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

Abstract

The invention discloses a vehicle gear shifting control method and device, electronic equipment and a storage medium. The method comprises the steps that a current driving signal of a vehicle is obtained; the current driving signal comprises a vehicle speed signal; within the first preset time, the first demand torque of the vehicle is determined according to the current driving signal, so that a third motor and a fourth motor are controlled to work; and when the vehicle speed signal reaches the preset gear shifting vehicle speed, the two-gear gearbox is controlled to execute gear shifting operation. By means of the method, only the third motor and the fourth motor matched with the two-gear transmission are used for providing the required torque of the whole vehicle during gear shifting of the vehicle, normal gear shifting without power interruption of the vehicle is guaranteed, meanwhile, the problem of poor smoothness caused by gear shifting impact is avoided, and the experience feeling of a user is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle gear shift control, and in particular to a vehicle gear shift control method, device, electronic equipment and storage medium. Background Art

[0002] For pure electric heavy trucks, due to the large torque required for the vehicle, the drive system usually adopts a motor and automatic mechanical transmission solution, such as Figure 1 As shown in the figure, the shifting process includes five steps: torque reduction, downshifting, speed regulation, upshifting, and torque increase. The change in the drive system torque will cause the vehicle acceleration to change. On the one hand, the greater the acceleration change, the more obvious the impact felt by the driver, that is, the worse the driving comfort. On the other hand, the change in acceleration will cause the acceleration time to be longer, and the user will intuitively feel that the acceleration response is slow and the vehicle is underpowered. Therefore, we hope to achieve no power interruption and minimize the impact of shifting.

[0003] The existing control method for shifting gears usually determines the shifting condition according to the driving conditions. When shifting gears, the power of the first motor decreases, and the power of the second motor increases. The second motor provides the power demand of the whole vehicle, and the two-speed transmission performs the shifting gears. After the shifting gears are completed, the two motors resume power output. However, this method cannot theoretically provide the required torque of the vehicle by only using the second motor, so this method can only achieve shifting gears without power interruption, but cannot avoid the problem of poor smoothness caused by the shifting shock. Summary of the invention

[0004] The present invention provides a control method, device, electronic device and storage medium for vehicle gear shifting, so that when the vehicle shifts gears, only the third motor and the fourth motor of a two-speed gearbox are used to provide the required torque of the whole vehicle, thereby ensuring that the vehicle shifts gears without power interruption, avoiding the problem of poor smoothness caused by gear shifting shock, and improving the user experience.

[0005] In a first aspect, the present invention provides a control method for vehicle shifting, wherein the vehicle is a dual electric drive axle four-motor system; the dual electric drive axle four-motor system comprises a first motor, a second motor, a third motor and a fourth motor, the first motor and the second motor are single-stage reduction motors, and the third motor and the fourth motor are both equipped with a two-speed gearbox;

[0006] Methods include:

[0007] Acquire the current driving signal of the vehicle; the current driving signal includes a vehicle speed signal;

[0008] Determine a first required torque of the vehicle according to the current driving signal within a first preset time to control the third motor and the fourth motor to operate;

[0009] When the vehicle speed signal reaches the preset shift speed, the two-speed transmission is controlled to perform the shift operation.

[0010] Optionally, the current driving signal also includes an accelerator pedal opening signal;

[0011] Determining a first required torque of the vehicle according to the current driving signal includes:

[0012] Determining, according to the vehicle speed signal, a first peak torque of the vehicle when the third motor and the fourth motor are working;

[0013] A first required torque of the vehicle is determined according to the first peak torque and the accelerator pedal opening signal.

[0014] Optionally, the preset shift speed meets

[0015] Among them, V1 is the preset shift speed, is the maximum vehicle speed reached by the third motor or the fourth motor in the first gear, and p is a constant.

[0016] Optionally, the two-speed gearbox includes a first two-speed gearbox and a second two-speed gearbox, the third motor is matched with the first two-speed gearbox, and the fourth motor is matched with the second two-speed gearbox;

[0017] When the vehicle speed signal reaches the preset shift speed, the two-speed transmission is controlled to perform the shift operation, including:

[0018] When the vehicle speed signal reaches the preset shifting speed within the second preset time, the first and second gear transmissions matched with the third motor are controlled to perform the shifting operation; the second preset time is greater than the first preset time;

[0019] After the first two-speed gearbox matched with the third motor is shifted, the second two-speed gearbox matched with the fourth motor is controlled to perform the shifting operation.

