Vehicle shift control method, device, storage medium and equipment

Abstract

The present application provides a vehicle shift control method, apparatus, storage medium, and device. In this method, three shift 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 contact after the gap operation is completed, and the third state indicates that the motor is in a state of normal torque response. In this way, under the low-speed DR shift condition, the current motor actual torque is obtained to determine the vehicle's shift state. The motor execution torque is then filtered based on the slope corresponding to the shift 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 motor torque, thereby effectively eliminating the jitter and abnormal noise caused by low-speed DR shifting.

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 to DR gear 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 the smaller slope for filtering at the positive and negative torque reversal, and then perform a first-order low-pass filter on the target torque after slope filtering according to the DR gear reversing condition to reduce the shaking and abnormal noise caused by switching to DR gear 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 impact and abnormal noise. Summary of the Invention

[0003] The purpose of this 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 low speed DR, the whole vehicle still experiences shaking and abnormal noise.

[0004] In the first aspect, the present application provides a vehicle shift control method, including: 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 based on 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, three shift states are set based on the actual motor torque. 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; and the third state indicates that the motor is in a state of normal torque response. In this way, under low-speed DR shift conditions, the current motor actual torque is obtained to determine the vehicle's shift state. The motor's executed torque is then filtered based on the slope corresponding to the shift state, and the motor is controlled to output the filtered motor executed torque. In this way, precise torque control is performed based on the motor's actual torque, effectively eliminating the jitter and abnormal noise caused by low-speed DR shifts.

[0006] Furthermore, 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 based on 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 based on 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 based on the comparison result.

[0008] Furthermore, in some examples, the shifting 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 shifting 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 shifting 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 shifting 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 D gear.

[0010] Furthermore, in some examples, the gear shifting 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 shifting 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 shifting state of the vehicle is the second state; if the actual torque of the motor is less than the fourth calibrated torque, determining that the gear shifting state of the vehicle is the third state.

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

[0012] Furthermore, 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] Furthermore, 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 magnitude of the motor execution torque and the vehicle speed.

[0015] In the above implementation process, the three-stage slope filtering is performed in combination with the actual torque of the motor, which can effectively eliminate the jitter and abnormal noise caused by low-speed DR shifting.

[0016] Furthermore, 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, the slope is set to 10Nm / s for filtering in the first state, and the sticking slope is set to be less than or equal to 2Nm / s, or even 0Nm / s, for filtering in the second state. By setting it in this way, the vibration 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 based on 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 of gear adhesion 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 having instructions stored thereon. 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 given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. 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 relevant drawings can be obtained based on these drawings without 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 workflow of a solution for suppressing low-speed DR shifting vibration and abnormal noise of a 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 This is 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. Therefore, once an item is defined in one drawing, it does not need to be further defined or 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 should not be understood as indicating or implying relative importance.

[0031] As described in the background art, in the related art, there is a problem that the entire vehicle still experiences vibration and abnormal noise when shifting at low speed DR. 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 This is a flow chart of a vehicle shift control method provided by an embodiment of the present application. 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 shift state 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 (forward) to R (reverse), or vice versa, when driving an automatic transmission vehicle. This embodiment utilizes slope filtering in conjunction with the actual motor torque under the low-speed DR shift condition. The preset speed mentioned in this step may be 7 km / h. Of course, in other embodiments, the preset speed may be set differently based on the needs of the specific scenario.

[0037] The actual motor torque refers to the actual rotational torque generated by the motor during operation. The actual motor torque 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: Determine the shift state of the vehicle based on 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 reversing gap motion; the second state indicates that the motor is in a state of gear contact after the gap motion is completed; and the third state indicates that the motor is in a state of normal torque response.

[0039] In this embodiment, due to the presence of motor gear backlash, if precise torque control is not performed during low-speed DR gear shifts, vibration and abnormal noise can easily occur. Therefore, three shift states are set according to the actual motor torque. The first state is the motor's negative to positive backlash movement state or the motor's positive to negative backlash movement state. The second state is the gear contact state after the motor backlash is exhausted. The third state is the motor torque response state. In this way, the positive and negative motor shifts can be processed in three stages according to the actual motor torque, achieving precise torque control and effectively solving the vehicle vibration and abnormal noise problems during low-speed shifts.

