Vehicle gear shifting control method and device, storage medium and equipment

Abstract

The invention provides a vehicle gear shifting control method and device, a storage medium and equipment, in the method, three gear shifting states are set according to the actual torque of a motor, the first state indicates that the motor is in a positive and negative reversing clearance motion state, and the second state indicates that the motor is in a state that a gear is tightly attached after clearance operation is completed; and the third state indicates that the motor is in a torque normal response state, in this way, under the low-speed DR gear shifting working condition, the current actual torque of the motor is obtained, the gear shifting state of the vehicle is determined accordingly, then the execution torque of the motor is filtered based on the slope corresponding to the gear shifting state, and the motor is controlled to output the filtered execution torque of the motor. In this way, accurate torque control is conducted according to the actual torque of the motor, and therefore shaking and abnormal sound caused by low-vehicle-speed DR gear shifting are effectively eliminated.

Description

Technical Field

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

[0002] The shaking and abnormal noise of the car are problems that many car owners may encounter. These symptoms not only affect the performance of the vehicle, but may also have a negative impact on the reliability and safety of the vehicle. When switching DR gears at low speed, the vehicle is prone to shaking and abnormal noise due to the inconsistency between the movement direction of the whole vehicle and the torque direction. The solution to this problem in the relevant technology is generally to obtain a smaller slope based on the target torque sent to the motor, use a smaller slope for filtering at the positive and negative torque switching point, and then perform a first-order low-pass filter on the target torque after slope filtering according to the DR gear switching condition to reduce the shaking and abnormal noise caused by switching DR gears at low speed. However, this method may cause the target torque to change continuously, while the actual motor does not respond. When the motor finally starts to respond, the actual target torque may have changed a lot, which will cause the motor to receive a huge torque change command in a short period of time, thereby generating shock and abnormal noise. Summary of the invention

[0003] The purpose of the present application is to provide a vehicle shift control method, device, storage medium and equipment, aiming to solve the problem in the related art that when shifting at a low vehicle speed DR, the whole vehicle still experiences shaking and abnormal noise.

[0004] In a first aspect, the present application provides a vehicle shift control method, comprising: when the vehicle is in a DR shift condition and the current vehicle speed is less than or equal to a preset vehicle speed, obtaining the actual torque of the motor; determining the shift state of the vehicle according to the actual torque of the motor; the shift state includes a first state, a second state and a third state, the first state indicating that the motor is in a state of positive and negative commutation gap movement; the second state indicating that the motor is in a state of gear adhesion after the gap operation is completed; the third state indicating that the motor is in a state of normal torque response; filtering the motor execution torque based on the slope corresponding to the shift state, and controlling the motor to output with the filtered motor execution torque.

[0005] In the above implementation process, three shifting states are set according to the actual torque of the motor. The first state indicates that the motor is in a state of positive and negative commutation gap movement, the second state indicates that the motor is in a state of gear tightening after the gap operation is completed; the third state indicates that the motor is in a state of normal torque response. In this way, under the low-speed DR shifting condition, the current actual motor torque is obtained to determine the vehicle's shifting state, and then the motor execution torque is filtered based on the slope corresponding to the shifting state, and the motor is controlled to output the filtered motor execution torque. In this way, precise torque control is performed according to the actual torque of the motor, thereby effectively eliminating the jitter and abnormal noise caused by low-speed DR shifting.

[0006] Further, in some examples, determining the gear shifting state of the vehicle based on the actual torque of the motor includes: when the vehicle switches to D gear, determining the gear shifting state of the vehicle based on the actual torque of the motor, a first calibrated torque and a second calibrated torque; when the vehicle switches to R gear, determining the gear shifting state of the vehicle based on the actual torque of the motor, a third calibrated torque and a fourth calibrated torque; wherein the first calibrated torque is less than the second calibrated torque; the absolute value of the third calibrated torque is less than the absolute value of the fourth calibrated torque; and the first calibrated torque and the third calibrated torque are calibrated according to the minimum zero-crossing response torque of the motor.

