Vehicle gear shifting method, gear shifting device, vehicle and program product

Abstract

The invention discloses a gear shifting method of a vehicle, a gear shifting device of the vehicle, the vehicle and a computer program product. The application finds that the vehicle is easy to lose power during gear shifting because the driving force of the whole vehicle is provided by the auxiliary power source when the torque of the main power source is reduced to zero to carry out direct-drive gear shifting in the related technology; an auxiliary power source depends on a battery, and when the capacity of the battery is insufficient, the driving force of the whole vehicle is easily reduced, and even power is lost. In order to avoid the problem, according to the gear switching method, when a battery is in high power, only the torque of P2 is increased, so that the torque of a front axle is reduced to zero; and when the battery is in low power, in order to avoid overcurrent of the battery, the P2 and the engine are controlled to jointly reduce the torque of the front axle to zero. Under the condition that the torque of the front axle is zero and the sum of the torque P2 and the torque of the engine is not zero, it is indicated that the main power source can still provide part of energy for whole vehicle driving, the problem of power loss can be effectively solved, and at the moment, gear shifting of reverse gear-speed regulation-forward gear can be triggered. In order to guarantee the speed regulation quality, only the P2 is controlled in the speed regulation process, and the front axle torque is recovered after gear shifting. According to the method, power loss can be avoided in the gear shifting stage, the vehicle driving stability is improved, the driving safety is guaranteed, and the user experience feeling is enhanced.

Description

Technical Field

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

[0002] With the development of technology, vehicles have become an indispensable means of transportation in people's daily lives, and with it comes higher requirements for vehicle performance. However, some vehicles with transmission system architectures, especially Hi4 Canine Architecture vehicles, may experience power loss during gear shifting, which not only affects the user experience, but also may reduce driving stability and even threaten driving safety. Summary of the invention

[0003] The present application provides a vehicle gear switching method, a vehicle gear switching device, a vehicle and a computer program product, which can avoid power loss, improve the stability of vehicle driving, and thus improve the user experience while ensuring driving safety.

[0004] In a first aspect, the present application provides a vehicle gear switching method, comprising:

[0005] In the event of receiving a shift request, adjusting the torque of the primary power source based on an initial torque value of the front axle torque of the vehicle to reduce the front axle torque;

[0006] When the front axle torque is zero and the torque of the main power source is not zero, generating a shift authorization instruction based on the shift request; the shift authorization instruction includes a target speed and a target gear position;

[0007] Shifting the current gear of the vehicle to neutral based on the gear shift authorization instruction;

[0008] The main power source is controlled to adjust the speed to the target speed, so as to switch the neutral gear to the target gear.

[0009] In some embodiments, the main power source includes an engine and a second power source rotating in opposite directions; adjusting the torque of the main power source based on the initial torque value of the front axle torque of the vehicle includes:

[0010] determining power characteristics of the vehicle's battery;

[0011] Determine a first torque value and a second torque value based on the power characteristic, the sum of the first torque value and the second torque value being the initial torque value;

[0012] The torque of the engine is reduced based on the first torque value, and the torque of the second power source is increased based on the second torque.

[0013] In some embodiments, determining a power characteristic of a battery of a vehicle includes:

[0014] Get the battery status parameters;

[0015] A power characteristic is determined based on the state parameter.

[0016] In some embodiments, the power characteristic includes high power, and determining the first torque value and the second torque value based on the power characteristic includes:

[0017] When the power characteristic is high power, the first torque value is determined to be zero;

[0018] The second torque value is determined as the initial torque value.

[0019] In some embodiments, the power characteristic includes low power, and determining the first torque value and the second torque value based on the power characteristic includes:

[0020] When the power characteristic is low power, determining a second torque value based on the current power of the battery;

[0021] A first torque value is determined based on the second torque value and the initial torque value.

[0022] In some embodiments, controlling the main power source to adjust the rotation speed to the target rotation speed includes:

[0023] The rotation speed is adjusted to the target rotation speed based on the second power source, and the torque of the engine remains unchanged.

[0024] In some embodiments, after the neutral gear is switched to the target gear, the method further includes:

[0025] Generate a gear shift end instruction to complete the gear shift request;

[0026] The main power source is controlled to increase the torque so that the front axle torque increases from zero to an initial torque value.