[0040] In some embodiments, this step may include: when the vehicle is shifted to D gear, determining the vehicle's shift state based on the motor's actual torque, a first calibrated torque, and a second calibrated torque; and when the vehicle is shifted to R gear, determining the vehicle's shift state based on the motor's actual torque, 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 based on the motor's minimum zero-crossing response torque. That is, before determining the vehicle's shift state, it is necessary to first identify whether the vehicle's shift process is to D gear or R gear. When shifting to D gear, the motor's actual torque, the first calibrated torque, and the second calibrated torque are compared, and the vehicle's shift state is determined based on the comparison result. When shifting to R gear, the motor's actual torque, the third calibrated torque, and the fourth calibrated torque are compared, and the vehicle's shift state is determined based on the comparison result. During implementation, the first and third calibration torques can be set based on the motor's minimum zero-crossing response torque. These two torques can be set small enough to allow the motor to slowly overcome gear backlash and begin operation. In this way, the smoothness and stability of the motor during startup or low-speed operation can be ensured. Optionally, the first and third calibration torques can be inversely proportional to each other, and similarly, the second and fourth calibration torques can be inversely proportional to each other.

[0041] In some embodiments, the aforementioned determination of the vehicle's shift state based on the motor's actual torque, the first calibrated torque, and the second calibrated torque may include: if the absolute value of the motor's actual torque is less than the first calibrated torque, determining that the vehicle's shift state is the first state; if the motor's actual 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 motor's actual torque is greater than the second calibrated torque, determining that the vehicle's shift state is the third state. That is, the motor's actual torque is T act , the first calibration torque is T DB1 , the second calibration torque is T DB2 , when the vehicle is shifting 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 shift state of the vehicle is the third state. In this way, the shift state of the vehicle when shifting to 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, determining that the vehicle's shift state is 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, determining that the vehicle's shift state is the second state; if the motor's actual torque is less than the fourth calibrated torque, determining that the vehicle's shift state is the third state. That is, the motor's actual torque is recorded as 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 shift state of the vehicle is the third state. In this way, the shift state of the vehicle when shifting to R gear can be 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 actual vehicle testing based on 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 actual vehicle testing based on 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 rate of change of torque, 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 vehicle's shift state, 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 motor's torque output.

[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 the calibration table based on the size of the motor execution torque and the vehicle speed. That is, in the first state, the first slope is set for filtering. At this time, the first slope can be a smaller slope value, so that the motor can slowly move from the current position to the reverse direction position; in the second state, the second slope is set for filtering. At this time, the second slope is an even smaller slope value. This is because when the vehicle is 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. Therefore, filtering is 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. Therefore, a normal torque response filtering method can be used, such as obtaining a filter coefficient based on the size of the motor's execution torque and the vehicle speed, and using this 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 can be 10 Nm / s; the preset slope can be 2 Nm / s; and the minimum value of the second slope can be 0 Nm / s. In other words, in the first state, a slope of 10 Nm / s is set for filtering, while in the second state, a close slope of 2 Nm / s or less, or even 0 Nm / s, is set for filtering. Experiments have confirmed that this setting can completely eliminate the jitter and abnormal noise caused by low-speed DR shifting.

[0048] In this embodiment, three shift states are set based on the actual motor torque. The first state indicates that the motor is in a state of positive and negative commutation backlash motion; the second state indicates that the motor is in a state of gear contact after backlash operation is completed; and the third state indicates that the motor is in a state of normal torque response. In this way, under low-speed DR shift conditions, the current motor actual torque is obtained to determine the vehicle's shift state. The motor's executed torque is then filtered based on the slope corresponding to the shift state, and the motor is controlled to output the filtered motor executed torque. In this way, precise torque control is performed based on the motor's actual torque, effectively eliminating the jitter and abnormal noise caused by low-speed DR shifts.

[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 vehicle's low-speed DR shift jitter and abnormal noise. The working process of this solution is as follows: Figure 2 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: Determine the vehicle's shift state based on 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, which 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, which is the gear-tightening state after the motor clearance is completed. In this second state, the maximum tightening time t is set to ensure the dynamic response requirements of the whole vehicle. 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, which 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 motor's positive to negative clearance movement state; 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 gear-tightening state after the motor clearance is completed. In this second state, the maximum tightening time t is set to ensure the dynamic response requirements of the whole vehicle. 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 contact slope of less than or equal to 2 Nm / s is set, and the minimum value of the contact 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] This embodiment processes the motor's positive and negative commutation in three stages based on the motor's actual torque. In the first stage, the motor gear gap is overcome, requiring only a smaller filter slope to slowly move the motor from its current position to the reverse direction. In the second stage, the motor needs to be close to the gears, which is most likely to cause abnormal noise or even banging sounds. Therefore, a smaller slope, or even 0, is required to tighten the gears. In the third stage, the motor gears can respond to torque normally, and torque can be output normally. Based on this embodiment, the following methods can be used 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] An acquisition module 31 is configured to acquire the actual torque of the motor when the vehicle is in a DR shift state and the current vehicle speed is less than or equal to a preset vehicle speed;

