Gear shift overlap control method and device, electronic equipment, readable medium and vehicle

Abstract

The present application relates to a kind of gear shift overlap control method, device, electronic equipment, readable medium and vehicle, the method is applied to the AMT of commercial electric vehicle, including at least one of the following overlap control steps: overlap control based on gear shift motor response time;Overlap control based on dog clutch air gap;Overlap control based on dog clutch gear-in position;Overlap control based on dog clutch engagement depth.The present application can significantly shorten the gear shift time, improve the gear shift efficiency, while ensuring the smoothness of gear shift process, improve driving comfort through the synergistic cooperation of the above overlap control mode.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic gear shifting control of pure electric vehicles, and in particular to a gear shifting overlap control method and device, an electronic device, a readable medium and a vehicle. BACKGROUND

[0002] In the existing AMT gear shifting technology of commercial vehicles, the torque intervention on the driving motor and the operation on the dog clutch are sequentially performed according to a fixed time sequence, such as Figure 1 , which specifically includes the following steps: first, the driving motor withdraws the torque to the target torque (retorque), then the gear shifting motor moves the shift fork to disengage the current dog clutch (shift out), next the driving motor adjusts the speed to the target speed (speed regulation), then the gear shifting motor moves the shift fork to engage the target dog clutch (shift in), and finally the driving motor restores the torque to the driver's demand torque (retorque).

[0003] As Figure 2 , the conventional AMT can realize the overlap of some operations in the gear shifting process due to the clutch and the reducer. For example, when the engine retorques, the power can be disconnected by opening the clutch; when the retorque is completed, the engine speed regulation and the shift out can be performed simultaneously; and by adjusting the dog clutch slip window through the brake, the shift in process and the speed regulation process can also be performed simultaneously.

[0004] However, the existing AMT gear shifting technology of commercial electric vehicles has obvious deficiencies. Since the torque intervention on the driving motor and the operation on the dog clutch in the gear shifting process need to be strictly performed in sequence, the operation overlap cannot be realized, resulting in a long gear shifting time. This sequential control mode makes the gear shifting performance of the commercial electric vehicle AMT unable to reach the level of the conventional AMT, affecting the driving performance of the whole vehicle. SUMMARY

[0005] The present application discloses a gear shifting overlap control method, device, electronic device, readable medium and vehicle, aiming to solve the technical problems existing in the prior art.

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

[0007] In a first aspect, the present application embodiment provides a gear shifting overlap control method applied to the AMT of a commercial electric vehicle, which includes at least one of the following overlap control steps:

[0008] Based on the overlap control of the gear shifting motor response time, the gear shifting motor is controlled in advance according to the gear shifting motor response time, so that the driving motor starts to shift out when it reaches the target torque, and starts to shift in when it reaches the target speed;

[0009] The dog clutch empty stroke overlap control is based on the dog clutch empty stroke overlap control, and the dog clutch empty stroke overlap control is based on the dog clutch empty stroke overlap control.

[0010] The dog clutch empty stroke overlap control is based on the dog clutch empty stroke overlap control, and the dog clutch empty stroke overlap control is based on the dog clutch empty stroke overlap control.

[0011] The dog clutch empty stroke overlap control is based on the dog clutch empty stroke overlap control, and the dog clutch empty stroke overlap control is based on the dog clutch empty stroke overlap control.

[0012] In some embodiments, the shift motor response time-based overlap control includes a torque reduction-shifting overlap control, which determines the target torque of the drive motor according to the shift motor response time and the torque reduction rate, so that the time when the drive motor reaches the target torque matches the time when the shift motor completes the response and starts moving the shift fork.

[0013] In some embodiments, the shift motor response time-based overlap control includes a speed adjustment-gear engagement overlap control, which determines the target speed of the drive motor according to the shift motor response time, the speed of the drive motor and its change rate, so that the time when the drive motor reaches the target speed matches the time when the shift motor completes the response and moves the shift fork.

[0014] In some embodiments, the dog clutch empty stroke overlap control includes a shifting-torque reduction overlap control, which determines that the dog clutch enters the empty stroke when the shift fork moves to the synchronization start point and the difference between the speed of the drive motor and the actual speed is greater than a first preset value, and starts the drive motor speed adjustment.

[0015] In some embodiments, the dog clutch empty stroke overlap control includes a speed adjustment-gear engagement overlap control, which determines the target speed according to the shift fork displacement time, the speed of the drive motor 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.