[0020] Optionally, the preset shift vehicle speed includes a first preset shift vehicle speed;

[0021] Within the second preset time, when the vehicle speed signal reaches the preset shifting speed, the first and second gear transmissions matched with the third motor are controlled to perform a shifting operation, including:

[0022] When the vehicle speed signal reaches the first preset shift speed within the second preset time, the first output torque of the first motor, the second output torque of the second motor, the third output torque of the third motor and the fourth output torque of the fourth motor are obtained; according to the first output torque, the second output torque, the third output torque and the fourth output torque, the second required torque of the vehicle in the torque reduction process is determined to control the third motor to perform the torque reduction operation;

[0023] After the torque reduction operation is completed, a third required torque of the vehicle is determined according to the first output torque, the second output torque and the fourth output torque to control the third motor to perform the downshift, speed regulation and upshift operations;

[0024] After the downshift, speed adjustment and upshift operations are completed, the fourth required torque of the vehicle is determined based on the first output torque, the second output torque, the third output torque and the fourth output torque to control the third motor to perform a torque increase operation and complete the shifting operation of the first two-speed gearbox matched with the third motor.

[0025] Optionally, after the first two-speed gearbox matched with the third motor completes the gear shifting, the second two-speed gearbox matched with the fourth motor is controlled to perform the gear shifting operation, including:

[0026] After the first two-speed gearbox matched with the third motor is shifted, the fifth output torque of the first motor, the sixth output torque of the second motor, the seventh output torque of the third motor and the eighth output torque of the fourth motor are obtained; according to the fifth output torque, the sixth output torque, the seventh output torque and the eighth output torque, the fifth required torque of the vehicle in the torque reduction process is determined to control the fourth motor to perform the torque reduction operation;

[0027] After the torque reduction operation is completed, a sixth required torque of the vehicle is determined according to the fifth output torque, the sixth output torque and the eighth output torque to control the fourth motor to perform the downshift, speed regulation and upshift operations;

[0028] After the downshift, speed adjustment and upshift operations are completed, the vehicle's seventh required torque is determined based on the fifth output torque, the sixth output torque, the seventh output torque and the eighth output torque to control the fourth motor to perform a torque increase operation and complete the shifting operation of the second two-speed gearbox matched with the fourth motor.

[0029] Optionally, the preset shift vehicle speed includes a second preset shift vehicle speed;

[0030] Before obtaining the fifth output torque of the first motor, the sixth output torque of the second motor, the seventh output torque of the third motor, and the eighth output torque of the fourth motor, the method further includes:

[0031] It is determined that the vehicle speed signal reaches a second preset shift vehicle speed.

[0032] In a second aspect, the present invention provides a vehicle shift control device, wherein the vehicle is a dual electric drive axle four-motor system; the dual electric drive axle four-motor system comprises a first motor, a second motor, a third motor and a fourth motor, the first motor and the second motor are single-stage reduction motors, and the third motor and the fourth motor are both equipped with a two-multi-speed gearbox;

[0033] The device includes:

[0034] A signal acquisition module is used to acquire the current driving signal of the vehicle; the current driving signal includes a vehicle speed signal;

[0035] A first control module is used to determine a first required torque of the vehicle according to a current driving signal within a first preset time to control the third motor and the fourth motor to work;

[0036] The gear shift execution control module is used to control the two-speed transmission to execute the gear shift operation when the vehicle speed signal reaches the preset gear shift speed.

[0037] In a third aspect, the present invention provides an electronic device, the electronic device comprising:

[0038] at least one processor; and

[0039] a memory communicatively connected to at least one processor; wherein,

[0040] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by at least one processor so that the at least one processor can execute the above-mentioned vehicle shifting control method.

[0041] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the above-mentioned vehicle shifting control method when executed by a processor.

[0042] The technical solution of the present invention obtains the current driving signal of the vehicle; the current driving signal includes a vehicle speed signal; within a first preset time, according to the current driving signal, the first required torque of the vehicle is determined to control the operation of the third motor and the fourth motor; when the vehicle speed signal reaches the preset shifting speed, the two-speed gearbox is controlled to perform the shifting operation. Using the above method, when the vehicle shifts gears, only the third motor and the fourth motor matched with the two-speed gearbox are used to provide the required torque of the whole vehicle, ensuring that the vehicle shifts gears without power interruption, while avoiding the problem of poor smoothness caused by the shifting shock, and improving the user experience.

[0043] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 A schematic diagram of a curve showing the change of motor torque over time during a gear shifting process provided as background technology;

[0046] Figure 2 A flow chart of a vehicle shift control method provided by an embodiment of the present invention;

[0047] Figure 3 A flow chart of a second vehicle shift control method provided by an embodiment of the present invention;

[0048] Figure 4 A schematic structural diagram of a vehicle shift control device provided by an embodiment of the present invention;

[0049] Figure 5 A structural block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0052] In one embodiment, Figure 2A flow chart of a vehicle shift control method provided in an embodiment of the present invention. This embodiment is applicable to the situation where the shifting process of the vehicle is ensured to be without power interruption and the shifting process is smooth and without impact. The method can be executed by a vehicle shift control device, and the vehicle shift control device can be implemented in the form of hardware and / or software. The vehicle shift control device can be configured in an electronic device. Among them, the vehicle is a dual-electric drive axle four-motor system; the dual-electric drive axle four-motor system includes a first motor, a second motor, a third motor and a fourth motor, the first motor and the second motor are single-stage reduction motors, and the third motor and the fourth motor include a multi-speed gearbox; in this embodiment, the third motor and the fourth motor are both equipped with a two-speed gearbox. The dual-electric drive axle four-motor system also includes a first drive axle and a second drive axle, the first drive axle includes a first motor and a third motor, and the second drive axle includes a second motor and a fourth motor. As Figure 2 As shown, the method includes:

[0053] S110: Acquire the current driving signal of the vehicle.

