Gear shifting overlapping control method and device, electronic equipment, readable medium and vehicle

Abstract

The invention relates to a gear shifting overlap control method and device, electronic equipment, a readable medium and a vehicle, the method is applied to an AMT of a commercial electric vehicle, and the method comprises at least one of the following overlap control steps: overlap control based on gear shifting motor response time; overlapping control based on idle stroke of the dog clutch; overlapping control based on the dog-tooth clutch in-gear position; overlay control based on dog clutch engagement depth. Through cooperation of the overlapping control modes, the gear shifting time can be remarkably shortened, the gear shifting efficiency can be improved, meanwhile, the smoothness of the gear shifting process is guaranteed, and the driving comfort is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic shift control for pure electric vehicles, and in particular to a shift overlap control method, device, electronic equipment, readable medium and vehicle. Background Art

[0002] In the existing commercial vehicle AMT shifting technology, the torque intervention of the drive motor and the operation of the dog clutch during the shifting process are performed in a fixed sequence, such as Figure 1 , specifically including the following steps: first, the driving motor withdraws the torque to the target torque (de-twist), then the shift motor moves the shift fork to disengage the current dog clutch (shift out of gear), then the driving motor adjusts the speed to the target speed (speed regulation), then the shift motor moves the shift fork to engage the target dog clutch (shift in gear), and finally the driving motor restores the torque to the torque required by the driver (re-twist).

[0003] like Figure 2 , because traditional AMT is equipped with a clutch and a reducer, some operations can be overlapped during the gear shifting process. For example, when the engine is de-torqued, the power can be disconnected by opening the clutch; when the de-torque is completed, the engine speed regulation and gear shifting can be carried out at the same time; by adjusting the dog tooth slip window through the brake, the gear shifting process and the speed regulation process can be carried out at the same time.

[0004] However, the existing commercial electric vehicle AMT shifting technology has obvious shortcomings. Since the torque intervention of the drive motor and the operation of the dog clutch during the shifting process need to be performed strictly in sequence, operation overlap cannot be achieved, resulting in a long shifting time. This sequential execution control method makes the shifting performance of commercial electric vehicle AMT unable to reach the level of traditional AMT, affecting the driving performance of the entire vehicle. Summary of the invention

[0005] The invention discloses a shift overlap control method, a device, an electronic device, a readable medium and a vehicle, aiming to solve the technical problems existing in the prior art.

[0006] The present invention adopts the following technical solutions:

[0007] In a first aspect, an embodiment of the present invention provides a shift overlap control method, which is applied to an AMT of a commercial electric vehicle, and includes at least one of the following overlap control steps:

[0008] Overlap control based on the response time of the shift motor, by controlling the shift motor in advance according to the response time of the shift motor, so that the gear is disengaged when the drive motor reaches the target torque, and the gear is engaged when the drive motor reaches the target speed;

[0009] Based on the overlap control of the dog clutch idle stroke, when the shift fork moves to the synchronization start point and there is a preset difference between the drive motor speed and the target speed, the speed control is performed, and the shift motor is controlled in advance according to the idle stroke time, so that the shift fork reaches the synchronization start point when the drive motor reaches the target speed;

[0010] Based on the overlap control of the dog clutch in-gear position, the drive motor torque is restored when the shift fork is displaced to the synchronization start point and the difference between the drive motor speed and the target speed is within a preset range;

[0011] Based on the overlapping control of the dog clutch engagement depth, when the driving motor speed is lower than the preset value, the shift fork is released in advance to the dog clutch engagement depth to the synchronization end point.

[0012] In some embodiments, the overlap control based on the response time of the gear shift motor includes a back-twist-shift overlap control, in which the target torque of the drive motor is determined according to the response time of the gear shift motor and the back-twist rate, so that the moment when the drive motor reaches the target torque matches the moment when the gear shift motor completes the response and starts to move the shift fork.

[0013] In some embodiments, the overlapping control based on the response time of the gear shifting motor includes speed regulation-gear shifting overlapping control, which determines the target speed of the driving motor according to the response time of the gear shifting motor, the speed of the driving motor and its rate of change, so that the moment when the driving motor reaches the target speed matches the moment when the gear shifting motor completes the response and moves the shift fork.