[0007] In the above implementation process, a specific method for determining the gear shifting state of the vehicle according to the actual torque of the motor is provided, that is, first identifying whether the gear shifting process of the vehicle is shifting to D gear or R gear, and when shifting to D gear, comparing the actual torque of the motor, the first calibrated torque and the second calibrated torque, and determining the gear shifting state of the vehicle according to the comparison result; when shifting to R gear, comparing the actual torque of the motor, the third calibrated torque and the fourth calibrated torque, and determining the gear shifting state of the vehicle according to the comparison result.

[0008] Further, in some examples, the gear shift state of the vehicle is determined based on the actual torque of the motor, the first calibrated torque and the second calibrated torque, including: if the absolute value of the actual torque of the motor is less than the first calibrated torque, determining that the gear shift state of the vehicle is the first state; if the actual torque of the motor is greater than or equal to the first calibrated torque and less than or equal to the second calibrated torque, determining that the gear shift state of the vehicle is the second state; if the actual torque of the motor is greater than the second calibrated torque, determining that the gear shift state of the vehicle is the third state.

[0009] In the above implementation process, a specific method is provided for quickly and accurately determining the shifting state of the vehicle when shifting to the D gear.

[0010] Further, in some examples, the gear shift state of the vehicle is determined based on the actual torque of the motor, the third calibrated torque and the fourth calibrated torque, including: if the absolute value of the actual torque of the motor is less than the inverse of the third calibrated torque, determining that the gear shift state of the vehicle is a first state; if the actual torque of the motor is less than or equal to the third calibrated torque and greater than or equal to the fourth calibrated torque, determining that the gear shift state of the vehicle is a second state; if the actual torque of the motor is less than the fourth calibrated torque, determining that the gear shift state of the vehicle is a third state.

[0011] In the above implementation process, a specific method is provided for quickly and accurately determining the shifting state of the vehicle when shifting to R gear.

[0012] Further, in some examples, the first calibrated torque is 2 Nm; the second calibrated torque is 4 Nm; the third calibrated torque is -2 Nm; and the fourth calibrated torque is -4 Nm.

[0013] In the above implementation process, a setting value of the first calibrated torque, the second calibrated torque, the third calibrated torque and the fourth calibrated torque is provided.

[0014] Further, in some examples, the filtering of the motor execution torque based on the slope corresponding to the gear shift state includes: if the gear shift state of the vehicle is a first state, filtering the motor execution torque based on the first slope; if the gear shift state of the vehicle is a second state, filtering the motor execution torque based on the second slope; the second slope is less than or equal to a preset slope; the preset slope is less than the first slope; if the gear shift state of the vehicle is a third state, filtering the motor execution torque based on the third slope; the third slope is obtained by querying a calibration table based on the size of the motor execution torque and the vehicle speed.

[0015] In the above implementation process, the jitter and abnormal noise caused by low-speed DR shifting can be effectively eliminated by combining the actual torque of the motor for three-stage slope filtering.

[0016] Further, in some examples, the first slope is 10 Nm / s; the preset slope is 2 Nm / s; and the minimum value of the second slope is 0 Nm / s.

[0017] In the above implementation process, in the first state, the slope is set to 10Nm / s for filtering, and in the second state, the adhesion slope is set to be less than or equal to 2Nm / s, or even 0Nm / s, for filtering. Through this setting, the jitter and abnormal noise caused by low-speed DR shifting can be completely eliminated.

[0018] In the second aspect, the present application provides a vehicle shift control device, including: an acquisition module, used to obtain the actual torque of the motor when the vehicle is in a DR shift condition and the current vehicle speed is less than or equal to a preset vehicle speed; a determination module, used to determine the shift state of the vehicle according to the actual torque of the motor; the shift state includes a first state, a second state and a third state, the first state indicating that the motor is in a state of positive and negative commutation gap movement; the second state indicates that the motor is in a state where the gear is tightly attached after the gap operation is completed; the third state indicates that the motor is in a state of normal torque response; a filtering module, used to filter the motor execution torque based on the slope corresponding to the shift state, and control the motor to output with the filtered motor execution torque.

[0019] In a third aspect, the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in any one of the first aspects when executing the computer program.