[0016] In some embodiments, the dog clutch empty stroke overlap control includes a shifting-torque reduction overlap control, which determines that the dog clutch enters the empty stroke when the shift fork moves to the synchronization start point and the difference between the speed of the drive motor and the actual speed is greater than a first preset value, and starts the drive motor speed adjustment.

[0017] In some embodiments, the overlap control based on the dog clutch engagement depth includes overlap control of the current shift step and the next shift step, and during execution of the current shift step, the overlap control of the next shift step is achieved by controlling the dog clutch release depth to the synchronization end point in advance when the driving motor speed is lower than a preset speed and the driving motor torque is less than a preset torque.

[0018] In a second aspect, embodiments of the present application provide a shift overlap control device, applied to an AMT of a commercial electric vehicle, the device comprising:

[0019] a response time overlap control module configured to control the shift motor in advance according to a shift motor response time, so that the driving motor reaches the target torque to start the shift-out and the driving motor reaches the target speed to start the shift-in;

[0020] a free travel overlap control module configured to control the shift motor in advance according to a free travel time when the shift fork is displaced to the synchronization start point and the driving motor speed and the target speed have a preset difference, so that the driving motor reaches the target speed when the shift fork reaches the synchronization start point;

[0021] a shift-in position overlap control module configured to start to restore the driving motor torque when the shift fork is displaced to the synchronization start point and the difference between the driving motor speed and the target speed is within a preset range;

[0022] a dog clutch engagement depth overlap control module configured to control the shift fork 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, embodiments of the present application provide an electronic device, comprising:

[0024] a processor; and

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

[0026] In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing one or more programs, which when executed by an electronic device comprising a plurality of applications, cause the electronic device to perform the method of any one of the above.

[0027] In a fifth aspect, embodiments of the present application provide a vehicle comprising the shift overlap control device of the above.

[0028] An embodiment of the above application has the following advantages or beneficial effects:

[0029] The embodiment of the present application mainly provides a shift overlap control method, device, electronic equipment, readable medium and vehicle, compared with the prior art, the embodiment of the present application realizes seamless connection between each step in the shift process through four kinds of overlap control modes.Specifically, based on the overlap control of the shift motor response time and the dog clutch air gap, the shift motor is started in advance and the fork displacement is accurately controlled, so that the invalid waiting time in the shift process is reduced;Based on the overlap control of the dog clutch gear position and the engagement depth, the smooth recovery of the driving motor torque and the advance intervention of the shift step are realized.

[0030] Through the synergistic cooperation of the above-mentioned overlap control mode, the present application can significantly shorten the shift time, improve the shift efficiency, and at the same time ensure the smoothness of the shift process, and improve the driving comfort. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced as follows, which constitutes a part of the present application, the schematic embodiments of the present application and the description and explanation thereof do not constitute an improper limitation on the present application. In the drawings:

[0032] Figure 1 The power structure diagram of the traditional fuel vehicle AMT;

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

[0034] Figure 3 The AMT power structure diagram provided by one embodiment of the present application;

[0035] Figure 4 The flowchart of the shift overlap control method provided by one embodiment of the present application;

[0036] Figure 5 The shift timing diagram of the overlap control based on the shift motor response time provided by one embodiment of the present application;

[0037] Figure 6 The shift timing diagram of the overlap control based on the dog clutch air gap provided by one embodiment of the present application;

[0038] Figure 7 The shift timing diagram of the overlap control based on the dog clutch gear position provided by one embodiment of the present application;

[0039] Figure 8 The shift timing diagram of the overlap control based on the dog clutch engagement depth provided by one embodiment of the present application;

[0040] Figure 9A shift timing diagram when all the overlap controls are performed is provided for an embodiment of the present application.

[0041] Figure 10 A structural block diagram of a shift overlap control device is provided for an embodiment of the present application. DETAILED DESCRIPTION

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

[0043] Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0044] The shift control of the existing commercial electric vehicle AMT usually adopts a serial control mode, that is, each shift step is executed in turn according to the fixed sequence of retorquing, disengaging, speed adjusting, engaging, and returning torque. In this control mode, the response characteristics of the shift motor are not fully considered, resulting in unnecessary waiting time between shift steps, and the idle stroke characteristics of the dog clutch are not effectively utilized. More importantly, since each shift step is independent and strictly executed in series, the entire shift process takes a long time, which affects the shift efficiency and driving smoothness.