[0014] In some embodiments, the overlap control based on the idle stroke of the dog clutch includes a gear disengagement-speed regulation overlap control, by which, when the shift fork moves to the synchronization start point and the difference between the drive motor speed and the actual speed is greater than a first preset value, it is determined that the dog clutch enters the gear disengagement idle stroke and the drive motor speed regulation is started.

[0015] In some embodiments, the overlap control based on the idle stroke of the dog clutch includes speed regulation-gear shifting overlap control, which determines the target speed based on the shift fork displacement time, the drive motor speed and its change rate, so that the moment when the drive motor reaches the target speed matches the moment when the shift fork reaches the synchronization start point.

[0016] In some embodiments, the overlap control based on the dog clutch engagement position includes gear engagement-twist-back overlap control, by determining that the dog clutch has completed engagement and starting drive motor torque recovery when the shift fork moves to the synchronization start point and the difference between the drive motor speed and the actual speed is less than a second preset value.

[0017] In some embodiments, the overlapping control based on the dog clutch engagement depth includes overlapping control of the current gear shifting step and the next gear shifting step. During the execution of the current gear shifting step, the shift fork is controlled in advance to release the dog clutch engagement depth to the synchronization end point when the drive motor speed is lower than the preset speed and the drive motor torque is less than the preset torque, so as to achieve overlapping control with the next gear shifting step.

[0018] In a second aspect, an embodiment of the present invention provides a shift overlap control device, which is applied to an AMT of a commercial electric vehicle, and the device includes:

[0019] A response time overlap control module is used to control the shift motor in advance according to the response time of the shift motor, so that the gear is disengaged when the drive motor reaches the target torque, and the gear is engaged when the drive motor reaches the target speed;

[0020] The idle stroke overlap control module is used to perform speed control when the shift fork moves to the synchronization start point and there is a preset difference between the drive motor speed and the target speed, and to control the shift motor in advance according to the idle stroke time so that the shift fork reaches the synchronization start point when the drive motor reaches the target speed;

[0021] The gear position overlap control module is used to start restoring the drive motor torque when the shift fork moves to the synchronization start point and the difference between the drive motor speed and the target speed is within a preset range;

[0022] The combined depth overlap control module is used to release the dog clutch engagement depth to the synchronization end point in advance when the driving motor speed is lower than a preset value.

[0023] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0024] Processor; and

[0025] A memory arranged to store computer executable instructions which, when executed, cause the processor to perform a method as described in any one of the above.

[0026] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores one or more programs. When the one or more programs are executed by an electronic device including multiple application programs, the electronic device executes any of the methods described above.

[0027] In a fifth aspect, an embodiment of the present invention provides a vehicle, comprising the gear shift overlap control device as described above.

[0028] One embodiment of the above invention has the following advantages or beneficial effects:

[0029] The embodiment of the present invention mainly provides a shift overlap control method, device, electronic device, readable medium and vehicle. Compared with the prior art, the embodiment of the present invention realizes seamless connection between the steps in the shift process through four overlapping control modes. Specifically, based on the overlapping control of the shift motor response time and the idle stroke of the dog clutch, the shift motor is started in advance and the displacement of the shift fork is accurately controlled, reducing the invalid waiting time in the shift process; based on the overlapping control of the dog clutch gear position and engagement depth, the smooth recovery of the drive motor torque and the early intervention of the shift step are realized.

[0030] Through the coordinated cooperation of the above-mentioned overlapping control methods, the present invention can significantly shorten the gear shifting time and improve the gear shifting efficiency, while ensuring the smoothness of the gear shifting process and improving driving comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments, which constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions explain the present invention and do not constitute improper limitations on the present invention. In the drawings:

[0032] Figure 1 This is the power structure diagram of the AMT of a traditional fuel vehicle;

[0033] Figure 2 This is the shift control timing diagram of the AMT of a traditional fuel vehicle;

[0034] Figure 3 AMT power structure diagram provided for one embodiment of the present invention;