[0020] In a fourth aspect, the present application provides a computer-readable storage medium, on which instructions are stored. When the instructions are executed on a computer, the computer executes the method as described in any one of the first aspects.

[0021] In a fifth aspect, the present application provides a computer program product, which, when running on a computer, enables the computer to execute the method as described in any one of the first aspects.

[0022] Other features and advantages disclosed in the present application will be described in the following description, or some features and advantages can be inferred or determined without doubt from the description, or can be learned by implementing the above-mentioned technology disclosed in the present application.

[0023] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A flow chart of a vehicle shift control method provided in an embodiment of the present application;

[0026] Figure 2 A schematic diagram of the working process of a solution for suppressing the low-speed DR gear shifting vibration and abnormal noise of the whole vehicle provided in an embodiment of the present application;

[0027] Figure 3 A block diagram of a vehicle shift control device provided in an embodiment of the present application;

[0028] Figure 4 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0030] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0031] As described in the background art, in the related art, there is a problem that when shifting gears at a low vehicle speed DR, the whole vehicle still experiences vibration and abnormal noise. Based on this, the embodiment of the present application provides a vehicle shift control solution to solve the above problem.

[0032] Next, the embodiments of the present application are introduced:

[0033] like Figure 1 As shown, Figure 1 The flowchart of a vehicle shift control method provided by an embodiment of the present application is shown in FIG. The method can be applied to a vehicle control unit (VCU) of an automobile.

[0034] The method comprises:

[0035] Step 101: when the vehicle is in a DR shifting condition and the current vehicle speed is less than or equal to a preset vehicle speed, obtain the actual torque of the motor;

[0036] The DR shift condition mentioned in this step may refer to the condition of switching from D gear (forward gear) to R gear (reverse gear) or from R gear to D gear when driving an automatic transmission car. The scheme of this embodiment is to perform slope filtering in combination with the actual torque of the motor under the low-speed DR shift condition. The preset speed mentioned in this step may be 7km / h. Of course, in other embodiments, the preset speed here may also be set differently according to the needs of the specific scene.

[0037] The actual torque of the motor refers to the actual rotational torque generated by the motor during operation. The actual torque of the motor can be fed back to the VCU by the MCU (Motor Control Unit). This feedback process is achieved through sensors and signal transmission.

[0038] Step 102, determining the gear shifting state of the vehicle according to the actual torque of the motor; the gear shifting state includes a first state, a second state and a third state, the first state indicates that the motor is in a state of positive and negative commutation gap movement; the second state indicates that the motor is in a state of gear contact after the gap operation is completed; the third state indicates that the motor is in a state of normal torque response;

[0039] In this embodiment, considering the existence of motor gear clearance, if precise torque control is not performed when switching to DR gear at low vehicle speed, it is easy to cause jitter and abnormal noise. Therefore, three shifting states are set according to the actual torque of the motor, wherein the first state is the motor negative to positive clearance movement state or the motor positive to negative clearance movement state, the second state is the gear tight state after the motor clearance is completed, and the third state is the motor torque normal response state. In this way, the positive and negative switching of the motor can be processed in three stages according to the actual torque of the motor, thereby achieving precise torque control, and then effectively solving the whole vehicle jitter and abnormal noise problems during low-speed shifting.

[0040] In some embodiments, this step may include: when the vehicle is switched to the D gear, the gear shifting state of the vehicle is determined according to the actual torque of the motor, the first calibrated torque and the second calibrated torque; when the vehicle is switched to the R gear, the gear shifting state of the vehicle is determined according to the actual torque of the motor, the third calibrated torque and the fourth calibrated torque; wherein the first calibrated torque is less than the second calibrated torque; the absolute value of the third calibrated torque is less than the absolute value of the fourth calibrated torque; the first calibrated torque and the third calibrated torque are obtained by calibration according to the minimum zero-crossing response torque of the motor. That is to say, before determining the gear shifting state of the vehicle, it is necessary to first identify whether the gear shifting process of the vehicle is to shift to the D gear or the R gear. When shifting to the D gear, the actual torque of the motor, the first calibrated torque and the second calibrated torque are compared, and the gear shifting state of the vehicle is determined according to the comparison result. When shifting to the R gear, the actual torque of the motor, the third calibrated torque and the fourth calibrated torque are compared, and the gear shifting state of the vehicle is determined according to the comparison result. In implementation, the first calibration torque and the third calibration torque can be set according to the minimum zero-crossing response torque of the motor, and the two torques can be set to be small enough to enable the motor to slowly overcome the gear clearance and start running. In this way, the smoothness and stability of the motor during startup or low-speed operation can be ensured. Optionally, the first calibration torque and the third calibration torque can be opposite to each other, and similarly, the second calibration torque and the fourth calibration torque can be opposite to each other.

