on the PI control method, and controlling the gear selection motor to reach the gear shift target position.

[0045] Among them, PI control refers to proportional-integral control technology. During the process of gearbox shifting and shifting, PI control can be used to optimize the smoothness and response speed of gear shifting. Specifically, the proportional (P) control part adjusts the control amount according to the current error (i.e., the difference between the expected value and the actual value). The larger the error, the larger the amplitude of the control amount adjustment. When shifting or shifting, if the actual working state of the gearbox deviates from the expected state, the proportional control will respond quickly and adjust the action of the clutch or shift mechanism to reduce the error. Integral (I) control takes into account the cumulative effect of the error over time. If there is a continuous deviation in the system, even if the proportional control has reached the limit, the system may still not reach the expected state. Integral control adjusts the control amount by integrating (accumulating) the error to eliminate the steady-state error. During the gear shifting process, if there is a continuous small error, integral control can help the system gradually adjust until the error is eliminated. In actual applications, the PI control algorithm will be adjusted according to the dynamic characteristics and performance requirements during the gear shifting process. For example, to achieve fast and smooth gear shifts, the control system may set a high proportional gain to quickly respond to the shift command, while using integral control to eliminate any steady-state errors and ensure that the transmission can stabilize in the correct gear after the shift.

[0046] In this embodiment, the TCU sends a zero torque request to the drive motor in the static shift mode, and controls the shift motor to shift to neutral based on the PI control method, so as to achieve rapid and accurate shifting. In the process of gear switching, the shift fork of the gear selection motor can be controlled to reach the gear shift target position based on the PI control method. Specifically, the gear shift target position refers to the shift fork position of the gear selection motor corresponding to the target gear position of the gear shift.

[0047] Step 204, speed regulation is performed in a torque closed-loop manner, and when the speed is determined to be regulated to the target speed, a torque compensation operation is performed.

[0048] The target speed refers to the motor speed condition pre-set for torque compensation operation. In this embodiment, after the TCU performs gear shifting and gear layer switching based on the above steps, it can use torque closed loop to adjust the speed. Specifically, the current real-time position of the shift motor and the real-time speed of the motor can be combined, and then the duty cycle of the shift motor can be adjusted in real time through PI adjustment, and the torque compensation operation can be performed when the real-time speed of the motor reaches the target speed.

[0049] For example, if the preset target speed is 30r / m (i.e. 30 revolutions per minute), and the torque compensation operation is to request 10N torque and last for 0.2s, then in the torque closed-loop speed regulation process, the real-time motor speed can be detected. If the real-time motor speed reaches 30r / m, the torque compensation operation is performed by PI regulation, such as requesting 10N torque and lasting for 0.2s, to adjust the motor torque in real time.

[0050] Step 206 , controlling the shift motor to the target gear position based on the PI algorithm.

[0051] Specifically, after the speed regulation process is performed according to the above steps, the TCU can also control the shift motor to the target gear position based on the PI algorithm, that is, control the shift motor to advance the gear, thereby completing the gear shift.

[0052] In the above embodiment, the gear shifting and shifting are all controlled by PI control technology, so that the gear shifting target position can be reached quickly and accurately, so that the gear shifting interruption time of the whole vehicle is controlled within 0.3s. Compared with pneumatic shifting, hydraulic shifting and other methods, it has the advantages of faster and more accurate gear shifting response, higher gear shifting success rate, and smaller gear shifting impact, which can effectively avoid the problem of gearbox disengagement and power interruption of the whole vehicle when the oil circuit and gas circuit of the whole vehicle fail. In addition, the torque closed-loop method is used for speed regulation in the static shifting mode, and the duty cycle of the shifting motor is adjusted in real time by PI regulation, so that the gears can be meshed without impact during gear shifting. Compared with the direct application of speed control speed regulation, the impact is small, the gear shifting success rate is high, and the speed control adjustment failure can be effectively prevented, thereby avoiding safety accidents.

[0053] In an exemplary embodiment, Figure 3 As shown, in step 106, shifting is performed based on the dynamic shifting mode, which may specifically include:

[0054] Step 302, sending a zero torque request to the drive motor, and when receiving zero torque feedback, shifting the gear to neutral based on the PI control method, and controlling the gear selection motor to reach the gear shift target position.

[0055] In this embodiment, in the dynamic shift mode, the TCU sends a zero torque request to the drive motor for torque clearance, and controls the shift motor to shift to neutral based on the PI control method when receiving zero torque feedback, so as to achieve rapid and accurate shifting. Furthermore, during the gear switching process, the shift fork of the shift selection motor can be controlled to reach the shift target position based on the PI control method. Specifically, the shift target position refers to the shift fork position of the shift selection motor corresponding to the target gear position of the shift.