[0045] To solve the problems in the prior art, an embodiment of the present application provides a shift overlap control method applied to a commercial electric vehicle AMT, which does not need the assistance of an additional intermediate shaft brake and clutch to realize overlap control. The commercial electric vehicle in the embodiment can be an electric truck, an electric bus, an electric transport vehicle, an electric tractor, etc., and the AMT is an automatic mechanical transmission, which includes a shift motor, a shift fork mechanism, and a dog clutch. 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 characteristics such as idle stroke, synchronization, and engagement depth, which make it possible to realize overlap control of shift steps.

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

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

[0048] In step S110, the shifting motor is controlled in advance according to the shifting motor response time based on the overlap control of the shifting motor response time, so that the driving motor starts to shift out when the driving motor reaches the target torque, and the driving motor starts to shift in when the driving motor reaches the target speed.

[0049] In step S120, the shifting motor is controlled in advance according to the dog clutch idle stroke time based on the overlap control of the dog clutch idle stroke, so that the driving motor reaches the target speed when the dog clutch reaches the synchronization start point when the shift fork is displaced to the synchronization start point and the driving motor speed and the target speed have a preset difference.

[0050] In step S130, the shifting motor is controlled in advance according to the dog clutch idle stroke time based on the overlap control of the dog clutch idle stroke, so that the driving motor reaches the target speed when the dog clutch reaches the synchronization start point when the shift fork is displaced to the synchronization start point and the driving motor speed and the target speed have a preset difference.

[0051] In step S140, the shifting motor is controlled in advance according to the dog clutch idle stroke time based on the overlap control of the dog clutch idle stroke, so that the driving motor reaches the target speed when the dog clutch reaches the synchronization start point when the shift fork is displaced to the synchronization start point and the driving motor speed and the target speed have a preset difference.

[0052] It should be noted that the above steps S110 to S140 can be flexibly selected according to actual application scenarios and control requirements, that is, only one of the steps can be executed to realize local overlap control, or multiple steps can be combined or all steps can be executed to realize multiple overlap controls. For example, in a scenario where the shifting responsiveness is required to be high, steps S110 and S120 can be selected to be executed to realize overlap based on the shifting motor response time and overlap based on the idle stroke; in a scenario where the shifting smoothness is required to be high, steps S120 and S130 can be selected to be executed to realize smooth connection between the speed regulation process and the shifting-in process. By flexibly selecting different step combinations of the overlap control, the optimal shifting control effect can be realized for different application scenarios.

[0053] In an embodiment of the present application, in step S110, the torque reduction-shifting out overlap control and the speed regulation-shifting in overlap control are further included.

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

[0055] In an embodiment of the present application, the response time of the shifting motor is a fixed value, about 40 ms; and the torque reduction rate is determined based on the actual gear position and the torque before the shifting starts.

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

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

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

[0059] In an embodiment of the present application, when determining the target speed of the drive motor, a prediction amount equal to the product of the change rate of the drive motor speed and the response time of the shift motor needs to be added to the original target speed. Since there is a response delay of about 40ms from receiving the control instruction to actually starting to move the shift fork, through the setting of this advance amount, the time when the drive motor actually reaches the target speed can be synchronized with the time when the shift fork starts to move.

[0060] As shown in the figure, through this overlap control strategy, the movement time of the shift fork and the change of the speed of the drive motor are better coordinated, and the problem that the drive motor needs to wait for the response of the shift motor after reaching the target speed in the traditional control method is avoided, thereby effectively shortening the shift time by about 0.05s. Figure 5

[0061] In an embodiment of the present application, the effect of the overlap control in step S110 can be derived from Figure 5 In the traditional serial control, the total shift time is 1.4s, of which the deceleration time is 0.3s, the shift time is 0.2s (including 0.15s deceleration time and 0.05s empty time), the speed adjustment time is 0.3s, the gear engagement time is 0.3s (including 0.1s empty time, 0.1s synchronization time and 0.1s gear engagement action time), and the re-torque time is 0.3s.

[0062] ​By employing overlapping control based on the shift motor's response time, during the torque reduction-disengagement phase, by controlling the shift motor in advance to overlap its 0.05s response time with the torque reduction process, 0.05s is saved. (Reference) Figure 5 The shaded area on the left side; similarly, during the speed adjustment-gear shifting phase, by controlling the shift motor in advance so that its 0.05s response time overlaps with the speed adjustment process, another 0.05s is saved. (See reference...) Figure 5 The shadow is on the right side of the middle.