[0041] In some embodiments, the above-mentioned determination of the vehicle's shift state based on the actual motor torque, the first calibrated torque, and the second calibrated torque may include: if the absolute value of the actual motor torque is less than the first calibrated torque, determining that the vehicle's shift state is the first state; if the actual motor torque is greater than or equal to the first calibrated torque and less than or equal to the second calibrated torque, determining that the vehicle's shift state is the second state; if the actual motor torque is greater than the second calibrated torque, determining that the vehicle's shift state is the third state. That is, the actual motor torque is T act , the first calibration torque is T DB1 , the second calibration torque is T DB2 , when the vehicle is shifted to D gear, if abs(T act ) <T DB1 , the vehicle's shift state is the first state, if T DB1 ≤T act ≤T DB2 , the vehicle's shift state is the second state, if T act >T DB2 , the gear shifting state of the vehicle is the third state. In this way, the gear shifting state of the vehicle when shifting to the D gear can be determined quickly and accurately.

[0042] In some embodiments, the aforementioned determination of the vehicle's shift state based on the motor's actual torque, the third calibrated torque, and the fourth calibrated torque may include: if the absolute value of the motor's actual torque is less than the inverse of the third calibrated torque, the vehicle's shift state is determined to be the first state; if the motor's actual torque is less than or equal to the third calibrated torque and greater than or equal to the fourth calibrated torque, the vehicle's shift state is determined to be the second state; if the motor's actual torque is less than the fourth calibrated torque, the vehicle's shift state is determined to be the third state. That is, the motor's actual torque is T act , the third calibration torque is T DB3 , the fourth calibration torque is T dB4 , when the vehicle shifts to R gear, if abs(T act )<-T DB3 , the vehicle's shift state is the first state, if T DB4 ≤T act ≤T DB3 , the vehicle's shift state is the second state, if T act <T DB4 , the gear shifting state of the vehicle is the third state. In this way, the gear shifting state of the vehicle when shifting to R gear is determined quickly and accurately.

[0043] Furthermore, in some embodiments, the first calibrated torque may be 2Nm; the second calibrated torque may be 4Nm; the third calibrated torque may be -2Nm; and the fourth calibrated torque may be 4Nm. The first calibrated torque and the third calibrated torque here are obtained in the actual vehicle test according to the minimum zero-crossing response torque of the motor, so that the motor can slowly overcome the gear clearance movement; the second calibrated torque and the fourth calibrated torque here are obtained in the actual vehicle test according to the motor's ability to quickly respond to the target torque value. Of course, in other embodiments, these torques can also be adjusted accordingly according to the needs of specific scenarios.

[0044] Step 103 : filtering the motor execution torque based on the slope corresponding to the shift state, and controlling the motor to output the filtered motor execution torque.

[0045] The slope mentioned in this step can be considered as the torque change rate, that is, the trend of torque change over time, and its unit can be Nm / s. The motor execution torque refers to the expected output torque value set for the motor. In this embodiment, different shift states can correspond to different slopes. After determining the shift state of the vehicle, the VCU filters the motor execution torque based on its corresponding slope, and then sends a torque request to the MCU based on the filtered motor execution torque, thereby optimizing the torque output of the motor.