[0035] Figure 4 A flow chart of a shift overlap control method provided by one embodiment of the present invention;

[0036] Figure 5 An overlapping control shift timing diagram based on the response time of the shift motor provided by one embodiment of the present invention;

[0037] Figure 6 An overlapping control shift timing diagram based on the dog clutch idle stroke provided by one embodiment of the present invention;

[0038] Figure 7 A timing diagram of overlapping control shifting based on the dog clutch in-gear position provided by one embodiment of the present invention;

[0039] Figure 8 A timing diagram of overlapping control shifting based on the engagement depth of a dog clutch provided by one embodiment of the present invention;

[0040] Fig. 9A shift timing diagram when all overlapping controls are executed provided by one embodiment of the present invention;

[0041] Fig.10 A structural block diagram of a shift overlap control device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. In the description of the present invention, it should be noted that the term "or" is usually used in the sense of including "and / or", unless the content clearly indicates otherwise.

[0043] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] The existing commercial electric vehicle AMT gear shift control usually adopts a serial control method, that is, the gear shift steps are executed in a fixed order of back-twist-shift-speed adjustment-gear engagement-back-twist. In this control method, the response characteristics of the gear shift motor are not fully considered, resulting in unnecessary waiting time between gear shift steps, and the idle travel characteristics of the dog clutch are not effectively utilized. More importantly, since each gear shift step is independent of each other and strictly executed in series, the entire gear shift process takes a long time, affecting the gear shift efficiency and driving smoothness.

[0045] In order to solve the deficiencies in the prior art, an embodiment of the present invention provides a shift overlap control method for commercial electric vehicle AMT, which does not require the assistance of additional intermediate shaft brakes and clutches to achieve overlap control. The commercial electric vehicle described in this embodiment can be an electric truck, an electric bus, an electric transport vehicle, an electric tractor, etc. AMT is an automatic mechanical transmission, including a shift motor, a shift fork mechanism and a dog clutch, wherein the shift motor drives the dog clutch through the shift fork mechanism to complete the shift action; the dog clutch adopts a synchronizer structure, and has the characteristics of idle travel, synchronization and engagement depth, etc. These characteristics make it possible to achieve overlap control of the shift steps.

[0046] like Figure 3 In the power structure of this embodiment, the driving motor is connected to the two gear boxes through the input shaft, and then to the wheel end through the output shaft. The selection of the speed ratio of the two gear boxes is achieved by controlling the shift motor to move the shift fork.

[0047] refer to Figure 4 In one embodiment of the present invention, the shift overlap control method includes at least one of the following steps S110 to S140:

[0048] Step S110, based on the overlapping control of the shift motor response time, the shift motor is controlled in advance according to the shift motor response time, so that the gear is disengaged when the drive motor reaches the target torque, and the gear is engaged when the drive motor reaches the target speed.

[0049] Step S120, based on the overlapping control of the dog clutch idle stroke, when the shift fork moves to the synchronization start point and there is a preset difference between the drive motor speed and the target speed, speed control is performed, and the shift motor is controlled in advance according to the idle stroke time, so that the shift fork reaches the synchronization start point when the drive motor reaches the target speed.

[0050] Step S130, based on the overlap control of the dog clutch in-gear position, the drive motor torque begins to be restored when the shift fork moves to the synchronization start point and the difference between the drive motor speed and the target speed is within a preset range.

[0051] Step S140, based on the overlapping control of the dog clutch engagement depth, when the speed of the driving motor is lower than a preset value, the shift fork is released in advance to the dog clutch engagement depth to the synchronization end point.

[0052] It should be noted that the above steps S110 to S140 can be flexibly selected according to the actual application scenario and control requirements. You can either execute only one of the steps to achieve local overlapping control, or select a combination of multiple steps or all of the steps to achieve multiple overlapping control. For example, in a scenario where the gear shift responsiveness requirement is high, you can choose to execute step S110 and step S120 to achieve the overlap based on the gear shift motor response time and the overlap based on the idle stroke at the same time; in a scenario where the gear shift smoothness requirement is high, you can choose to execute step S120 and step S130 to achieve a smooth connection between the speed regulation process and the gear shifting process. By flexibly selecting different combinations of overlapping control steps, the optimal gear shift control effect can be achieved for different application scenarios.