[0054] The current driving signal includes a vehicle speed signal, and the vehicle speed signal may be obtained by, but is not limited to, obtaining it through a vehicle speed sensor.

[0055] S120. Determine a first required torque of the vehicle according to a current driving signal within a first preset time to control the operation of the third motor and the fourth motor.

[0056] The first preset time may be the time when the vehicle needs to be controlled to start, and the first required torque refers to the driving torque required by the vehicle under different working conditions to meet the power performance requirements, such as starting, accelerating, climbing, etc. In this embodiment, the first required torque is the required torque required when the third motor and the fourth motor are working.

[0057] Specifically, after obtaining the current driving signal of the vehicle, a first required torque required by the vehicle when the third motor and the fourth motor are working can be determined based on the current driving signal using a preset calculation formula. After determining the first required torque, the first required torque is output to the third motor and the fourth motor to make the third motor and the fourth motor work. The power provided by the third motor and the fourth motor is provided through a two-speed gearbox and then sent to the wheels, causing the wheels to start rotating, thereby starting the vehicle.

[0058] It should be noted that the third motor and the fourth motor are arranged to work in this embodiment. Essentially, this is because the third motor and the fourth motor are both equipped with a two-speed gearbox, and their speed ratio and output torque are relatively large. When the vehicle starts, the third motor and the fourth motor can be fully utilized to achieve rapid starting without the need for the first motor and the second motor to work.

[0059] S130: When the vehicle speed signal reaches a preset shift speed, control the two-speed transmission to perform a shift operation.

[0060] Among them, the preset shift speed is a shift speed value set in advance. When the current vehicle speed is greater than the preset shift speed, the two-speed transmission will perform the shift operation.

[0061] Specifically, when controlling the two-speed gearbox to perform the shifting operation, it is necessary to control the two-speed gearbox to perform the shifting operation according to the vehicle speed signal. When the vehicle speed reaches the preset shifting speed, it indicates that the user needs to shift up at this time, and the two-speed gearbox is controlled to perform the shifting operation. Because the third motor and the fourth motor are both equipped with two-speed gearboxes, it is necessary to control the two-speed gearbox equipped with the third motor and the two-speed gearbox equipped with the fourth motor to perform the shifting operation. When performing the shifting operation, the two-speed gearbox equipped with the third motor and the two-speed gearbox equipped with the fourth motor can be controlled to perform the shifting operation at the same time, or the two-speed gearbox equipped with the third motor and the two-speed gearbox equipped with the fourth motor can be controlled to perform the shifting operation in sequence, that is, the two-speed gearbox equipped with the third motor is first controlled to perform the shifting operation, and then the two-speed gearbox equipped with the fourth motor is controlled to perform the shifting operation; or, the two-speed gearbox equipped with the fourth motor is first controlled to perform the shifting operation, and then the two-speed gearbox equipped with the third motor is controlled to perform the shifting operation. The specific operation can be determined according to the actual situation and is not limited here. After the two-speed gearbox shifting operation is completed, it indicates that the vehicle's shifting operation is achieved.

[0062] The technical solution of the embodiment of the present invention is to obtain the current driving signal of the vehicle; the current driving signal includes a vehicle speed signal; within a first preset time, according to the current driving signal, determine the first required torque of the vehicle to control the operation of the third motor and the fourth motor; when the vehicle speed signal reaches the preset shifting speed, control the two-speed gearbox to perform the shifting operation. Using the above method, when the vehicle shifts gears, only the third motor and the fourth motor matched with the two-speed gearbox are used to provide the required torque of the whole vehicle, ensuring that the vehicle shifts gears without power interruption, while avoiding the problem of poor smoothness caused by the shifting shock, and improving the user experience.

[0063] Figure 3 This is a flow chart of a second vehicle shift control method provided by an embodiment of the present invention. This embodiment refines the vehicle shift control method in the above embodiment. The contents not yet fully described in this embodiment can be referred to the above embodiment, and will not be repeated here. The two-speed gearbox includes a first two-speed gearbox and a second two-speed gearbox, the third motor is matched with the first two-speed gearbox, and the fourth motor is matched with the second two-speed gearbox. Figure 1 and Figure 3 As shown, the method includes:

[0064] S210: Acquire the current driving signal of the vehicle.