[0046] In some embodiments, the filtering of the motor execution torque based on the slope corresponding to the gear shift state mentioned in this step may include: if the gear shift state of the vehicle is a first state, filtering the motor execution torque based on the first slope; if the gear shift state of the vehicle is a second state, filtering the motor execution torque based on the second slope; the second slope is less than or equal to a preset slope; the preset slope is less than the first slope; if the gear shift state of the vehicle is a third state, filtering the motor execution torque based on the third slope; the third slope is obtained by querying a calibration table based on the size of the motor execution torque and the vehicle speed. That is to say, in the first state, the first slope is set for filtering, and the first slope at this time can be a smaller slope value, so that the motor can slowly move from the current position to the opposite direction position; in the second state, the second slope is set for filtering, and the second slope at this time is a smaller slope value. This is because when the vehicle is in the second state, the motor needs to be close to the gear, and abnormal noise or even impact noise is most likely to occur at this time. Therefore, filtering is performed based on the second slope to perform gear tightening action; in the third state, the motor gear can respond to torque normally, and the torque can be output normally, so the normal torque response filtering method can be used, such as obtaining the filter coefficient by looking up the table according to the size of the motor execution torque and the vehicle speed, and using the filter coefficient as the slope for filtering. In this way, by combining the actual torque of the motor for three-stage slope filtering, the jitter and abnormal noise caused by low-speed DR shifting can be effectively eliminated.

[0047] Furthermore, in some embodiments, the first slope may be 10Nm / s; the preset slope may be 2Nm / s; and the minimum value of the second slope may be 0Nm / s. That is, in the first state, a slope of 10Nm / s is set for filtering, and in the second state, a close slope is set to be less than or equal to 2Nm / s, or even 0Nm / s, for filtering. It has been determined through experiments that by setting in this way, the jitter and abnormal noise caused by low-speed DR shifting can be completely eliminated.

[0048] In the embodiment of the present application, three shifting states are set according to the actual torque of the motor. The first state indicates that the motor is in a state of positive and negative commutation gap movement, the second state indicates that the motor is in a state of being close to the gear after the gap operation is completed; the third state indicates that the motor is in a state of normal torque response. In this way, under the low-speed DR shifting condition, the current actual torque of the motor is obtained to determine the shifting state of the vehicle, and then the motor execution torque is filtered based on the slope corresponding to the shifting state, and the motor is controlled to output with the filtered motor execution torque. In this way, precise torque control is performed according to the actual torque of the motor, thereby effectively eliminating the jitter and abnormal noise caused by low-speed DR shifting.

[0049] In order to explain the solution of this application in more detail, a specific embodiment is introduced below:

[0050] This embodiment provides a solution to suppress the low-speed DR gear shifting vibration and abnormal noise of the vehicle. The working process of this solution is as follows: Figure 2 As shown, including:

[0051] S201, the vehicle enters a low-speed DR shifting condition;

[0052] S202, identifying the D gear / R gear shifting process respectively, and setting the maximum shifting condition maintenance time;

[0053] S203, obtaining the actual torque of the motor;

[0054] S204, determining a gear shift state of the vehicle according to the actual torque of the motor;

[0055] Among them, when shifting to D gear, if the absolute value of the actual torque of the motor is less than 2Nm, the gear shifting state of the vehicle is the first state, and the first state is the motor negative to positive clearance movement state; if the actual torque of the motor is greater than or equal to 2Nm and less than or equal to 4Nm, the gear shifting state of the vehicle is the second state, and the second state is the rear gear tight state after the motor clearance runs out. In this second state, the maximum tight time t is set to ensure the dynamic response requirements of the whole vehicle, and t is calibrated according to the dynamic response index of the whole vehicle. Optionally, t=0.03s; if the actual torque of the motor is greater than 4Nm, the gear shifting state of the vehicle is the third state, and the third state is the normal response state of the motor torque;

[0056] When shifting to R gear, if the absolute value of the actual torque of the motor is less than 2Nm, the gear shifting state of the vehicle is the first state, which is the state of the motor moving from the positive to the negative gap; if the actual torque of the motor is greater than or equal to -4Nm and less than or equal to -2Nm, the gear shifting state of the vehicle is the second state, which is the state of the motor moving towards the gear after the gap operation is completed. In this second state, the maximum contact time t is set to ensure the dynamic response requirements of the whole vehicle, and t is calibrated according to the dynamic response index of the whole vehicle. Optionally, t=0.03s; if the actual torque of the motor is less than -4Nm, the gear shifting state of the vehicle is the third state, which is the normal response state of the motor torque;