[0027] In a second aspect, the present application provides a gear switching device for a vehicle, comprising:

[0028] A vehicle control unit, configured to, upon receiving a gear shift request, adjust the torque of the main power source based on an initial torque value of the front axle torque of the vehicle to reduce the front axle torque; and, when the front axle torque is zero and the torque of the main power source is not zero, generate a gear shift authorization instruction based on the gear shift request, and send the gear shift authorization instruction to a transmission control unit; the gear shift authorization instruction includes a target speed and a target gear position;

[0029] The transmission control unit is used to switch the current gear of the vehicle to the neutral gear based on the gear shift authorization instruction; control the main power source to adjust the speed to the target speed to switch the neutral gear to the target gear.

[0030] In a third aspect, the present application provides a vehicle 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 of the first aspect when executing the computer program.

[0031] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method of the first aspect are implemented.

[0032] In a fifth aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by one or more processors, it implements the steps of the method of the first aspect.

[0033] The first aspect of the present application has the following beneficial effects compared to the prior art: the present application has found that the phenomenon of power loss in the process of gear switching of the vehicle is due to the fact that in the prior art, the torque of the main power source is reduced to zero for direct drive shifting, resulting in the driving force of the whole vehicle being provided by the auxiliary power source. However, the auxiliary power source relies on the battery. When the battery capacity is insufficient, the driving force of the whole vehicle will be reduced, and even power loss will occur. For this reason, after receiving the gear shift request, in order to ensure smooth gear shifting, the vehicle first reduces the front axle torque value to zero based on the main power source. In this process, in order to effectively solve the problem of power loss, it can be ensured that the torque of the main power source is not zero, thereby avoiding reducing the torque of the main power source to zero during the gear shifting stage, thus avoiding disconnecting the clutch, so that the main power source can still provide part of the energy for the whole vehicle drive.

[0034] When the value of the front axle torque is zero, the gear shift can be triggered. The specific steps include: generating a gear shift authorization instruction including a target speed and a target gear according to the gear shift request, so as to accurately coordinate the output of the main power source based on the gear shift authorization instruction to achieve the gear shift. In order to avoid mechanical shock or an uneven driving experience caused by torque changes, the vehicle can first switch the current gear of the vehicle to neutral to temporarily disconnect the power transmission and prepare for the subsequent gear shift operation; then control the main power source to adjust the speed to the target speed to match the speed required for the target gear, so as to ensure that the vehicle can smoothly enter the target gear after the gear shift, and ensure that the power output is stable and smooth. Then switch the neutral gear to the target gear to complete the gear shift process. In the gear shifting stage, the main power source of this gear switching method can still provide part of the energy for the whole vehicle drive, effectively solve the problem of power loss, improve the stability of vehicle driving, and thus ensure driving safety and enhance user experience.

[0035] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 is a flow chart of a vehicle gear switching method provided in an embodiment of the present application;

[0038] Figure 2 It is a schematic diagram of torque adjustment of the engine and P2 under high battery power provided by an embodiment of the present application;

[0039] Figure 3 It is a schematic diagram of torque adjustment of the engine and P2 under low battery power provided by an embodiment of the present application;

[0040] Figure 4 is a schematic structural diagram of a gear switching device for a vehicle provided in an embodiment of the present application;

[0041] Figure 5 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0043] In the related technology, some vehicles with transmission system architectures, especially vehicles with Hi4 Canine Architecture, may experience power loss during gear shifting, which not only affects the user experience, but may also affect driving stability and even threaten driving safety.

[0044] The present application found that due to the limitation of the hardware structure of the Transmission Control Unit (TCU), the torque of the main power source at both ends of the clutch needs to be reduced to zero during the gear switching process to disconnect the clutch, and the TCU controls the downshift-speed adjustment-upshift to complete the gear switching. Since the torque of the main power source needs to be reduced to zero to achieve direct drive shifting, the driving force of the whole vehicle is provided by the auxiliary power source at this time. The auxiliary power source relies on the battery. When the battery capacity is insufficient, the driving force of the whole vehicle is reduced or even loses power.

[0045] Based on this, in order to solve the problem of power loss during the gear shifting process, this application proposes a vehicle gear switching method, which starts from the root cause of power loss and optimizes the gear switching process to avoid power loss, improve the stability of vehicle driving, and thus improve the user experience on the basis of ensuring driving safety. The gear switching method proposed in this application will be described below through specific embodiments.