[0065] The current driving signal includes a vehicle speed signal and an accelerator pedal opening signal. The accelerator pedal opening can be the opening size when the user steps on the accelerator pedal. The accelerator pedal opening signal can be obtained by, but is not limited to, obtaining it through an accelerator pedal opening sensor. In addition, the accelerator pedal opening signal can also be used to determine the corresponding vehicle speed signal to reduce costs. The specific determination can be based on actual conditions and is not limited here.

[0066] S220. Determine, within a first preset time, according to a vehicle speed signal, a first peak torque of the vehicle when the third motor and the fourth motor are operating.

[0067] Among them, the first peak torque of the vehicle refers to the maximum torque value that the engine or motor can output at a specific speed.

[0068] Specifically, after obtaining the vehicle speed signal, the vehicle speed signal can be substituted into the formula in, is the peak torque output by the third motor, is the peak torque output by the fourth motor, i 3_1 The first gear ratio of the first two-speed gearbox matched with the third motor, i 41 is the first gear ratio of the second two-speed gearbox matched with the fourth motor, η3 is the transmission efficiency from the motor torque output end of the third motor to the wheel side, and η4 is the transmission efficiency from the motor torque output end of the fourth motor to the wheel side. 3_1 、i 4_1 , η3 and η4 are all known quantities and can be directly obtained. and It can be determined according to the vehicle speed signal. After the above parameters are determined, they are substituted into the above formula to determine the first peak torque T of the vehicle. max (v x ).

[0069] S230: Determine a first required torque of the vehicle according to the first peak torque and the accelerator pedal opening signal to control the operation of the third motor and the fourth motor.

[0070] Specifically, after determining the first peak torque, combined with the acquired accelerator pedal opening signal, based on the calculation formula, T req1 =αT max (v x ), where α is the accelerator pedal opening signal. At this time, α and T max (v x ) are known, and after substituting them into the formula, the first required torque T can be calculated. req1 , output the first required torque T req1The third motor and the fourth motor are controlled to start working, so that the power generated by the third motor and the fourth motor is provided to the wheels through a two-speed transmission, thereby starting the vehicle.

[0071] S240: When the vehicle speed signal reaches a preset shift speed, control the first and second gear transmissions matched with the third motor to perform a shift operation.

[0072] Among them, this step can be refined as follows: within a second preset time, when the vehicle speed signal reaches a first preset shifting speed, obtain the first output torque of the first motor, the second output torque of the second motor, the third output torque of the third motor and the fourth output torque of the fourth motor; determine the second required torque of the vehicle during the torque reduction process according to the first output torque, the second output torque, the third output torque and the fourth output torque, so as to control the third motor to perform a torque reduction operation; after the torque reduction operation is completed, determine the third required torque of the vehicle according to the first output torque, the second output torque and the fourth output torque, so as to control the third motor to perform a backshift, speed regulation and forward gear operation; after the backshift, speed regulation and forward gear operation is completed, determine the fourth required torque of the vehicle according to the first output torque, the second output torque, the third output torque and the fourth output torque, so as to control the third motor to perform a torque increase operation and complete the shifting operation of the first two-speed gearbox matched with the third motor.

[0073] The second preset time is the time for controlling the shift operation according to the vehicle speed signal after the vehicle starts. Therefore, in terms of timing, the second preset time is greater than the first preset time. The first preset shift speed is the speed value of the third motor in the first gear state. The first preset shift speed is a pre-set speed value, which is the starting speed value of the third motor shifting. The first preset shift speed can be in, is the maximum vehicle speed that the first two-speed gearbox of the third motor can reach in the first gear state, and p is the vehicle speed constant. It should be noted that the above formula shows that the gear shifting starts when the vehicle speed will not reach the maximum speed. The purpose of reserving a certain speed value before the maximum speed is to prevent the third motor from reaching the maximum speed of the third motor before the speed regulation is achieved during the gear shifting process, resulting in the third motor malfunctioning and being unable to operate, thereby improving the performance and service life of the third motor. Maximum vehicle speed According to the formula Determine, where r is the rolling radius of the vehicle tire, n 3_max is the peak speed that the third motor can reach. r and n 3_max can be directly obtained, which is a known value. Substituting it into the above formula, the first preset gear shift speed can be finally calculated Generally speaking, the shifting process includes five steps: torque reduction, downshift, speed regulation, upshift and torque increase. Torque reduction refers to reducing the torque output from the engine or motor to the wheels. Downshift refers to switching from a higher gear to a lower gear in the vehicle transmission. Speed ​​regulation refers to adjusting the vehicle's driving speed, which can be achieved by changing the engine speed or the gear of the transmission. Upshift refers to switching from a lower gear to a higher gear in the vehicle transmission. Torque increase refers to increasing the torque output from the engine or motor to the wheels.