[0053] In one embodiment of the present invention, step S110 also specifically includes back-twist-shift-shift overlap control and speed regulation-shift-shift overlap control.

[0054] In the detwist-shift overlap control, the target torque of the drive motor is determined according to the response time and detwist rate of the shift motor, so that the moment when the drive motor reaches the target torque matches the moment when the shift motor completes the response and starts to move the shift fork.

[0055] In one embodiment of the present invention, the response time of the shift motor is a fixed value, which is about 40 ms; the detent rate is determined based on the actual gear position and the torque before the shift starts.

[0056] For example, when the target torque of the drive motor is 0 Nm and the shift motor needs to be started, the shift motor can be started in advance when the drive motor torque is equal to the detent rate × the shift motor response time. Figure 5 As shown in the figure, the red curve represents the actual fork displacement after overlapping control, and the light gray curve represents the actual fork displacement without overlapping control. Through this overlapping control method, the time for the fork to be in place can be significantly advanced, effectively shortening the shifting time by about 0.05s.

[0057] Figure 5 The three curves from top to bottom in the figure represent the changes in the drive motor torque (Nm), drive motor speed (rpm) and shift fork displacement (mm). This control method avoids the time waste caused by waiting for the shift motor response in traditional serial control and improves the shift efficiency.

[0058] In the speed regulation-gear overlap control, the target speed of the drive motor is determined based on the response time of the shift motor, the speed of the drive motor and its rate of change, so that the moment when the drive motor reaches the target speed matches the moment when the shift motor completes the response and moves the shift fork.

[0059] In one embodiment of the present invention, when determining the target speed of the drive motor, it is necessary to add an estimate based on the original target speed, and the estimate is equal to the product of the speed change rate of the drive motor and the response time of the shift motor. Since there is a response delay of about 40ms from the shift motor receiving the control command to the actual start of moving the shift fork, by setting this advance amount, the time when the drive motor actually reaches the target speed and the time when the shift fork starts to move can be synchronized.

[0060] like Figure 5 As shown in the figure, through the overlapping control strategy, the movement time of the shift fork and the change of the drive motor speed are better coordinated, avoiding the problem of waiting for the shift motor to respond after the drive motor reaches the target speed in the traditional control method, thereby effectively shortening the shift time by about 0.05s.

[0061] In one embodiment of the present invention, the overlapping control effect in step S110 can be obtained from Figure 5 In traditional serial control, the total shifting time is 1.4s, of which the back-twist time is 0.3s, the shifting time is 0.2s (including 0.15s back-shifting time and 0.05s back-shifting time), the speed regulation time is 0.3s, the shifting time is 0.3s (including 0.1s back-shifting time, 0.1s synchronization time and 0.1s shifting action time), and the back-twist time is 0.3s.

[0062] Through the overlapping control based on the response time of the shift motor, in the detwist-shift stage, the shift motor is controlled in advance to make its 0.05s response time overlap with the detwist process, saving 0.05s. Figure 5 The shadow on the left side of the middle; Similarly, in the speed regulation-gear shifting stage, the gear shifting motor is controlled in advance to overlap its 0.05s response time with the speed regulation process, which also saves 0.05s. Figure 5 Center right shadow.

[0063] Therefore, only through the overlapping control of step S110, the gear shifting time is shortened by a total of 0.1s. This overlapping control strategy avoids the time waste caused by the gear shifting motor response waiting in the traditional control, and enables the gear shifting or engaging action to start when the drive motor reaches the target torque or speed, thereby improving the gear shifting efficiency.

[0064] In one embodiment of the present invention, step S120 also specifically includes gear disengagement-speed regulation overlap control and speed regulation-gear engagement overlap control.

[0065] In the gear disengagement-speed regulation overlapping control, when the shift fork moves to the synchronization start point and the difference between the drive motor speed and the actual speed is greater than the first preset value, it is determined that the dog clutch enters the gear disengagement idle stroke and the drive motor speed regulation is started.