[0046] The vehicle gear shifting method provided in the embodiment of the present application can be mainly applied to hybrid or pure electric vehicles, especially vehicles with Hi4 dog tooth architecture. Of course, it can also be other electronic devices, such as mobile phones, tablet computers, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, laptop computers, ultra-mobile personal computers (UMPC), netbooks, personal digital assistants (PDA), etc. that can establish communication connections with vehicles. The embodiment of the present application does not impose any restrictions on the specific types of electronic devices.

[0047] In order to illustrate the technical solution proposed in this application, each embodiment will be described below using a vehicle as the execution subject.

[0048] Figure 1 A schematic flow chart of a vehicle gear switching method provided by the present application is shown, and the vehicle gear switching method includes:

[0049] Step 110 : When a gear shift request is received, the vehicle adjusts the torque of the main power source based on the initial torque value of the front axle torque of the vehicle to reduce the front axle torque.

[0050] When a shift request is received, in order to ensure that the vehicle can smoothly perform the shift operation, the vehicle can first adjust the torque of the main power source according to the initial value of the current front axle torque of the vehicle to reduce the torque transmitted to the front axle. By reducing the front axle torque, it is possible to avoid excessive load affecting the shift process.

[0051] Step 120 : When the front axle torque is zero and the torque of the main power source is not zero, the vehicle generates a shift authorization instruction based on the shift request.

[0052] Given that the fundamental reason for power loss during gear shifting is that the vehicle's driving force is only provided by an auxiliary power source, and the auxiliary power source relies on batteries to provide driving force for the vehicle, when the battery capacity is insufficient, the vehicle's driving force will decrease, and power loss may even occur.

[0053] Insufficient battery capacity means that the battery cannot meet the vehicle's demand for driving force in its current state. The battery can be considered insufficient when its power output is limited, the instantaneous current is insufficient, the energy reserve is insufficient, or the power demand is too high. In order to more intuitively explain why insufficient battery capacity can easily lead to a decrease in the vehicle's driving force or even a loss of power, an example will be given.

[0054] In low charge state or extreme temperature, the maximum output power of the battery may be limited, making it difficult to support the auxiliary power source (such as the motor) to provide sufficient driving force; during gear shifting, the battery's discharge capacity may not be able to meet the high instantaneous power demand; in addition, to protect the battery life, the battery management system (BMS) may actively limit the battery's power output, thereby affecting the response performance of the auxiliary power source. During direct drive gear shifting, the auxiliary power source is the only power source for the vehicle, so it is easy to reduce the vehicle's driving force or even cause power loss.

[0055] In order to solve this problem, during the gear shifting process, the front axle torque can be reduced to zero to ensure the smoothness of the gear shifting; on the other hand, by preventing the torque of the main power source from being reduced to zero, it can be ensured that the main power source continues to provide part of the driving force for the vehicle, thereby reducing the dependence of the vehicle's power on the auxiliary power source and battery performance. In this process, there is no need to perform additional operations on the clutch, such as opening and closing the clutch first to complete the gear shifting, and at the same time effectively avoiding the problem of power loss during the gear shifting process, improving the gear shifting stability and overall vehicle performance.

[0056] Therefore, the vehicle can use the zero torque of the front axle and the non-zero torque of the main power source as a signal to allow gear shifting, and generate a gear shift authorization instruction based on the gear shift request so that the vehicle can continue to execute subsequent gear shifting processes based on the gear shift instruction.

[0057] Among them, the gear shift authorization instruction may include the target speed and the target gear, which is used to accurately coordinate the output of the main power source and then complete the gear switching, ensuring a smooth and efficient gear shift process.

[0058] Step 130: The vehicle switches the current gear of the vehicle to neutral based on the gear shift authorization instruction.

[0059] Based on the shift authorization command, the vehicle can perform the gear shift operation. In preparation for the subsequent gear shift operation, the power transmission can be temporarily disconnected, that is, the vehicle can switch the current gear to neutral. When the vehicle gear is in neutral, the power source will no longer transmit power to the drive shaft, which can avoid mechanical shock or uneven driving experience caused by torque changes.

[0060] Step 140: The vehicle controls the main power source to adjust the speed to the target speed to switch the neutral gear to the target gear.

[0061] When the vehicle has entered neutral, in order to ensure that the vehicle can smoothly enter the target gear after shifting gears and ensure smooth power output, the vehicle can adjust the speed of the main power source to match the speed required by the target gear. After the vehicle controls the main power source to adjust the speed to the target speed, the vehicle can seamlessly switch gears from neutral to the target gear.