[0063] Therefore, by using the overlapping control in step S110 alone, a total shift time reduction of 0.1 seconds is achieved. This overlapping control strategy avoids the time wasted due to the waiting time of the shift motor response in traditional control, allowing the drive motor to start disengaging or engaging gears as soon as it reaches the target torque or speed, thus improving shift efficiency.

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

[0065] In the disengagement-speed adjustment overlap control, when the shift fork is displaced 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 has entered the disengagement free stroke and the drive motor speed adjustment is started.

[0066] In one embodiment of the present invention, the disengagement stage can be further subdivided into two sub-stages: disengagement and neutral return. "Disengagement" refers to the process of the shift fork moving from its initial position to the synchronization start point, while "neutral return" refers to the process of the dog clutch entering its idle stroke. Specifically, the idle stroke is related to the specific structure of the shift fork mechanism and is generally within a range of 3mm. In one embodiment, taking the middle position of the shift fork as 0, the range of 3mm to the left and right can be considered the idle stroke area.

[0067] In the shift fork-speed adjustment overlap control, when the shift fork displacement reaches the synchronization start point (i.e., enters the aforementioned idle travel region), and the difference between the drive motor speed and the actual gear speed is detected to be greater than a first preset value, it can be determined that the dog clutch has disengaged and entered the idle travel phase. The first preset value is a fixed value, preferably 50 rpm. At this point, there is no need to wait for the shift fork to fully move into position; the drive motor speed adjustment can be initiated in advance, achieving overlap control between the shift fork idle travel and the speed adjustment process.

[0068] This overlapping control method allows the speed regulation process, which would normally require waiting for the gear to disengage completely before starting, to begin earlier, achieving time overlap with the idle travel phase of gear disengagement. Figure 6 As shown in the shaded area on the left. This control strategy fully utilizes the idle travel characteristics of the dog clutch, effectively shortening the total shift time. Compared to traditional serial control, this overlap control alone can save approximately 0.05 seconds of shift time.

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

[0070] In one embodiment of the present invention, the gear shifting stage can be specifically divided into three sub-stages: neutral engagement, synchronization, and gear engagement. "Neutral engagement" refers to the displacement time of the shift fork during its idle travel phase.

[0071] In speed regulation-gear shifting overlap control, the system pre-calculates the target speed based on the displacement time of the shift fork during its idle stroke, the current drive motor speed, and the rate of change of speed. The target speed is calculated by adding the product of the idle stroke displacement time and the rate of change of speed to the current drive motor speed. This calculation ensures that the shift fork reaches the synchronization start point precisely when the actual drive motor speed approaches the target gear speed.

[0072] By employing this overlapping control, the system achieves time overlap between the speed regulation process and the idle travel of the shift fork, such as... Figure 6 As shown in the shaded area on the right. Compared to traditional control methods ( Figure 6 Compared to the light gray curve, the new control strategy avoids the wasted time waiting for the shift fork to move into position after speed adjustment, ensuring that the shift fork reaches the synchronization start point precisely when the drive motor reaches the target speed, thus shortening the shift time by approximately 0.1 seconds. This precise timing ensures both smooth shifting and improved shifting efficiency.

[0073] In one embodiment of the present invention, the overlap control effect in step S120 can be derived from... Figure 6 Therefore, in traditional serial control, the total shift time is 1.4s, including a torque reduction time of 0.3s, a gear disengagement time of 0.2s (including 0.15s of downshifting time and 0.05s of neutral shifting time), a speed adjustment time of 0.3s, a gear engagement time of 0.3s (including 0.1s of neutral shifting time, 0.1s of synchronization time, and 0.1s of gear engagement action time), and a torque return time of 0.3s.

[0074] By using overlap control based on the idle travel of the dog-tooth clutch, speed regulation control is performed in advance during the disengagement-speed adjustment phase, utilizing the 0.05s time of disengagement. Figure 6 The left side of the center is shaded; during the speed adjustment-gear shift phase, the 0.1s of neutral shift time is overlapped with the speed adjustment process, for reference. Figure 6 The shadow is on the right side of the middle.

[0075] Therefore, by using the idle travel overlap control in step S120 alone, a total shift time reduction of 0.15 seconds was achieved. This overlap control strategy fully utilizes the idle travel characteristics of the dog clutch, avoids the time wasted during the idle travel phase in traditional control, and significantly improves 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 has completed engagement and the drive motor torque recovery is initiated.

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

[0078] Specifically, when the shift fork displacement reaches the synchronization start point and the difference between the drive motor speed and the target gear speed is less than a second preset value, it can be determined that the dog clutch has been fully 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 fully into position, and the torque recovery process of the drive motor can be started in advance, realizing the overlapping control of the gear shifting and torque return processes.