[0074] Specifically, when controlling the first or second gear transmission matched with the third motor to perform a shifting operation, when the vehicle speed signal is obtained to reach the first preset shifting speed, indicating that the vehicle speed at this time has reached the speed value at which the first or second gear transmission matched with the third motor can shift gears, the first or second gear transmission matched with the third motor is controlled to start the shifting operation. At this time, the torque reduction operation will be performed first. During the torque reduction process, the first motor, the second motor, the third motor and the fourth motor need to be controlled to work simultaneously to provide the second required torque required for the vehicle torque reduction process. In this process, the first output torque of the first motor, the second output torque of the second motor, the third output torque of the third motor and the fourth output torque of the fourth motor are obtained, wherein the first output torque, the second output torque, the third output torque and the fourth output torque can all be determined and obtained according to the vehicle speed signal by looking up the table or according to the preset correspondence between the vehicle speed signal and the output torque. According to the obtained first output torque, second output torque, third output torque and fourth output torque, substitute into the formula Wherein, i1 is the constant speed reduction ratio of the first motor, i2 is the constant speed reduction ratio of the second motor, η1 is the transmission efficiency from the motor torque output end to the wheel side of the first motor, η2 is the transmission efficiency from the motor torque output end to the wheel side of the second motor, is the first output torque of the first motor, is the second output torque of the second motor, is the third output torque of the third motor, is the fourth output torque of the fourth motor, wherein, and are greater than or equal to 0 and less than or equal to the corresponding peak torque, that is, i1, η1, i2, η2, i 3_1 ,η3,i 4_1 and η4 are known quantities, and then according to the obtained and The second required torque T of the vehicle can be calculated req2 And output to control the third motor to perform torque reduction operation.

[0075] After the torque reduction operation is completed, the third motor is controlled to perform the downshift, speed regulation and upshift operations. In this process, the first motor, the second motor and the fourth motor need to be controlled to work and provide the third required torque. Specifically, according to the obtained first output torque, the second output torque and the fourth output torque, substitute into the formula The third required torque T of the vehicle can be calculated req3 And output to control the execution of downshift, speed regulation and upshift operations, reducing the situation where the torque of the three motors cannot meet the torque required by the vehicle.

[0076] After the shift-down, speed-adjustment and shift-up operations are completed, the third motor is controlled to perform the torque-increasing operation. In this process, the first motor, the second motor, the third motor and the fourth motor need to be controlled to work simultaneously to meet the torque-increasing operation requirements. At this time, according to the first output torque, the second output torque, the third output torque and the fourth output torque obtained, substitute them into the formula The fourth required torque T of the vehicle can be calculated. req4 And output to control the third motor to perform the torque-increasing operation. After the torque-increasing operation is completed, the shifting operation of the first and second gear transmission matched with the third motor is realized.

[0077] S250: After the first two-speed gearbox matched with the third motor has completed the gear shifting, the second two-speed gearbox matched with the fourth motor is controlled to perform the gear shifting operation.

[0078] Among them, this step can be refined as follows: determine that the vehicle speed signal reaches the second preset shifting speed, and after the first two-speed gearbox matched with the third motor is shifted, control the second two-speed gearbox matched with the fourth motor to perform a shifting operation, and obtain the fifth output torque of the first motor, the sixth output torque of the second motor, the seventh output torque of the third motor and the eighth output torque of the fourth motor; determine the fifth required torque of the vehicle during the torque reduction process according to the fifth output torque, the sixth output torque, the seventh output torque and the eighth output torque, so as to control the fourth motor to perform a torque reduction operation; after the torque reduction operation is completed, determine the sixth required torque of the vehicle according to the fifth output torque, the sixth output torque and the eighth output torque, so as to control the fourth motor to perform a backshift, speed regulation and forward gear operation; after the backshift, speed regulation and forward gear operation are completed, determine the seventh required torque of the vehicle according to the fifth output torque, the sixth output torque, the seventh output torque and the eighth output torque, so as to control the fourth motor to perform a torque increase operation and complete the shifting operation of the second two-speed gearbox matched with the fourth motor.

[0079] Optionally, before obtaining the fifth output torque of the first motor, the sixth output torque of the second motor, the seventh output torque of the third motor and the eighth output torque of the fourth motor, it also includes: determining that the vehicle speed signal reaches a second preset shift speed.