[0062] In this embodiment, after receiving the shift request, in order to ensure smooth shifting, the vehicle first reduces the front axle torque value to zero based on the main power source. In this process, in order to effectively solve the problem of power loss, it can be ensured that the torque of the main power source is not zero, so as to avoid reducing the torque of the main power source to zero during the shifting stage, that is, to avoid disconnecting the clutch, so that the main power source can still provide part of the energy for the whole vehicle drive. When the value of the front axle torque is zero, the shift can be triggered. The specific steps include: generating a shift authorization instruction including a target speed and a target gear according to the shift request, so as to accurately coordinate the output of the main power source based on the shift authorization instruction to achieve the shift. In order to avoid mechanical shock or uneven driving experience caused by torque changes, the vehicle can first switch the current gear of the vehicle to neutral gear to temporarily disconnect the power transmission and prepare for the subsequent shifting operation; then control the main power source to adjust the speed to the target speed to match the speed required by the target gear, ensure that the vehicle can smoothly enter the target gear after the shift, and ensure that the power output is stable and smooth. Then switch the neutral gear to the target gear to complete the shifting process. This gear switching method allows the main power source to still provide part of the energy for driving the entire vehicle during the gear shifting phase, effectively solving the power loss problem, improving the stability of vehicle driving, and thereby ensuring driving safety and enhancing user experience.

[0063] In some embodiments, the main power source includes an engine and a second power source (Power Take-off 2, P2). In order to provide more efficient power transmission, the rotation direction of the engine and the rotation direction of P2 are usually opposite. In the shifting process, in order to fully utilize the main power source, the above step 110 specifically includes:

[0064] Step A1: The vehicle determines the power characteristics of the battery of the vehicle.

[0065] The output limits of batteries vary under different power characteristics. For example, the output capacities corresponding to high power and low power are different.

[0066] Based on this, the vehicle can first determine the power characteristics of the battery, and then adopt the corresponding main power source torque adjustment strategy according to the different power characteristics of the battery to avoid power loss due to limited battery output.

[0067] Step A2: determining a first torque value and a second torque value based on the power characteristics.

[0068] Step A3: reducing the torque of the engine based on the first torque value, and increasing the torque of the second power source based on the second torque.

[0069] It is known that the main power source includes the engine and P2. The vehicle's torque adjustment strategy for the main power source mainly includes how to adjust the engine torque and P2 torque respectively. Specifically, after clarifying the power characteristics of the battery, the vehicle can determine two key torque values: the first torque value and the second torque value according to the current power characteristics of the battery, so as to make targeted adjustments to the engine and P2 torques respectively during the gear shifting process to reduce the front axle torque to zero and ensure a smooth transition of the gear shift. Among them, the first torque value is used to reduce the engine torque, and the second torque value is used to increase the P2 torque.

[0070] In this embodiment, by first determining the power characteristics of the battery, the vehicle can flexibly adjust the torque distribution of the engine and P2 according to the different power states of the battery to reduce the front axle torque to zero while ensuring that the main power source can still provide partial driving force for the vehicle. This not only improves the energy utilization of the entire vehicle, but also avoids power loss caused by limited battery output, thereby ensuring that the vehicle can smoothly perform gear shifting operations.

[0071] In some embodiments, given that power loss mainly occurs when the battery is at low power, the power characteristics of the battery can be roughly divided into two categories, high power and low power. The high-power and low-power states of the battery reflect its output capabilities under different operating conditions. In the high-power state, the battery output is less restricted and can provide greater instantaneous power to support the dynamic needs of the vehicle, such as rapid acceleration or climbing; in the low-power state, due to low state of charge, extreme temperature or the protection strategy of the battery management system (BMS), the maximum output power of the battery is limited, and it is difficult to meet higher power requirements. These two states directly affect the driving force performance of the auxiliary power source and the power response of the entire vehicle.

[0072] To accurately determine the power characteristics of the vehicle's battery, the vehicle may perform the following steps:

[0073] Step B1: The vehicle obtains battery status parameters.

[0074] Step B2: Determine the power characteristic based on the state parameter.

[0075] The status parameters may include voltage, current, temperature, SOC and other data. After obtaining this data, the vehicle can analyze the power characteristics of the battery and determine whether the battery is in a high-power or low-power state, so as to adopt corresponding torque adjustment strategies according to the actual situation of the battery.