[0064] The determining module 32 is configured to determine a shift state of the vehicle based on the actual torque of the motor; the shift state includes a first state, a second state, and a third state, wherein the first state indicates that the motor is in a state of positive and negative reversing gap motion; the second state indicates that the motor is in a state of gear contact after the gap motion is completed; and the third state indicates that the motor is in a state of normal torque response;

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

[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, and will not be repeated here.

[0067] This application also provides an electronic device, see Figure 4 , Figure 4 This is a block diagram of the structure 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 enable direct communication between these components. The communication interface 420 of the electronic device in this 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 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 device, a discrete gate or transistor logic device, or a discrete hardware component. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. A general-purpose processor can be a microprocessor, or the processor 410 can also be any conventional processor.

[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 electrically 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 perform the above-mentioned operations. Figure 1 The various steps involved in the method embodiment.

[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, and input / output units are electrically connected to each other directly or indirectly to enable 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 ability to create tasks and to create optional time periods or preset execution times for the tasks to enable 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] I understand. Figure 4 The structure shown is only for illustration, and the electronic device may also include Figure 4 More or fewer components than shown, or with Figure 4 Different configurations 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, details are not given here.

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

[0076] In the several embodiments provided in this 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 illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the 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 the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that 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 using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0077] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can 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, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method 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 foregoing is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures.

[0080] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

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

Claims

1. A vehicle shift control method, characterized in that: include: When the vehicle is in the DR shift state and the current vehicle speed is less than or equal to the preset speed, the actual torque of the motor is obtained; determining a shift state of the vehicle based on the actual torque of the motor; the shift state includes a first state, a second state, and a third state, wherein the first state indicates that the motor is in a state of positive and negative reversing gap motion; the second state indicates that the motor is in a state of gear abutment after gap motion is completed; and the third state indicates 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 the filtered motor execution torque; Determining the shift state of the vehicle according to the actual torque of the motor includes: When the vehicle is switched to gear D, determining a gear shift 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 gear R, determining a gear shift state of the vehicle according to the actual torque of the motor, the third calibrated torque, and the fourth calibrated torque; Wherein, the first calibration torque is less than the second calibration torque; the absolute value of the third calibration torque is less than the absolute value of the fourth calibration torque; the first calibration torque and the third calibration torque are obtained by calibration according to the minimum zero-crossing response torque of the motor; The 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 shift state of the vehicle is the third state.

2. The method according to claim 1, characterized in that The determining the 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 inverse 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 shift state of the vehicle is the third state.

3. The method according to claim 1, characterized in that 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.

4. The method according to claim 1, wherein 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; and the preset slope is less than the first slope; If the shift 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.

5. The method according to claim 4, 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.

6. A vehicle shift control device, characterized in that: include: An acquisition module is used to obtain the actual torque of the motor when the vehicle is in the DR shift state and the current vehicle speed is less than or equal to the preset vehicle speed; a determination module, configured to determine a shift state of the vehicle based on the actual torque of the motor; the shift state includes a first state, a second state, and a third state, wherein the first state indicates that the motor is in a state of positive and negative commutation gap motion; the second state indicates that the motor is in a state of gear abutment after gap motion is completed; and the third state indicates that the motor is in a state of normal torque response; a filtering module, configured to filter the motor execution torque based on the slope corresponding to the shift state, and control the motor to output the filtered motor execution torque; The determining module is specifically configured to: When the vehicle is switched to the D gear, if the absolute value of the actual torque of the motor is less than the first calibrated torque, the gear shift state of the vehicle is determined to be 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, the gear shift state of the vehicle is determined to be the second state; if the actual torque of the motor is greater than the second calibrated torque, the gear shift state of the vehicle is determined to be the third state; When the vehicle is switched to gear R, determining a gear shift state of the vehicle according to the actual torque of the motor, the third calibrated torque, and the fourth calibrated torque; Among them, the first calibration torque is smaller than the second calibration torque; the absolute value of the third calibration torque is smaller than the absolute value of the fourth calibration torque; the first calibration torque and the third calibration torque are obtained by calibration according to the minimum zero-crossing response torque of the motor.

7. 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 5 is implemented.

8. 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 5 is implemented.

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