[0056] Step 304, speed regulation is performed in a closed-loop manner, and when feedback indicating that the speed regulation is completed is received, the shift motor is controlled to the target gear position based on the PI algorithm.

[0057] In this embodiment, after the TCU performs gear shifting and gear layer switching based on the above steps, it can use a speed closed-loop method to adjust the speed. Specifically, during the speed regulation process, the TCU can accurately calculate the motor speed required for each target gear position, so that the speed ratio difference of the gearbox (i.e., the difference between the gearbox input end speed / speed ratio-output end speed, where the speed ratio is the ratio of the gearbox output end speed to the gearbox input end speed) is around 50r, and the speed regulation completion judgment is made in combination with the real-time motor speed overshoot margin to achieve the effect of real-time calculation of the target motor speed during gear shifting, which is a key step for the successful one-time gear shifting. Then, when the speed regulation completion feedback is received, the gear shifting motor is controlled to the target gear position based on the PI algorithm, that is, the gear shifting motor is controlled to shift, so as to ensure the success rate of dynamic gear shifting.

[0058] In one scenario, while the TCU is controlling the shift motor to the target gear based on the PI algorithm, it can also send a zero torque request to the drive motor in real time, thereby effectively reducing the shift shock and vehicle jerking when shifting gears quickly.

[0059] In another scenario, after the TCU controls the shift motor to the target gear based on the PI algorithm, it can also output torque based on the vehicle's current speed, accelerator pedal opening and current gear. That is, torque output is performed with the vehicle's current speed, accelerator pedal opening and current gear as restriction conditions, thereby realizing a torque output closed loop to ensure the smoothness of the vehicle operation before and after the gear shift.

[0060] In an exemplary embodiment, the above-mentioned engineering vehicle shift control method may also include: outputting fault prompt information when a gearbox failure is detected in the vehicle. Among them, gearbox failure is a common mechanical problem in automobiles, which is usually manifested as difficulty in shifting and engaging gears, slipping, poor TCU communication, voltage jump, abnormal noise and other symptoms, which may be caused by a variety of reasons. When a gearbox fails, it usually means that there is a problem inside the gearbox. Therefore, the TCU can monitor the operation of the vehicle's gearbox in real time, and output fault prompt information when a gearbox failure is detected in the vehicle to remind the driver that there may be an abnormality in the gearbox, so that it can be handled in time to avoid safety accidents.

[0061] In one scenario, when the TCU detects that a transmission fault occurs in the vehicle, it can also identify the target fault level of the transmission fault based on a preset fault level classification strategy; determine the corresponding processing mechanism according to the target fault level, and perform fault processing based on the processing mechanism. Among them, the fault level classification strategy can be a pre-set method for classifying the fault level of the transmission fault, and the fault level can be a classification of the fault based on the severity of the consequences that the fault may produce. Specifically, the fault level classification strategy can be a fault classification table for classifying fault levels based on transmission faults, which can include different fault levels and specific faults corresponding to the transmission at each fault level. The target fault level is the specific fault level of the currently identified transmission fault. The processing mechanism is the way to handle a specific fault.

[0062] In this embodiment, when the TCU detects that the vehicle has a gearbox fault, it can identify the target fault level of the gearbox fault based on the preset fault level classification strategy, and then determine the corresponding processing mechanism according to the target fault level, and perform fault processing based on the processing mechanism. For example, if the fault level classification strategy includes three fault levels from low to high severity, namely level 1, level 2 and level 3, the processing mechanism of the level 1 fault is that the vehicle can drive normally after the fault is eliminated, the processing mechanism of the level 2 fault is that the vehicle can continue to drive after confirming that the fault is eliminated after parking for 5 seconds, and the processing mechanism of the level 3 fault is to pull over and troubleshoot the fault. Then the TCU determines the target fault level of the gearbox fault based on the current gearbox fault of the vehicle and the preset fault level classification strategy, and uses the corresponding level of processing mechanism to handle the fault. If the fault level is level 1 or level 2, the TCU can perform fault self-elimination in combination with the current vehicle conditions, which can ensure both driving safety and vehicle work efficiency. At the same time, the TCU can also remind the driver according to the target fault level, so that the driver can intuitively understand the real-time status of the vehicle.

[0063] In an exemplary embodiment, the above-mentioned engineering vehicle shift control method may also include: when it is detected that the speed ratio difference of the vehicle's gearbox is greater than a set value, or when it is detected that the vehicle gear is out of the current gear of the gearbox, triggering the gear anti-slip mechanism and controlling the vehicle to shift back into gear.