[0066] In one embodiment of the present invention, the shifting phase can be further divided into two sub-phases: shifting back and shifting back to empty. Among them, "shifting back" refers to the process of the shift fork moving from the initial position to the synchronization starting point, and "shifting back to empty" refers to the process of the dog clutch entering the empty stroke. Specifically, the empty stroke is related to the specific structure of the shift fork mechanism and is generally within a range of 3mm. In one embodiment, the middle position of the shift fork is 0, and the range of 3mm on both sides can be considered as the empty stroke area.

[0067] In the gear-shifting-speed-adjusting overlapping control, when the shift fork displacement reaches the synchronous starting point (i.e., enters the above-mentioned idle stroke area), and the difference between the drive motor speed and the actual gear speed is detected to be greater than the first preset value, it can be determined that the dog clutch has been disengaged and entered the idle stroke, wherein the first preset value is a fixed value, preferably 50rpm. At this time, there is no need to wait for the shift fork to move completely into place, and the speed adjustment of the drive motor can be started in advance, so as to realize the overlapping control of the gear-shifting idle stroke and the speed-adjusting process.

[0068] Through this overlapping control method, the speed regulation process that originally needs to wait for the end of gear shifting can be started in advance, and the time overlap with the idle travel stage of gear shifting is achieved. Figure 6 This control strategy makes full use of the idle travel characteristics of the dog clutch and effectively shortens the total shifting time. Compared with the traditional serial control, this overlapping control alone can save about 0.05s of shifting time.

[0069] In the speed regulation-gear overlap control, the target speed is determined based on the shift fork displacement time, the drive motor speed and its change rate, so that the time when the drive motor reaches the target speed matches the time when the shift fork reaches the synchronization start point.

[0070] In one embodiment of the present invention, the gear-engaging stage can be specifically divided into three sub-stages: idle, synchronous and shifting. Among them, "idle" refers to the displacement time of the shift fork in the idle travel stage.

[0071] In the speed regulation-gear overlap control, the system will calculate the target speed to be achieved in advance based on the displacement time of the shift fork in the idle travel stage, the current drive motor speed and the speed change rate. The target speed is the product of the idle travel displacement time and the speed change rate based on the current drive motor speed. Through calculation, it can be ensured that when the actual speed of the drive motor is close to the target gear speed, the shift fork will just reach the synchronization start point.

[0072] Through this overlapping control, the system achieves the time overlap between the speed regulation process and the idle travel movement of the shift fork, such as Figure 6 As shown in the shadow on the right side of the figure. Compared with the traditional control method ( Figure 6 Compared with the light gray curve in the middle, the new control strategy avoids the time wasted waiting for the shift fork to move into position after the speed regulation is completed, so that the shift fork arrives at the synchronization start point just when the drive motor reaches the target speed, thereby shortening the shift time by about 0.1s. Through this precise timing coordination, the smoothness of the shift is guaranteed and the shift efficiency is improved.

[0073] In one embodiment of the present invention, the overlapping control effect in step S120 can be obtained from Figure 6 In traditional serial control, the total shifting time is 1.4s, of which the back-twist time is 0.3s, the shifting time is 0.2s (including 0.15s back-shifting time and 0.05s back-shifting time), the speed regulation time is 0.3s, the shifting time is 0.3s (including 0.1s back-shifting time, 0.1s synchronization time and 0.1s shifting action time), and the back-twist time is 0.3s.

[0074] Through the overlap control based on the dog clutch idle stroke, in the gear-shift-speed regulation stage, the speed regulation control is carried out in advance by using the idle time of 0.05s. Figure 6 The shadow on the left side of the middle; in the speed regulation-gear stage, the 0.1s time of the idle gear is used to overlap with the speed regulation process, refer to Figure 6 Center right shadow.

[0075] Therefore, only through the idle stroke overlap control of step S120, a total shift time reduction of 0.15s is achieved. This overlap control strategy makes full use of the idle stroke characteristics of the dog clutch, avoids the time waste caused by the idle stroke stage in traditional control, and significantly improves the shift efficiency.