[0080] The second preset shift speed is the speed value of the fourth motor in the first gear state. The second preset shift speed is a pre-set speed value, which is the starting speed value of the fourth motor shifting. The second preset shift speed can be in, is the maximum vehicle speed that the second two-speed gearbox of the fourth motor can reach in the first gear state, and p is the vehicle speed constant. It should be noted that the above formula shows that the gear shifting starts when the vehicle speed will not reach the maximum speed. The purpose of reserving a certain speed value before the maximum speed is to prevent the fourth motor from reaching the maximum speed of the fourth motor before the speed regulation is achieved during the gear shifting process, resulting in the fourth motor malfunctioning and being unable to operate, thereby improving the performance and service life of the fourth motor. Maximum vehicle speed According to the formula Determine, where r is the rolling radius of the vehicle tire, n 4_max is the peak speed that the fourth motor can reach. r and n 4_max Can be directly obtained, as known values, by substituting them into the above formula, the first preset shift speed can be finally calculated

[0081] Specifically, after the first two-speed gearbox matched with the third motor completes the shifting operation, the second two-speed gearbox matched with the fourth motor is controlled to perform the shifting operation. When the vehicle speed signal is obtained to reach the second preset shifting speed, it indicates that the vehicle speed has reached the speed value at which the second two-speed gearbox matched with the fourth motor can shift gears, and the second two-speed gearbox matched with the fourth motor is controlled to start the shifting operation. When shifting gears, the torque reduction operation is first performed. During the torque reduction process, the first motor, the second motor, the third motor and the fourth motor need to be controlled to work simultaneously to provide the fifth required torque of the vehicle. At this time, the fifth output torque of the first motor, the sixth output torque of the second motor, the seventh output torque of the third motor and the eighth output torque of the fourth motor need to be obtained, wherein the fifth output torque, the sixth output torque, the seventh output torque and the eighth output torque can all be determined and obtained according to the vehicle speed signal by looking up the table or according to the preset correspondence between the vehicle speed signal and the output torque. According to the obtained fifth output torque, sixth output torque, seventh output torque and eighth output torque, substitute into the formula Wherein, i1 is the constant speed reduction ratio of the first motor, i2 is the constant speed reduction ratio of the second motor, η1 is the transmission efficiency from the motor torque output end to the wheel side of the first motor, η2 is the transmission efficiency from the motor torque output end to the wheel side of the second motor, is the fifth output torque of the first motor, is the sixth output torque of the second motor, is the seventh output torque of the third motor, is the eighth output torque of the fourth motor. Similarly, and are greater than or equal to 0 and less than or equal to the corresponding peak torque, that is, i1, η1, i2, η2, i 3_1 ,η3,i 4_1 and η4 are known quantities, and then according to the obtained and The fifth required torque T of the vehicle can be calculated. req5 And output to control the fourth motor to perform torque reduction operation.

[0082] After the torque reduction operation is completed, the fourth motor is controlled to perform the downshift, speed regulation and upshift operations. In this process, the first motor, the second motor and the fourth motor need to be controlled to work and provide the sixth required torque. Specifically, according to the fifth output torque, the sixth output torque and the eighth output torque obtained, substitute into the formula The third required torque T of the vehicle can be calculated req6 And output to control the fourth motor to execute the backshift, speed regulation and forward shift operations, thereby reducing the situation where the torque of the three motors cannot meet the torque required by the vehicle.

[0083] After the shift-down, speed-adjustment and shift-up operations are completed, the fourth motor is controlled to perform the torque-increasing operation. In this process, the first motor, the second motor, the third motor and the fourth motor need to be controlled to work simultaneously to meet the torque-increasing operation requirements. At this time, according to the fifth output torque, the sixth output torque, the seventh output torque and the eighth output torque obtained, substitute them into the formula The seventh required torque T of the vehicle can be calculated. req7 And output to control the fourth motor to perform the torque increase operation. After the torque increase operation is completed, the shifting operation of the second two-speed gearbox matched with the fourth motor is completed. After the two-speed gearbox matched with the third motor and the fourth motor completes the shifting operation, it indicates that the vehicle has completed the shifting. After the shifting is completed, the required torque of the vehicle is provided by the first motor, the second motor, the third motor and the fourth motor at the same time, ensuring the normal and stable driving of the vehicle.

[0084] It should be noted that, when executing the gear shifting operation, the present embodiment first controls the gear shifting operation of the first two-speed gearbox matched with the third motor to complete the gear shifting, and then controls the gear shifting operation of the second two-speed gearbox matched with the fourth motor to complete the gear shifting. This sequential and orderly gear shifting method can avoid excessive torque demand caused by simultaneous gear shifting, making the first motor and the second motor unable to meet the vehicle's required torque, causing gear shifting shock, and improving gear shifting smoothness.

[0085] The technical solution of the embodiment of the present invention is to obtain the current driving signal of the vehicle; determine the first peak torque of the vehicle when the third motor and the fourth motor are working according to the vehicle speed signal within the first preset time; determine the first required torque of the vehicle according to the first peak torque and the accelerator pedal opening signal to control the operation of the third motor and the fourth motor; when the vehicle speed signal reaches the preset shifting speed, control the first two-speed gearbox matched with the third motor to perform the shifting operation; after the first two-speed gearbox matched with the third motor is shifted, control the second two-speed gearbox matched with the fourth motor to perform the shifting operation. Using the above method, the first two-speed gearbox matched with the third motor and the second two-speed gearbox matched with the fourth motor are shifted in sequence, ensuring no power interruption while achieving no shifting shock during the shifting process, ensuring the driving stability and safety of the user, and improving the user's experience.