[0076] For example, assuming that the vehicle obtains the voltage and current data of the battery, and after analysis it is determined that the battery voltage is high and the current output capacity is strong, it can be determined that the battery is in a high power state. On the contrary, if after analysis it is determined that the battery voltage is low and the current output is obviously limited, it can be determined that the battery is in a low power state.

[0077] The power characteristics of the battery can also be determined in a variety of ways. For example, in sports mode, the vehicle's demand for acceleration performance increases, and the Battery Management System (BMS) will allow the battery to provide higher power output to meet dynamic driving needs. Therefore, when the vehicle is in sports mode or there is a need for acceleration, the power characteristics of the battery can be determined to be high power. On the contrary, in economic mode, the vehicle focuses on energy saving and smooth driving. The BMS will limit the power output of the battery, optimize energy efficiency and extend the driving range. Therefore, when the vehicle is in economic mode or smooth driving mode, the power characteristics of the battery can be determined to be low power.

[0078] That is to say, as long as it can be accurately determined whether the battery is in high power or low power, the specific determination method is not limited in this embodiment.

[0079] In this embodiment, the vehicle can obtain and analyze the status of the battery to accurately identify the power characteristics of the battery, thereby ensuring the accuracy of the torque adjustment strategy and further ensuring the reliability of the vehicle's gear shifting.

[0080] In some embodiments, when the power characteristic of the battery is high power, its output limit is relatively small. At this time, in order to efficiently adjust the torque of the main power source to reduce the front axle torque and charge the battery during the gear shift to improve the energy utilization of the entire vehicle, the vehicle can determine the two torque values ​​through the following steps:

[0081] Step C1: When the power characteristic is high power, the vehicle determines the first torque value to be zero.

[0082] Step C2: determine the second torque value as the initial torque value.

[0083] Since the torque response of the engine is not as sensitive as that of the motor, in order to efficiently adjust the torque of the main power source, the torque of the engine can be kept unchanged, and the front axle torque can be adjusted only by controlling P2. Specifically, the first torque value can be set to zero, that is, the torque of the engine is kept unchanged; at the same time, the second torque value is set to the initial torque value of the front axle, so that P2 reduces the front axle torque to zero according to this value. This method can not only accurately control the power distribution and ensure the smoothness and efficiency during the gear shifting process, but also convert part of the kinetic energy into electrical energy through the energy feedback of P2 (such as regenerative braking or other methods) during the gear shifting process to charge the battery and realize energy recovery, thereby improving the energy utilization of the entire vehicle.

[0084] In some embodiments, when the power characteristic of the battery is low power, its output limit is relatively large. In order to avoid battery overcurrent caused by excessive current of P2 charging the battery during the gear shift process, the vehicle can determine two torque values ​​through the following steps:

[0085] Step D1: When the power characteristic is low power, the battery determines a second torque value based on the current power of the battery.

[0086] Step D2: The battery determines a first torque value based on the second torque value and the initial torque value.

[0087] When the battery is at low power, its output is greatly limited. If P2 is still adjusted according to the two torque values ​​in the high power state, the amount of electricity generated by P2 may exceed the carrying capacity of the battery, thereby causing battery overcurrent. To avoid this problem, the vehicle can reasonably determine the second torque value based on the current power characteristics of the battery, and further calculate the first torque value based on the second torque value and the initial torque value of the front axle torque.

[0088] Specifically, according to the power characteristics of the battery, the torque of P2 is increased to the second torque value, while the torque of the engine is reduced to the first torque value, so as to gradually reduce the front axle torque to zero to ensure that the vehicle can smoothly perform gear shifting operations. In this process, the power generation function of the front axle converts kinetic energy into electrical energy to safely charge the battery and provide a driving force source for the rear axle, thereby making up for the defect that the auxiliary power source driving energy only relies on the battery, improving the energy utilization efficiency of the whole vehicle and enhancing the flexibility and reliability of the vehicle shifting.

[0089] For example, the correspondence between the relevant parameters of the battery at low power and the P2 torque can be pre-built to ensure that the battery can be safely charged through P2. In this way, when it is determined that the battery is at low power, the vehicle can look up the table to determine the second torque value based on the relevant parameters of the battery, such as the maximum charging current, to ensure that the current output by P2 meets the current power characteristics of the battery. This method can dynamically adjust the torque distribution according to the actual state of the battery, avoid battery overcurrent due to excessive torque demand, and ensure the safety and stability of energy recovery.