[0076] In one embodiment of the present invention, step S130 includes gear engagement-torque overlap control. Specifically, when the shift fork is displaced to the synchronization start point and the difference between the drive motor speed and the actual speed is less than a second preset value, it is determined that the dog clutch is engaged and the drive motor torque recovery is started.

[0077] In one embodiment of the present invention, the gear-engagement phase includes three sub-phases: neutral, synchronization and gear-in. In the gear-engagement-twist-back overlap control, the system monitors two key parameters: shift fork displacement and speed difference.

[0078] Specifically, when the shift fork reaches the synchronization start point and the difference between the drive motor speed and the target gear speed is detected to be less than a second preset value, it can be determined that the dog clutch has been engaged. Preferably, the second preset value is a fixed value of 20 rpm. At this time, there is no need to wait for the shift fork to move completely into position, and the torque recovery process of the drive motor can be started in advance to achieve overlapping control of the gear engagement and torque return processes.

[0079] like Figure 7 As shown in the figure, this overlapping control method starts the back-twist process earlier, which originally needs to wait for the gear to be fully engaged, shortening the total shifting time by about 0.05s. This control strategy improves the shifting efficiency while ensuring the safety and smoothness of the shifting by accurately judging the engagement state of the dog clutch. Compared with the traditional serial control, it avoids the time waste of back-twist after the gear is fully engaged.

[0080] In one embodiment of the present invention, step S140 includes overlapping control of the current gear shifting step and the next gear shifting step. Specifically, during the execution of the current gear shifting step, when the speed of the drive motor is lower than the preset speed and the torque of the drive motor is lower than the preset torque, the shift fork is controlled in advance to release the dog clutch engagement depth to the synchronization end point, so as to achieve overlapping control with the next gear shifting step.

[0081] In one embodiment of the present invention, the shifting process includes adjusting the position of the synchronization end point. In the overlapping control of the current shifting step and the next shifting step, the system will monitor the speed and torque state of the drive motor at the same time.

[0082] Specifically, when the system detects that the drive motor is in a low speed state (lower than the preset speed) and the torque is small, it will control the fork to move in advance, so that the engagement depth of the dog clutch is released in advance to a position near the synchronization end point, preferably 1mm to the left or right of the synchronization point. This early release strategy is particularly suitable for shifting scenarios under low-speed gliding or heavy braking conditions.

[0083] like Figure 8 As shown in the figure, through this overlapping control method, the system can create conditions for the next gear shift step in advance without waiting for the current gear shift step to be completely completed, effectively shortening the total gear shift time by about 0.15s. This overlapping control strategy based on the depth of combination makes full use of the structural characteristics of the dog clutch. By accurately controlling the position of the synchronization end point, it significantly improves the gear shift responsiveness while ensuring the safety of the gear shift, especially optimizing the gear shift performance under conditions such as heavy braking and re-acceleration.

[0084] In one embodiment of the present invention, when all steps S110 to S140 are executed, a complete shift overlap control strategy can be implemented, such as Fig. 9 As shown in the figure, the bidirectional arrows and gray areas clearly indicate the implementation periods of each overlapping control. Through the coordinated cooperation of these control strategies, the total time of the entire shifting process is 1.1s, which is 0.3s less than the shifting time of 1.4s for traditional commercial vehicle AMT.

[0085] It should be noted that when some control steps are selected, they should be implemented in the order of step S110 to step S140 based on the structural characteristics of the AMT shift. In actual applications, a suitable combination of steps can be selected according to the hardware characteristics and control requirements of different models, but the above implementation order must be followed.

[0086] refer to Fig.10 In one embodiment of the present invention, a shift overlap control device 200 is provided, which is applied to the AMT of a commercial electric vehicle. The device includes a response time overlap control module 210, an idle travel overlap control module 220, a gear position overlap control module 230, and a combined depth overlap control module 240.

[0087] In one embodiment of the present invention, the response time overlap control module 210 is used to control the shift motor in advance according to the response time of the shift motor, so that the drive motor starts to disengage when the drive motor reaches the target torque, and starts to engage when the drive motor reaches the target speed.

[0088] In one embodiment of the present invention, the response time overlap control module 210 further includes a back-torque-shift-shift overlap control unit and a speed regulation-shift-shift overlap control unit.