[0064] The set value may be a pre-set specific condition for triggering the gear anti-dropout mechanism, which may be set based on the actual situation of the vehicle, for example, it may be set to 150r. Specifically, when the TCU detects that the speed ratio difference of the vehicle gearbox (i.e., the difference between the gearbox input speed / speed ratio-output speed) is greater than 150r, the gear anti-dropout mechanism is triggered to control the vehicle to shift back to the target gear, so as to prevent the gear from dropping out, avoid the risk of driving power interruption, and improve the stability of the vehicle.

[0065] In one scenario, when the TCU detects that the vehicle gear is out of the current gear of the gearbox, it can also trigger the gear anti-dropout mechanism and control the vehicle to re-shift, that is, to push the gear back to the target gear, thereby reducing the risk of driving power interruption and improving the stability of the vehicle. It is understandable that the specific conditions for triggering the gear anti-dropout mechanism can also be set in combination with motor torque, motor speed, output shaft speed, gearbox ratio, gear shift position voltage, etc., and this embodiment does not limit this.

[0066] In an exemplary embodiment, the above-mentioned engineering vehicle shift control method may further include: triggering a forced upshift mechanism to control the vehicle to upshift when it is detected that the vehicle is heavily loaded and going downhill, and the motor speed of the vehicle reaches a set threshold.

[0067] Among them, the set threshold value can be the maximum value of the normal speed of the motor set in advance. Due to the large tonnage and high load capacity of engineering vehicles, when the heavy-loaded vehicle is going down a steep slope, if the driver makes a mistake in operation or the braking force is not enough to control the current vehicle speed, the passive speed of the drive motor will be too high, and even the drive motor will be damaged. Based on this, in order to deal with this situation, this embodiment controls the vehicle to shift up by adding a forced upshift mechanism in the TCU. Specifically, when the TCU detects that the vehicle is heavily loaded downhill and the motor speed of the vehicle reaches the set threshold, for example, when the motor speed is greater than 3300r / m, the TCU is triggered to actively shift up. During the TCU shifting process, the target speed of the drive motor is calculated in real time. When the output shaft speed changes too quickly due to downhill, emergency torque compensation is performed to maintain the front and rear end speeds less than 100r, thereby ensuring the safety of the drive motor, allowing the vehicle to travel normally, and ensuring the maximum shift success rate, which is of great significance to maintaining the safety of the vehicle power chain.

[0068] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0069] Based on the same inventive concept, the embodiment of the present application also provides an engineering vehicle shift control device for implementing the above-mentioned engineering vehicle shift control method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more embodiments of the engineering vehicle shift control device provided below can refer to the limitations of the engineering vehicle shift control method above, and will not be repeated here.

[0070] In an exemplary embodiment, Figure 4 As shown, a shift control device for an engineering vehicle is provided, comprising: a request acquisition module and a shift module, wherein:

[0071] A request acquisition module, used to detect the speed of the vehicle when a gear shift request is obtained;

[0072] a shift module, for controlling the vehicle to enter a static shift mode when it is determined that the vehicle speed is less than or equal to a set vehicle speed threshold and the duration reaches a set duration threshold, and performing shifting based on the static shift mode, wherein the static shift mode adopts a torque closed-loop method for speed regulation;

[0073] The shift module is also used to control the vehicle to enter a dynamic shift mode when it is determined that the vehicle speed is greater than the set vehicle speed threshold and the duration reaches the set duration threshold, and to shift gears based on the dynamic shift mode, and the dynamic shift mode adopts a speed closed-loop method for speed regulation.

[0074] In an exemplary embodiment, the shift module is specifically used to: send a zero torque request to the drive motor, shift the gear to neutral based on the PI control method, and control the gear selection motor to reach the gear shift target position; use a torque closed-loop method to adjust the speed, and perform a torque compensation operation when the speed is determined to be adjusted to the target speed; control the shift motor to the target gear based on the PI algorithm.

[0075] In an exemplary embodiment, the shift module is specifically used to: send a zero torque request to the drive motor, and when receiving zero torque feedback, shift the gear to neutral based on the PI control method, and control the gear selection motor to reach the gear shift target position; use a speed closed-loop method to adjust the speed, and when receiving speed adjustment completion feedback, control the shift motor to the target gear based on the PI algorithm.

[0076] In an exemplary embodiment, the shift module is specifically used to: send a zero torque request to the drive motor during the process of controlling the shift motor to the target gear based on the PI algorithm; and output torque based on the current vehicle speed, accelerator pedal opening and current gear after controlling the shift motor to the target gear based on the PI algorithm.

[0077] In an exemplary embodiment, the device further includes an output module for outputting fault prompt information when a transmission fault is detected in the vehicle.