[0090] In some embodiments, in order to ensure the speed regulation quality, the vehicle can regulate the speed through the following steps, including:

[0091] Step D1: The vehicle adjusts the speed to the target speed based on the second power source, and the torque of the engine remains unchanged.

[0092] Since engine speed regulation involves complex operations such as fuel injection, its accuracy is lower than that of P2. To ensure the quality of speed regulation and keep the engine torque unchanged, the vehicle only adjusts the speed of P2 to match the target speed. This can avoid fluctuations caused by changes in engine load, and achieve more precise speed control and more stable power output through P2.

[0093] In some embodiments, after the neutral gear is switched to the target gear, the method further includes:

[0094] Step E1: The vehicle generates a gear shift end instruction to complete the gear shift request.

[0095] After the vehicle's gear is switched from neutral to the target gear, it indicates that the current gear shift process has been completed. At this time, in order to provide a clear execution signal for the subsequent torque recovery and power output adjustment, a gear shift end instruction can be generated to ensure that the vehicle's gear shift operation is a closed-loop control.

[0096] Step E2: The vehicle controls the main power source to increase the torque so that the front axle torque increases from zero to an initial torque value.

[0097] According to the shift end instruction, the vehicle controls the torque adjustment of the main power source (including the engine and P2), so that the front axle torque gradually increases from the zero state in the previous shift process to the initial torque value. This can smoothly restore the vehicle's driving force and avoid setbacks or sudden changes in power after shifting, thereby ensuring driving smoothness and stability.

[0098] In some embodiments, see Figure 2 , if the battery is at high power, the current torque of the engine is T1, the initial value of the torque of the front axle is T2, the P2 torque is T3, the speed ratio of the engine and the motor is 1, and the vehicle needs to switch from 1st gear to 2nd gear, or from 2nd gear to 1st gear. The ideal result is that the engine torque T1 = -T3, given that the torque response of the engine is not as sensitive as that of the motor, and at the same time, the battery is charged during the gear shift to improve the energy utilization of the whole vehicle. Therefore, it is preferred to keep the engine torque unchanged, and only adjust the P2 torque to -T1, so that it changes according to the gradient change of the front axle torque, and reduce the front axle torque to zero. The vehicle can generate a gear shift authorization instruction including the target speed and target gear according to the gear shift request to trigger the subsequent backshift-speed adjustment-forward gear:

[0099] First, in preparation for the subsequent gear shifting operation, the power transmission can be temporarily disconnected based on the gear shift authorization command, that is, the vehicle can switch the current gear to neutral. When the vehicle gear is in neutral, the power source will no longer transmit power to the drive shaft, thereby avoiding mechanical shock or uneven driving experience caused by torque changes.

[0100] Then, when the vehicle enters neutral, in order to ensure that the vehicle can smoothly enter the target gear after shifting and the power output is smooth, the vehicle can adjust the speed of the main power source to match the speed required for the target gear. In order to ensure the quality of speed regulation, the vehicle can keep the engine torque unchanged, and the vehicle only adjusts the speed of P2 to match the target speed. This can avoid fluctuations caused by changes in engine load, and then achieve more precise speed control and more stable power output through P2.

[0101] Then, after the speed of P2 is adjusted to the target speed, the vehicle can seamlessly switch gears from neutral to the target gear, which indicates that the current gear shift process has been completed. At this time, in order to provide a clear execution signal for subsequent torque recovery and power output adjustment, a gear shift end instruction can be generated to ensure that the vehicle's gear shift operation is a closed-loop control.

[0102] Finally, according to the shift end instruction, the vehicle controls the torque adjustment of the main power source (including the engine and P2), so that the front axle torque gradually increases from the zero state in the previous shift process until it returns to the initial torque value. This can smoothly restore the vehicle's driving force and avoid setbacks or power mutations after shifting, thereby ensuring driving smoothness and stability.

[0103] In some embodiments, see Figure 3 , if the battery is at low power, the current torque of the engine is T1, the initial value of the torque of the front axle is T2, the P2 torque is T3, the speed ratio of the engine and the motor is 1, and the vehicle is to switch from 1st gear to 2nd gear, or from 2nd gear to 1st gear. Considering that if the engine torque is to be kept unchanged at this time, adjusting the P2 torque to -T1 will easily cause battery overcurrent (the battery at low power cannot accept a large charging current). Therefore, in order to ensure the safety of battery charging during the shifting process, the safe current of the battery charging can be determined by looking up the table according to the relevant parameters of the battery, such as the battery's state of charge (SOC, State of Charge), and then the target torque T4 is calculated. By adjusting the P2 torque to T4, the current generated by P2 can be matched with the current SOC of the battery, thereby avoiding battery overcurrent during the charging process and ensuring the safety of charging; accordingly, the engine torque can be adjusted to -T4 to make the front axle torque zero, and then the vehicle can generate a shift authorization instruction including the target speed and target gear according to the shift request to trigger the subsequent backshift-speed regulation-forward gear.