[0057] S205, filtering the motor execution torque according to the slope corresponding to the shift state;

[0058] In the first state, a slope of 10 Nm / s is set for filtering; in the second state, a close slope is set to be less than or equal to 2 Nm / s, and the minimum value of the close slope is 0 Nm / s; in the third state, a normal torque response filter is set;

[0059] S206 : Send a torque request to the motor controller based on the filtered torque.

[0060] In this embodiment, the positive and negative commutation of the motor is processed in three stages according to the actual torque of the motor. In the first state, it is mainly to overcome the gap in the motor gear. Only a smaller filtering slope is needed to make the motor slowly move from the current position to the reverse position. In the second state, the motor needs to be close to the gear. At this time, abnormal noise or even impact noise is most likely to occur, so a smaller slope or even 0 is required for the gear to be pressed tightly. In the third state, the motor gear can respond to the torque normally, and the torque can be output normally. Based on this embodiment, the following can be done to eliminate the jitter and abnormal noise caused by low-speed DR shifting.

[0061] Corresponding to the embodiments of the aforementioned method, the present application also provides embodiments of a vehicle shift control device and a terminal using the same:

[0062] like Figure 3 As shown, Figure 3 is a block diagram of a vehicle shift control device provided in an embodiment of the present application, the device comprising:

[0063] The acquisition module 31 is used to acquire the actual torque of the motor when the vehicle is in the DR shifting condition and the current vehicle speed is less than or equal to the preset vehicle speed;

[0064] The determination module 32 is used to determine the gear shifting state of the vehicle according to the actual torque of the motor; the gear shifting state includes a first state, a second state and a third state, the first state indicates that the motor is in a state of positive and negative commutation gap movement; the second state indicates that the motor is in a state of gear contact after the gap operation is completed; the third state indicates that the motor is in a state of normal torque response;

[0065] The filtering module 33 is used to filter the motor execution torque based on the slope corresponding to the shift state, and control the motor to output the motor execution torque after filtering.

[0066] The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, which will not be repeated here.

[0067] This application also provides an electronic device, see Figure 4 , Figure 4 A block diagram of an electronic device provided in an embodiment of the present application. The electronic device may include a processor 410, a communication interface 420, a memory 430, and at least one communication bus 440. The communication bus 440 is used to realize direct connection and communication between these components. The communication interface 420 of the electronic device in the embodiment of the present application is used to communicate signaling or data with other node devices. The processor 410 may be an integrated circuit chip with signal processing capabilities.

[0068] The processor 410 mentioned above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor 410 can also be any conventional processor, etc.

[0069] The memory 430 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory 430 stores computer-readable instructions. When the computer-readable instructions are executed by the processor 410, the electronic device can execute the above-mentioned Figure 1 The method embodiment involves various steps.

[0070] Optionally, the electronic device may further include a storage controller and an input / output unit.

[0071] The memory 430, storage controller, processor 410, peripheral interface, input and output unit components are directly or indirectly electrically connected to each other to achieve data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses 440. The processor 410 is used to execute executable modules stored in the memory 430, such as software function modules or computer programs included in the electronic device.

[0072] The input and output unit is used to provide users with the task creation and to create a start optional time period or preset execution time for the task to realize the interaction between the user and the server. The input and output unit can be, but is not limited to, a mouse and a keyboard.

[0073] Understandably, Figure 4 The structure shown is for illustration only, and the electronic device may also include Figure 4 More or fewer components as shown, or with Figure 4 Different configurations are shown. Figure 4 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0074] An embodiment of the present application further provides a storage medium having instructions stored thereon. When the instructions are run on a computer, the computer program is executed by a processor to implement the method described in the method embodiment. To avoid repetition, the method will not be described here.

[0075] The present application also provides a computer program product, which, when executed on a computer, enables the computer to execute the method described in the method embodiment.

[0076] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0077] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0078] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0079] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0080] The above is only a specific implementation 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.