[0079] like Figure 7 As shown, this overlapping control method initiates the return torque process earlier, which would normally require waiting for the gear engagement to be fully completed, shortening the total shift time by approximately 0.05 seconds. This control strategy improves shift efficiency while ensuring shift safety and smoothness by accurately judging the engagement state of the dog clutch. Compared to traditional serial control, it avoids the wasted time of starting return torque after gear engagement.

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

[0081] In one embodiment of the invention, the gear shifting process includes adjusting the position of the synchronous end point. During the overlapping control of the current gear shift step and the next gear shift step, the system simultaneously monitors the speed and torque status of the drive motor.

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

[0083] As Figure 8 shown, through this overlap control method, the system can create conditions for the next shifting step in advance without waiting for the current shifting step to complete, effectively shortening the total shifting time by about 0.15s. This overlap control strategy based on engagement depth makes full use of the structural characteristics of the dog clutch, and through precise control of the synchronization end point position, it significantly improves the shifting responsiveness while ensuring shifting safety, especially optimizing the shifting performance in heavy braking and acceleration conditions.

[0084] In an embodiment of the present application, when steps S110-S140 are all executed, a complete shifting overlap control strategy can be implemented, as Figure 9 shown, the bidirectional arrows and gray areas in the figure clearly indicate the implementation period of each overlap 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 of a conventional commercial vehicle AMT.

[0085] It should be noted that when selecting part of the control steps, they should be implemented in the order of steps S110-S140 based on the structural characteristics of the AMT shifting. In actual application, appropriate step combinations can be selected according to the hardware characteristics and control requirements of different vehicle models, but the above implementation order should be followed.

[0086] Referring to Figure 10 , in an embodiment of the present application, a shifting overlap control device 200 is provided for an AMT of a commercial electric vehicle, which includes a response time overlap control module 210, an idle stroke overlap control module 220, an upshift position overlap control module 230, and an engagement depth overlap control module 240.

[0087] In an embodiment of the present application, the response time overlap control module 210 is used to control the shifting motor in advance according to the shifting motor response time, so that the driving motor reaches the target torque to start shifting, and the driving motor reaches the target speed to start shifting.

[0088] In an embodiment of the present application, the response time overlap control module 210 further includes a torque reduction-shifting overlap control unit and a speed adjustment-shifting overlap control unit.

[0089] In one embodiment of the present application, the shift-out-shift-in overlap control unit determines the target torque of the drive motor according to the response time of the shift motor and the deceleration rate of the torque, so that the time when the drive motor reaches the target torque matches the time when the shift motor finishes responding and starts moving the fork.

[0090] In one embodiment of the present application, the speed-adjustment-shift-in overlap control unit determines the target speed of the drive motor according to the response time of the shift motor, the speed of the drive motor and its change rate, so that the time when the drive motor reaches the target speed matches the time when the shift motor finishes responding and moves the fork.

[0091] In one embodiment of the present application, the idle stroke overlap control module 220 is configured to perform speed adjustment control when the fork is displaced to the synchronization start point and the speed of the drive motor is different from the target speed by a preset value, and to control the shift motor in advance according to the idle stroke time so that the fork reaches the synchronization start point when the drive motor reaches the target speed.

[0092] In one embodiment of the present application, the idle stroke overlap control module 220 includes a shift-out-speed-adjustment overlap control unit and a speed-adjustment-shift-in overlap control unit.

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

[0094] In one embodiment of the present application, the speed-adjustment-shift-in overlap control unit determines the target speed of the drive motor according to the displacement time of the fork, the speed of the drive motor and its change rate, so that the time when the drive motor reaches the target speed matches the time when the fork reaches the synchronization start point.

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

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

[0097] In one embodiment of the present application, the engagement depth overlap control module 240 is configured to make the fork release the engagement depth of the dog clutch to the synchronization end point in advance when the speed of the drive motor is lower than a preset value.

[0098] Specifically, during the current shift step execution, when the driving motor speed is lower than the preset speed and the driving motor torque is less than the preset torque, the dog clutch engagement depth is controlled to the synchronization end point in advance, so as to realize the overlap control with the next shift step.

[0099] It should be noted that the shift overlap control device and the shift overlap control method provided by the above embodiments belong to the same concept, and the specific implementation process is detailed in the embodiments of the control method, which will not be repeated here.