[0104] Since the subsequent steps of downshifting-speed regulation-upshifting are the same as the steps of downshifting-speed regulation-upshifting when the battery is at high power, the aforementioned description may be referred to and will not be repeated here.

[0105] The reason why the vehicle loses power during the gear shifting process is that in the related art, the gear shifting requires the torque of the main power source to be reduced to zero in order to perform direct drive shifting. At this time, the driving force of the whole vehicle is provided by the auxiliary power source, and the auxiliary power source depends on the battery. If the battery capacity is insufficient, the driving force of the whole vehicle will be reduced or even lose power. Therefore, the above embodiments distinguish the power characteristics of the battery to adopt different shifting processes. Specifically, in the case of high battery power, only the torque of P2 is increased to reduce the value of the front axle torque to zero; in the case of low battery power, in order to avoid battery overcurrent, P2 and the engine are controlled at the same time to reduce the value of the front axle torque to zero. If the value of the front axle torque is zero and the sum of the torque of P2 and the engine is not zero, the downshift-speed regulation-gearshift is triggered. In order to ensure the quality of speed regulation, only P2 is controlled to regulate the speed, and after the gear shift is completed, P2 is controlled to restore the value of the front axle torque. This method does not directly reduce the torque of the main power source to zero during the gear shifting phase, that is, the clutch will not be disconnected, so that the main power source can provide part of the energy for driving the entire vehicle. This can effectively solve the problem of power loss, improve the stability of vehicle driving, and thus improve the user experience while ensuring driving safety.

[0106] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0107] Corresponding to the vehicle gear switching method of the above embodiment, Figure 4 A structural block diagram of a gear switching device 4 of a vehicle provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0108] Reference Figure 4 The gear switching device 4 of the vehicle includes:

[0109] The vehicle control unit 41 is used to adjust the torque of the main power source based on the initial torque value of the front axle torque of the vehicle to reduce the front axle torque when a shift request is received; when the front axle torque is zero and the torque of the main power source is not zero, generate a shift authorization instruction based on the shift request, and send the shift authorization instruction to the transmission control unit; the shift authorization instruction includes a target speed and a target gear position;

[0110] The transmission control unit 42 is used to switch the current gear of the vehicle to the neutral gear based on the gear shift authorization instruction; and control the main power source to adjust the speed to the target speed to switch the neutral gear to the target gear.

[0111] Optionally, the main power source includes an engine and a second power source with opposite rotation directions; the vehicle control unit 41 is used to:

[0112] determining power characteristics of the vehicle's battery;

[0113] Determine a first torque value and a second torque value based on the power characteristic, the sum of the first torque value and the second torque value being the initial torque value;

[0114] The torque of the engine is reduced based on the first torque value, and the torque of the second power source is increased based on the second torque.

[0115] Optionally, the vehicle control unit 41 is specifically used for:

[0116] Get the battery status parameters;

[0117] A power characteristic is determined based on the state parameter.

[0118] Optionally, the power characteristic includes high power, and the vehicle control unit 41 is specifically configured to:

[0119] When the power characteristic is high power, the first torque value is determined to be zero;

[0120] The second torque value is determined as the initial torque value.

[0121] Optionally, the power characteristic includes low power, and the vehicle control unit 41 is specifically configured to:

[0122] When the power characteristic is low power, determining a second torque value based on the current power of the battery;

[0123] A first torque value is determined based on the second torque value and the initial torque value.

[0124] Optionally, the transmission control unit 42 is specifically configured to:

[0125] The rotation speed is adjusted to the target rotation speed based on the second power source, and the torque of the engine remains unchanged.

[0126] Optionally, the transmission control unit 42 is specifically configured to:

[0127] After the neutral gear is switched to the target gear, a shift end instruction is generated to complete the shift request;

[0128] The main power source is controlled to increase the torque so that the front axle torque increases from zero to an initial torque value.