[0089] In one embodiment of the present invention, the back-twist-shift overlap control unit determines the target torque of the drive motor according to the response time and back-twist rate of the shift motor, so that the moment when the drive motor reaches the target torque matches the moment when the shift motor completes the response and starts to move the shift fork.

[0090] In one embodiment of the present invention, the speed regulation-gear overlap control unit determines the target speed of the drive motor based on the response time of the gear shift motor, the speed of the drive motor and its change rate, so that the moment when the drive motor reaches the target speed matches the moment when the gear shift motor completes the response and moves the shift fork.

[0091] In one embodiment of the present invention, the idle stroke overlap control module 220 is used to perform speed control when the shift fork moves to the synchronization start point and there is a preset difference between the drive motor speed and the target speed, and to control the shift motor in advance according to the idle stroke time so that the shift fork reaches the synchronization start point when the drive motor reaches the target speed.

[0092] In one embodiment of the present invention, the idle travel overlap control module 220 includes a gear disengagement-speed regulation overlap control unit and a speed regulation-gear engagement overlap control unit.

[0093] In one embodiment of the present invention, the gear disengagement-speed regulation overlap control unit determines that the dog clutch enters the gear disengagement idle stroke and starts the drive motor speed regulation when the shift fork moves to the synchronization start point and the difference between the drive motor speed and the actual speed is greater than a first preset value.

[0094] In one embodiment of the present invention, the speed regulation-gear overlap control unit determines the target speed based on the shift fork displacement time, the drive motor speed and its change rate, so that the time when the drive motor reaches the target speed matches the time when the shift fork reaches the synchronization start point.

[0095] In one embodiment of the present invention, the gear position overlap control module 230 is used to start restoring the drive motor torque when the shift fork moves to the synchronization start point and the difference between the drive motor speed and the target speed is within a preset range.

[0096] Specifically, the gear position overlap control module 230 can determine that the dog clutch is fully engaged and start the drive motor torque recovery when the shift fork is displaced to the synchronization start point and the difference between the drive motor speed and the actual speed is less than a second preset value.

[0097] In one embodiment of the present invention, the engagement depth overlap control module 240 is used to enable the shift fork to release the engagement depth of the dog clutch to the synchronization end point in advance when the rotation speed of the driving motor is lower than a preset value.

[0098] Specifically, during the execution of the current gear shifting step, when the driving motor speed is lower than the preset speed and the driving motor torque is less than the preset torque, the shift fork is controlled in advance to release the dog clutch engagement depth to the synchronization end point to achieve overlapping control with the next gear shifting step.

[0099] It should be noted that the shift overlap control device and the shift overlap control method provided in the above embodiments belong to the same concept, and their specific implementation processes are detailed in the embodiments of the control method, which will not be described in detail here.

[0100] In one embodiment of the present invention, a commercial electric vehicle is provided. The vehicle is provided with the above-mentioned shift overlap control device 200 and is capable of executing the above-mentioned shift overlap control method.

[0101] An embodiment of the present invention further provides an electronic device, which includes a memory and a processor, wherein a computer program executed by the processor is stored in the memory, and when the computer program is executed by the processor, the processor executes the shift overlap control method applied to the AMT of a commercial electric vehicle as described above. Various applications and various data may also be stored in the memory, such as various data used and / or generated by the application. The processor may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other forms of processing units having data processing capabilities and / or instruction execution capabilities.