[0086] Figure 4 A schematic diagram of the structure of a vehicle shift control device provided by an embodiment of the present invention, such as Figure 4 As shown, the vehicle is a dual electric drive axle four-motor system; the dual electric drive axle four-motor system includes a first motor, a second motor, a third motor and a fourth motor, the first motor and the second motor are single-stage reduction motors, and the third motor and the fourth motor are both equipped with two multi-speed gearboxes;

[0087] The device includes:

[0088] The signal acquisition module 110 is used to acquire the current driving signal of the vehicle; the current driving signal includes a vehicle speed signal and an accelerator pedal opening signal;

[0089] The first control module 120 is used to determine a first required torque of the vehicle according to a current driving signal within a first preset time to control the third motor and the fourth motor to operate;

[0090] The gear shift execution control module 130 is used to control the two-speed transmission to execute the gear shift operation when the vehicle speed signal reaches a preset gear shift speed.

[0091] The vehicle gear shift control device provided in the embodiment of the present invention can execute the vehicle gear shift control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0092] Optionally, the first control module 120 is further configured to: determine a first peak torque of the vehicle when the third motor and the fourth motor are working according to a vehicle speed signal; and determine a first required torque of the vehicle according to the first peak torque and an accelerator pedal opening signal.

[0093] Optionally, the gear shift execution control module 130 is also configured to: within a second preset time, when the vehicle speed signal reaches a preset gear shifting speed, control the first or second gear transmission matched with the third motor to perform a gear shifting operation; the second preset time is greater than the first preset time; after the first or second gear transmission matched with the third motor completes the gear shifting, control the second or second gear transmission matched with the fourth motor to perform a gear shifting operation.

[0094] Optionally, the gear shift execution control module 130 is also configured to: within a second preset time, when the vehicle speed signal reaches a first preset gear shift speed, obtain the first output torque of the first motor, the second output torque of the second motor, the third output torque of the third motor and the fourth output torque of the fourth motor; determine the second required torque of the vehicle during the torque reduction process according to the first output torque, the second output torque, the third output torque and the fourth output torque, so as to control the third motor to perform a torque reduction operation; after the torque reduction operation is completed, determine the third required torque of the vehicle according to the first output torque, the second output torque and the fourth output torque, so as to control the third motor to perform a backshift, speed regulation and forward gear operation; after the backshift, speed regulation and forward gear operation is completed, determine the fourth required torque of the vehicle according to the first output torque, the second output torque, the third output torque and the fourth output torque, so as to control the third motor to perform a torque increase operation and complete the gear shift operation of the first two-speed gearbox matched with the third motor.

[0095] Optionally, the gear shift execution control module 130 is also configured to: after the gear shift of the first two-speed gearbox matched with the third motor is completed, obtain the fifth output torque of the first motor, the sixth output torque of the second motor, the seventh output torque of the third motor and the eighth output torque of the fourth motor; determine the fifth required torque of the vehicle during the torque reduction process according to the fifth output torque, the sixth output torque, the seventh output torque and the eighth output torque, so as to control the fourth motor to perform a torque reduction operation; after the torque reduction operation is completed, determine the sixth required torque of the vehicle according to the fifth output torque, the sixth output torque and the eighth output torque, so as to control the fourth motor to perform a backshift, speed regulation and forward gear operation; after the backshift, speed regulation and forward gear operation are completed, determine the seventh required torque of the vehicle according to the fifth output torque, the sixth output torque, the seventh output torque and the eighth output torque, so as to control the fourth motor to perform a torque increase operation and complete the gear shift of the second two-speed gearbox matched with the fourth motor.

[0096] Optionally, the shift execution control module 130 is further configured to: determine that the vehicle speed signal reaches a second preset shift vehicle speed.

[0097] In another embodiment, Figure 5 A structural block diagram of an electronic device provided by an embodiment of the present invention, such as Figure 5As shown, a schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0098] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0099] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0100] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a control method for vehicle shifting.

[0101] In some embodiments, the control method of the vehicle shifting can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method of the vehicle shifting described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the control method of the vehicle shifting by any other appropriate means (for example, by means of firmware).

[0102] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0103] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0104] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0105] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0106] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0107] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0108] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0109] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle shift control method, characterized in that: The vehicle is a dual electric drive axle four-motor system; the dual electric drive axle four-motor system includes a first motor, a second motor, a third motor and a fourth motor, the first motor and the second motor are single-stage reduction motors, and the third motor and the fourth motor are both equipped with a two-speed gearbox; The method comprises: Acquire a current driving signal of the vehicle; the current driving signal includes a vehicle speed signal; Determining a first required torque of the vehicle according to the current driving signal within a first preset time to control the third motor and the fourth motor to operate; When the vehicle speed signal reaches a preset shifting speed, the two-speed transmission is controlled to perform a shifting operation.