[0129] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0130] Figure 5 This is a schematic diagram of the physical structure of a vehicle provided in one embodiment of the present application. Figure 5As shown, the vehicle 5 of this embodiment includes: at least one processor 50 ( Figure 5 Only one processor is shown in the figure), a memory 51, and a computer program 52 stored in the memory 51 and executable on at least one processor 50. When the processor 50 executes the computer program 52, the steps in any of the above-mentioned vehicle gear shifting method embodiments are implemented, such as Figure 1 Steps 110-140 are shown.

[0131] The processor 50 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0132] In some embodiments, the memory 51 may be an internal storage unit of the vehicle 5, such as a hard disk or memory of the vehicle 5. In other embodiments, the memory 51 may also be an external storage device of the vehicle 5, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the vehicle 5.

[0133] Furthermore, the memory 51 may also include both an internal storage unit and an external storage device of the vehicle 5. The memory 51 is used to store operating devices, applications, boot loaders, data, and other programs, such as program codes of computer programs, etc. The memory 51 may also be used to temporarily store data that has been output or is to be output.

[0134] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0135] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0136] An embodiment of the present application provides a computer program product. When the computer program product is run on a vehicle, the vehicle can implement the steps in the above-mentioned method embodiments when the computer program product is executed.

[0137] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The above-mentioned computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code can be in source code form, object code form, executable file or some intermediate form. The above-mentioned computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / vehicle, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electrical carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0138] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0139] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0140] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the above modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0141] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0142] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle gear switching method, characterized in that: include: In case of receiving a shift request, adjusting the torque of the main power source based on an initial torque value of the front axle torque of the vehicle to reduce the front axle torque; When the front axle torque is zero and the torque of the main power source is not zero, generating a shift authorization instruction based on the shift request; the shift authorization instruction includes a target speed and a target gear position; switching the current gear of the vehicle to neutral based on the gear shift authorization instruction; The main power source is controlled to adjust the rotation speed to the target rotation speed so as to switch the neutral gear to the target gear position.

2. The gear switching method according to claim 1, characterized in that: The main power source includes an engine and a second power source with opposite rotation directions; the adjusting the torque of the main power source based on the initial torque value of the front axle torque of the vehicle includes: determining a power characteristic of a battery of the vehicle; determining a first torque value and a second torque value based on the power characteristic, the sum of the first torque value and the second torque value being the initial torque value; The torque of the engine is reduced based on the first torque value, and the torque of the second power source is increased based on the second torque.

3. The gear switching method according to claim 2, characterized in that: The determining of the power characteristics of the battery of the vehicle comprises: Acquiring a state parameter of the battery; The power characteristic is determined based on the state parameter.

4. The gear switching method according to claim 2, characterized in that: The power characteristic includes high power, and determining the first torque value and the second torque value based on the power characteristic includes: When the power characteristic is high power, determining the first torque value to be zero; The second torque value is determined as the initial torque value.

5. The gear switching method according to claim 2, characterized in that: The power characteristic includes low power, and determining the first torque value and the second torque value based on the power characteristic includes: When the power characteristic is the low power, determining the second torque value based on the current power of the battery; The first torque value is determined based on the second torque value and the initial torque value.

6. The gear switching method according to any one of claims 2 to 5, characterized in that: The controlling the main power source to adjust the rotation speed to the target rotation speed includes: The rotation speed of the second power source is adjusted to the target rotation speed, and the torque of the engine remains unchanged.

7. The gear switching method according to any one of claims 2 to 5, characterized in that: After the neutral gear is switched to the target gear, the method further includes: generating a gear shift end instruction to complete the gear shift request; The main power source is controlled to increase torque so that the front axle torque is increased from zero to the initial torque value.

8. A gear switching device for a vehicle, characterized in that: include: a vehicle control unit, configured to adjust the torque of the main power source based on an initial torque value of the front axle torque of the vehicle to reduce the front axle torque when a shift request is received; When the front axle torque is zero and the torque of the main power source is not zero, generating a shift authorization instruction based on the shift request, and sending the shift authorization instruction to a transmission control unit; the shift authorization instruction includes a target speed and a target gear position; The transmission control unit is configured to switch the current gear of the vehicle to neutral based on the gear shift authorization instruction; The main power source is controlled to adjust the rotation speed to the target rotation speed so as to switch the neutral gear to the target gear position.

9. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the gear switching method for a vehicle as described in any one of claims 1 to 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by one or more processors, the gear shifting method for a vehicle as claimed in any one of claims 1 to 7 is implemented.

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