[0078] In an exemplary embodiment, the device also includes a fault processing module, which is used to identify the target fault level of the gearbox fault based on a preset fault level classification strategy when a gearbox fault is detected in the vehicle; determine a corresponding processing mechanism according to the target fault level, and perform fault processing based on the processing mechanism.

[0079] In an exemplary embodiment, the device also includes a shift-back module, which is used to trigger a gear-anti-slip mechanism and control the vehicle to shift back into gear when it is detected that the speed ratio difference of the vehicle's gearbox is greater than a set value, or when it is detected that the vehicle's gear is out of the current gear of the gearbox.

[0080] In an exemplary embodiment, the device further includes an upshift module for triggering a forced upshift mechanism to control the vehicle to upshift when it is detected that the vehicle is heavily loaded and going downhill and the motor speed of the vehicle reaches a set threshold.

[0081] Each module in the above-mentioned engineering vehicle shift control device can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0082] In an exemplary embodiment, an electronic device is provided. The electronic device may be a TCU, and its internal structure diagram may be as follows: Figure 5As shown. The electronic device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, etc. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the electronic device is used to exchange information between the processor and an external device. The communication interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for controlling gear shifting of an engineering vehicle is implemented.

[0083] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0084] In an exemplary embodiment, an electronic device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0085] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0086] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0087] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0088] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0089] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A gear shift control method for an engineering vehicle, characterized in that: The method comprises: When a gear shift request is obtained, detecting the speed of the vehicle; When it is determined that the vehicle speed is less than or equal to a set vehicle speed threshold and the duration reaches a set duration threshold, controlling the vehicle to enter a static shift mode, performing gear shifting based on the static shift mode, and the static shift mode adopts a torque closed-loop method for speed regulation; When it is determined that the vehicle speed is greater than the set vehicle speed threshold and the duration reaches the set duration threshold, the vehicle is controlled to enter a dynamic shift mode, and gears are shifted based on the dynamic shift mode, and the dynamic shift mode adopts a speed closed-loop method for speed regulation.

2. The method according to claim 1, characterized in that: The shifting based on the static shift mode includes: Send a zero torque request to the drive motor, shift the gear to neutral based on the PI control method, and control the gear selection motor to reach the gear shift target position; The torque closed loop method is used for speed regulation. When the speed is regulated to the target speed, the torque compensation operation is performed. The shift motor is controlled to the target gear position based on the PI algorithm.

3. The method according to claim 1, characterized in that The shifting based on the dynamic shifting mode includes: Send a zero torque request to the drive motor. When receiving zero torque feedback, shift the gear to neutral based on the PI control method and control the gear selection motor to reach the gear shift target position. The speed is regulated by a closed-loop speed method. When feedback indicating that the speed regulation is completed is received, the shift motor is controlled to the target gear position based on the PI algorithm.

4. The method according to claim 3, characterized in that The method further comprises: In the process of controlling the shift motor to the target gear position based on the PI algorithm, sending a zero torque request to the drive motor; After the gear shifting motor is controlled to the target gear position based on the PI algorithm, torque output is performed based on the current vehicle speed, accelerator pedal opening and current gear position.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: When a gearbox failure is detected in the vehicle, outputting a fault prompt message; or, When a gearbox fault is detected in the vehicle, a target fault level of the gearbox fault is identified based on a preset fault level classification strategy; a corresponding processing mechanism is determined according to the target fault level, and fault processing is performed based on the processing mechanism.

6. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: When it is detected that the speed ratio difference of the vehicle gearbox is greater than a set value, or when it is detected that the vehicle gear is out of the current gear of the gearbox, the gear anti-dropout mechanism is triggered to control the vehicle to shift back into gear; or When it is detected that the vehicle is heavily loaded and going downhill, and the motor speed of the vehicle reaches a set threshold, a forced upshift mechanism is triggered to control the vehicle to upshift.

7. A gear shift control device for an engineering vehicle, characterized in that: The device comprises: A request acquisition module, used for detecting the speed of the vehicle when a gear shift request is obtained; a shift module, for controlling the vehicle to enter a static shift mode when it is determined that the vehicle speed is less than or equal to a set vehicle speed threshold and the duration reaches a set duration threshold, and performing shifting based on the static shift mode, wherein the static shift mode adopts a torque closed-loop method for speed regulation; The shift module is also used to control the vehicle to enter a dynamic shift mode when it is determined that the vehicle speed is greater than the set vehicle speed threshold and the duration reaches the set duration threshold, and to shift gears based on the dynamic shift mode, and the dynamic shift mode adopts a speed closed-loop method for speed regulation.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

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

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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