[0102] The embodiment of the present invention also provides a computer-readable storage medium, on which a computer program executed by a processor is stored. When the computer program is executed by the processor, the processor executes the shift overlap control method applied to the AMT of a commercial electric vehicle as described above. Exemplarily, the computer storage medium may include a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0103] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0104] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0105] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0106] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0107] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A shift overlap control method, applied to an AMT of a commercial electric vehicle, characterized in that: The method comprises at least one of the following overlapping control steps: Overlap control based on the response time of the shift motor, by controlling the shift motor in advance according to the response time of the shift motor, so that the gear is disengaged when the drive motor reaches the target torque, and the gear is engaged when the drive motor reaches the target speed; Based on the overlap control of the dog clutch idle stroke, when the shift fork moves to the synchronization start point and there is a preset difference between the drive motor speed and the target speed, the speed control is performed, and the shift motor is controlled in advance according to the idle stroke time, so that the shift fork reaches the synchronization start point when the drive motor reaches the target speed; Based on the overlap control of the dog clutch in-gear position, the drive motor torque is restored when the shift fork is displaced to the synchronization start point and the difference between the drive motor speed and the target speed is within a preset range; Based on the overlapping control of the dog clutch engagement depth, when the driving motor speed is lower than the preset value, the shift fork is released in advance to the dog clutch engagement depth to the synchronization end point.

2. The shift overlap control method according to claim 1, characterized in that: The overlap control based on the response time of the shift motor includes the back-twist-shift overlap control, which determines the target torque of the drive motor according to the response time of the shift motor and the back-twist rate, so that the moment when the drive motor reaches the target torque matches the moment when the shift motor completes the response and starts to move the shift fork.

3. The shift overlap control method according to claim 1, characterized in that: The overlapping control based on the response time of the gear shifting motor includes speed regulation-gear shifting overlapping control, which determines the target speed of the driving motor according to the response time of the gear shifting motor, the speed of the driving motor and its rate of change, so that the moment when the driving motor reaches the target speed matches the moment when the gear shifting motor completes the response and moves the shift fork.

4. The shift overlap control method according to claim 1, characterized in that: The overlap control based on the idle stroke of the dog clutch includes the gear disengagement-speed regulation overlap control, by which it is determined that the dog clutch enters the gear disengagement idle stroke and the drive motor speed regulation is started when the shift fork moves to the synchronization start point and the difference between the drive motor speed and the actual speed is greater than a first preset value.

5. The shift overlap control method according to claim 1, characterized in that: The overlap control based on the idle stroke of the dog clutch includes speed regulation-gear shift overlap control, which determines the target speed based on the shift fork displacement time, the drive motor speed and its change rate, so that the time when the drive motor reaches the target speed matches the time when the shift fork reaches the synchronization start point.

6. The shift overlap control method according to claim 1, characterized in that: The overlap control based on the dog clutch gear position includes gear engagement-twist-back overlap control, which determines that the dog clutch has completed engagement and starts driving motor torque recovery when the shift fork moves to the synchronization start point and the difference between the driving motor speed and the actual speed is less than a second preset value.

7. The shift overlap control method according to claim 1, characterized in that: The overlapping control based on the engagement depth of the dog clutch includes overlapping control of the current gear shifting step and the next gear shifting step. During the execution of the current gear shifting step, when the speed of the driving motor is lower than the preset speed and the torque of the driving motor is lower than the preset torque, the shift fork is controlled in advance to release the engagement depth of the dog clutch to the synchronization end point, so as to achieve overlapping control with the next gear shifting step.

8. A shift overlap control device, applied to an AMT of a commercial electric vehicle, characterized in that: The device comprises: A response time overlap control module is used to control the shift motor in advance according to the response time of the shift motor, so that the gear is disengaged when the drive motor reaches the target torque, and the gear is engaged when the drive motor reaches the target speed; The idle stroke overlap control module is used to perform speed control when the shift fork moves to the synchronization start point and there is a preset difference between the drive motor speed and the target speed, and to control the shift motor in advance according to the idle stroke time so that the shift fork reaches the synchronization start point when the drive motor reaches the target speed; The gear position overlap control module is used to start restoring the drive motor torque when the shift fork moves to the synchronization start point and the difference between the drive motor speed and the target speed is within a preset range; The combined depth overlap control module is used to release the dog clutch engagement depth to the synchronization end point in advance when the driving motor speed is lower than a preset value.

9. An electronic device, characterized in that: include: processor; as well as A memory arranged to store computer executable instructions, which when executed cause the processor to perform a method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, which, when executed by an electronic device including a plurality of application programs, enable the electronic device to execute the method according to any one of claims 1 to 7.

11. A vehicle, characterized in that: It comprises the gear shift overlap control device as claimed in claim 8.

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