2. The control method according to claim 1, characterized in that: The current driving signal also includes an accelerator pedal opening signal; Determining a first required torque of the vehicle according to the current driving signal includes: determining, according to the vehicle speed signal, a first peak torque of the vehicle when the third motor and the fourth motor are working; A first required torque of the vehicle is determined according to the first peak torque and the accelerator pedal opening signal.

3. The control method according to claim 1, characterized in that: The preset shift speed satisfies Wherein, V1 is the preset shifting speed, is the maximum vehicle speed reached by the third motor or the fourth motor in the first gear, and p is a constant.

4. The control method according to claim 1, characterized in that: The two-speed gearbox includes a first two-speed gearbox and a second two-speed gearbox, the third motor is matched with the first two-speed gearbox, and the fourth motor is matched with the second two-speed gearbox; When the vehicle speed signal reaches a preset shift speed, controlling the two-speed gearbox to perform a shift operation includes: When the vehicle speed signal reaches a preset shifting speed within a second preset time, the first two-speed gearbox matched with the third motor is controlled to perform the shifting operation; the second preset time is greater than the first preset time; After the first two-speed gearbox matched with the third motor completes the gear shifting, the second two-speed gearbox matched with the fourth motor is controlled to perform the gear shifting operation.

5. The control method according to claim 4, characterized in that: The preset shift vehicle speed includes a first preset shift vehicle speed; When the vehicle speed signal reaches a preset shifting speed within a second preset time, the first two-speed gearbox matched with the third motor is controlled to perform the shifting operation, including: When the vehicle speed signal reaches the first preset shift speed within a second preset time, a first output torque of the first motor, a second output torque of the second motor, a third output torque of the third motor, and a fourth output torque of the fourth motor are obtained; a second required torque of the vehicle during the torque reduction process is determined according to the first output torque, the second output torque, the third output torque, and the fourth output torque, so as to control the third motor to perform the torque reduction operation; After the torque reduction operation is completed, a third required torque of the vehicle is determined according to the first output torque, the second output torque and the fourth output torque, so as to control the third motor to perform a backshift, a speed adjustment and an upshift operation; After the downshift, speed adjustment and upshift operations are completed, the fourth required torque of the vehicle is determined based on the first output torque, the second output torque, the third output torque and the fourth output torque to control the third motor to perform a torque increase operation and complete the shifting operation of the first two-speed gearbox matched with the third motor.

6. The control method according to claim 4, characterized in that: After the first two-speed gearbox matched with the third motor completes the gear shifting, controlling the second two-speed gearbox matched with the fourth motor to perform the gear shifting operation includes: After the first two-speed gearbox matched with the third motor is shifted, a fifth output torque of the first motor, a sixth output torque of the second motor, a seventh output torque of the third motor and an eighth output torque of the fourth motor are obtained; a fifth required torque of the vehicle during the torque reduction process is determined according to the fifth output torque, the sixth output torque, the seventh output torque and the eighth output torque, so as to control the fourth motor to perform the torque reduction operation; After the torque reduction operation is completed, a sixth required torque of the vehicle is determined according to the fifth output torque, the sixth output torque and the eighth output torque, so as to control the fourth motor to perform a downshift, a speed adjustment and an upshift operation; After the downshift, speed adjustment and upshift operations are completed, the seventh required torque of the vehicle is determined based on the fifth output torque, the sixth output torque, the seventh output torque and the eighth output torque to control the fourth motor to perform a torque increase operation and complete the shifting operation of the second two-speed transmission matched with the fourth motor.

7. The control method according to claim 6, characterized in that: The preset shift vehicle speed includes a second preset shift vehicle speed; Before obtaining the fifth output torque of the first motor, the sixth output torque of the second motor, the seventh output torque of the third motor, and the eighth output torque of the fourth motor, the method further includes: It is determined that the vehicle speed signal reaches the second preset shift vehicle speed.

8. A vehicle shift control device, characterized in that: The vehicle is a dual electric drive axle four-motor system; the dual electric drive axle four-motor system includes a first motor, a second motor, a third motor and a fourth motor, the first motor and the second motor are single-stage reduction motors, and the third motor and the fourth motor are both equipped with a two-speed gearbox; The device comprises: A signal acquisition module, used to acquire a current driving signal of the vehicle; the current driving signal includes a vehicle speed signal; A first control module, configured to determine a first required torque of the vehicle according to the current driving signal within a first preset time, so as to control the third motor and the fourth motor to operate; The gear shift execution control module is used to control the two-speed transmission to execute a gear shift operation when the vehicle speed signal reaches a preset gear shift speed.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle shift control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle shift control method according to any one of claims 1 to 7 when executed.

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