[0100] In an embodiment of the present application, a commercial electric vehicle is also provided, which is provided with the shift overlap control device 200 and can perform the shift overlap control method.

[0101] The embodiments of the present application also provide an electronic device, which includes a memory and a processor, and the memory stores a computer program running by the processor, and the computer program makes the processor execute the shift overlap control method for the commercial electric vehicle AMT when running by the processor. Various application programs and various data, such as various data used and / or generated by the application programs, can also be stored in the memory. The processor can be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other forms of processing units with data processing and / or instruction execution capabilities.

[0102] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program running by a processor, and the computer program makes the processor execute the shift overlap control method for the commercial electric vehicle AMT when running by the processor. Exemplarily, the computer readable storage medium can include a memory card of a smart phone, a memory 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 disc read only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer readable storage medium can be any combination of one or more computer readable storage media.

[0103] Although the example embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the example embodiments are only exemplary and are not intended to limit the scope of the present application. Those of ordinary skill in the art can make various changes and modifications without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as claimed in the appended claims.

[0104] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0105] Similarly, it should be understood that, in order to streamline this application and aid in understanding one or more of the various inventive aspects, features of this application may sometimes be grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of this application. However, this approach should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, its inventive point lies in solving the corresponding technical problem with features fewer than all features of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0106] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or elements of any method or apparatus so disclosed can be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature serving the same, equivalent, or similar purpose.

[0107] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A shift overlap control method applied to an AMT of a commercial electric vehicle, characterized by, The method comprises at least one of the following overlap control steps: The 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 driving motor starts to shift when reaching the target torque, and starts to engage when reaching the target speed; The overlap control based on the dog clutch idle stroke, by controlling the speed when the shift fork displacement reaches the synchronization starting point and the driving motor speed and the target speed have a preset difference, and controlling the shift motor in advance according to the idle stroke time, so that the driving motor reaches the target speed when the shift fork reaches the synchronization starting point; The overlap control based on the dog clutch engagement depth, by releasing the dog clutch engagement depth to the synchronization ending point in advance when the driving motor speed is lower than the preset value, so that the shift fork releases the dog clutch engagement depth to the synchronization ending point in advance; The 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 driving motor starts to shift when reaching the target torque, and starts to engage when reaching the target speed; The overlap control based on the dog clutch idle stroke, by controlling the speed when the shift fork displacement reaches the synchronization starting point and the driving motor speed and the target speed have a preset difference, and controlling the shift motor in advance according to the idle stroke time, so that the driving motor reaches the target speed when the shift fork reaches the synchronization starting point; The overlap control based on the dog clutch engagement depth, by releasing the dog clutch engagement depth to the synchronization ending point in advance when the driving motor speed is lower than the preset value, so that the shift fork releases the dog clutch engagement depth to the synchronization ending point in advance; 2. The shift overlap control method according to claim 1, characterized by, The device comprises:

3. The shift overlap control method according to claim 1, characterized by, The response time overlap control module is used for controlling the shift motor in advance according to the response time of the shift motor, so that the driving motor starts to shift when reaching the target torque, and starts to engage when reaching the target speed; 4. The shift overlap control method according to claim 1, characterized by, The dog clutch idle stroke overlap control module is used for controlling the speed when the shift fork displacement reaches the synchronization starting point and the driving motor speed and the target speed have a preset difference, and controlling the shift motor in advance according to the idle stroke time, so that the driving motor reaches the target speed when the shift fork reaches the synchronization starting point; 5. The shift overlap control method according to claim 1, characterized by, ​ 6. A shift overlap control device applied to an AMT of a commercial electric vehicle, characterized by, ​ ​ The idle stroke overlap control module is configured to, when the fork is displaced to the synchronization start point and a preset difference exists between the drive motor speed and the target speed, perform speed control, and according to the idle stroke time, control the shift motor in advance to make the drive motor reach the target speed when the fork reaches the synchronization start point. The in-gear position overlap control module is configured to, when the 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, start to restore the drive motor torque. The combined depth overlap control module is configured to, when the drive motor speed is lower than a preset value, make the fork release the dog clutch combined depth to the synchronization end point in advance.

7. An electronic device, comprising: The method comprises: a processor; and a memory arranged to store computer executable instructions that, when executed by the processor, cause the processor to perform the method of any one of claims 1-5. The computer readable storage medium stores one or more programs, which, when executed by an electronic device including a plurality of applications, cause the electronic device to perform the method of any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The shift overlap control device of claim 6 is included.

9. A vehicle characterized by comprising: ​

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