[0081] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A vehicle shift control method, characterized in that: include: When the vehicle is in the DR shifting condition and the current vehicle speed is less than or equal to the preset vehicle speed, the actual torque of the motor is obtained; The gear shifting state of the vehicle is determined according to the actual torque of the motor; the gear shifting state includes a first state, a second state and a third state, the first state indicates that the motor is in a state of positive and negative commutation gap movement; the second state indicates that the motor is in a state of gear contact after the gap operation is completed; the third state indicates that the motor is in a state of normal torque response; The motor execution torque is filtered based on the slope corresponding to the shift state, and the motor is controlled to output the filtered motor execution torque.

2. The method according to claim 1, characterized in that The determining the gear shifting state of the vehicle according to the actual torque of the motor includes: When the vehicle is switched to the D gear, determining the gear shifting state of the vehicle according to the actual torque of the motor, the first calibrated torque and the second calibrated torque; When the vehicle is switched to the R gear, the gear shifting state of the vehicle is determined according to the actual torque of the motor, the third calibrated torque and the fourth calibrated torque; Among them, the first calibrated torque is smaller than the second calibrated torque; the absolute value of the third calibrated torque is smaller than the absolute value of the fourth calibrated torque; the first calibrated torque and the third calibrated torque are calibrated according to the minimum zero-crossing response torque of the motor.

3. The method according to claim 2, characterized in that The step of determining the shift state of the vehicle according to the actual torque of the motor, the first calibrated torque, and the second calibrated torque includes: If the absolute value of the actual torque of the motor is less than the first calibrated torque, determining that the gear shift state of the vehicle is the first state; If the actual torque of the motor is greater than or equal to the first calibrated torque and less than or equal to the second calibrated torque, determining that the gear shift state of the vehicle is the second state; If the actual torque of the motor is greater than the second calibrated torque, it is determined that the gear shifting state of the vehicle is the third state.

4. The method according to claim 2, characterized in that: The step of determining the gear shift state of the vehicle according to the actual torque of the motor, the third calibrated torque and the fourth calibrated torque includes: If the absolute value of the actual torque of the motor is less than the negative number of the third calibrated torque, determining that the gear shift state of the vehicle is the first state; If the actual torque of the motor is less than or equal to the third calibrated torque and greater than or equal to the fourth calibrated torque, determining that the gear shift state of the vehicle is the second state; If the actual torque of the motor is less than the fourth calibrated torque, it is determined that the gear shifting state of the vehicle is the third state.

5. The method according to claim 2, characterized in that: The first calibrated torque is 2Nm; the second calibrated torque is 4Nm; the third calibrated torque is -2Nm; and the fourth calibrated torque is -4Nm.

6. The method according to claim 1, characterized in that The filtering of the motor execution torque based on the slope corresponding to the shift state includes: If the gear shift state of the vehicle is a first state, filtering the motor execution torque based on a first slope; If the gear shift state of the vehicle is the second state, filtering the motor execution torque based on a second slope; the second slope is less than or equal to a preset slope; the preset slope is less than the first slope; If the gear shifting state of the vehicle is the third state, the motor execution torque is filtered based on a third slope; the third slope is obtained by querying a calibration table according to the magnitude of the motor execution torque and the vehicle speed.

7. The method according to claim 6, characterized in that The first slope is 10 Nm / s; the preset slope is 2 Nm / s; and the minimum value of the second slope is 0 Nm / s.

8. A vehicle shift control device, characterized in that: include: An acquisition module is used to acquire the actual torque of the motor when the vehicle is in a DR shift condition and the current vehicle speed is less than or equal to a preset vehicle speed; A determination module, for determining a shift state of the vehicle according to the actual torque of the motor; the shift state includes a first state, a second state and a third state, the first state indicates that the motor is in a state of positive and negative commutation gap movement; the second state indicates that the motor is in a state of gear contact after the gap operation is completed; the third state indicates that the motor is in a state of normal torque response; The filtering module is used to filter the motor execution torque based on the slope corresponding to the shift state, and control the motor to output the motor execution torque after filtering.

9. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

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