Vehicle gear shifting control method and device, controller and vehicle

Abstract

The invention provides a vehicle gear shifting control method and device, a controller and a vehicle. Relates to the technical field of vehicle control. The method comprises the steps that in the running process of a vehicle, the driving torque of the vehicle can be obtained, a target gear is determined through the driving torque on the basis of the rule that the system efficiency of the vehicle is the highest, and gear shifting control is conducted on the current gear of the vehicle according to the target gear so that the vehicle can run according to the target gear after gear shifting. The method is used for achieving the effect of reducing the comprehensive energy consumption of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle shift control method, device, controller and vehicle. Background Art

[0002] In the working environment of commercial vehicles, gear shift control is a crucial aspect, which not only directly affects the performance of the vehicle, but also has a significant impact on energy efficiency and driving comfort. Commercial vehicles usually operate under various complex working conditions, including different traffic conditions, road types and load conditions. Therefore, gear shift control needs to be highly adaptable to cope with these changing driving conditions.

[0003] In the related art, the gear shift control of the vehicle usually relies on a pre-set gear shift reference table, and the target gear is determined according to the opening of the vehicle's accelerator pedal to control the vehicle's gear shift. However, in the actual use of commercial vehicles, the driver usually controls the opening of the accelerator pedal based on experience, which will increase the comprehensive energy consumption of the vehicle when the target gear is determined according to the gear shift reference table. Summary of the invention

[0004] The present application provides a vehicle shift control method, device, controller and vehicle, so as to achieve the effect of reducing the comprehensive energy consumption of the vehicle.

[0005] In a first aspect, the present application provides a vehicle shift control method, comprising:

[0006] During the driving of the vehicle, obtaining the driving torque of the vehicle;

[0007] determining a target gear position by the driving torque based on a rule that the system efficiency of the vehicle is the highest;

[0008] According to the target gear position, the current gear position of the vehicle is shifted and controlled so that the vehicle travels according to the target gear position after the shifting.

[0009] In a possible implementation manner, the determining the target gear position by the driving torque based on the rule that the system efficiency of the vehicle is the highest includes:

[0010] Determining a system efficiency corresponding to each gear to be selected according to the driving torque, wherein the system efficiency is obtained by combining at least one of a motor efficiency, a gearbox efficiency, and an axle efficiency;

[0011] The gear position to be selected with the highest system efficiency is determined as the target gear position.

[0012] In a possible implementation manner, the performing shift control on the current gear of the vehicle according to the target gear includes:

[0013] Determining a gear shift vehicle speed corresponding to the target gear, wherein the gear shift vehicle speed represents a critical vehicle speed for gear switching;

[0014] If the gear-shifting vehicle speed is less than or equal to the current vehicle speed, and the target gear position is not equal to the current gear position, the current gear position of the vehicle is shifted according to the target gear position.

[0015] In a possible implementation, the method further includes:

[0016] If the gear-shifting vehicle speed is greater than the current vehicle speed, or the target gear is equal to the current gear, no gear shifting control is performed on the current gear of the vehicle.

[0017] In a possible implementation manner, before determining the target gear position by the driving torque based on the rule that the system efficiency of the vehicle is the highest, the method further includes:

[0018] Optimizing the driving torque according to the vehicle mass and determining an optimized driving torque;

[0019] Accordingly, the target gear is determined by the driving torque based on the rule of the highest system efficiency of the vehicle, including:

[0020] Based on a rule that the system efficiency of the vehicle is the highest, the target gear is determined by the optimized driving torque.

[0021] In a possible implementation manner, optimizing the driving torque according to the vehicle mass and determining the optimized driving torque includes:

[0022] According to the vehicle mass, determining a target torque coefficient corresponding to the vehicle mass by a preset mapping relationship, wherein the preset mapping relationship is used to indicate a corresponding relationship between the vehicle mass and the torque coefficient;

[0023] The product of the target torque coefficient and the driving torque is determined as the optimized driving torque.

[0024] In a possible implementation manner, the driving torque is optimized according to the vehicle mass, and before determining the optimized driving torque, the method further includes:

[0025] Determining the acceleration of the vehicle at the last moment according to the vehicle speeds at the current moment and the last moment;

[0026] The vehicle mass of the vehicle is determined according to the acceleration at the last moment and the driving torque at the last moment.

[0027] In a second aspect, the present application provides a vehicle shift control device, comprising:

[0028] An acquisition module, used for acquiring the driving torque of the vehicle during the driving process of the vehicle;

[0029] A processing module, configured to determine a target gear position by using the driving torque based on a rule that the system efficiency of the vehicle is the highest;

[0030] The control module is used to perform gear shifting control on the current gear of the vehicle according to the target gear, so that the vehicle travels according to the target gear after the gear shifting.

[0031] In a third aspect, the present application provides a controller, including: a memory, a processor;

[0032] The memory stores computer-executable instructions;

[0033] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the vehicle shift control method as described in any one of the first aspects.

[0034] In a fourth aspect, the present application provides a vehicle, comprising a vehicle body and the controller described in the third aspect.

[0035] In a fifth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the vehicle shift control method described in any one of the first aspects.

[0036] In a sixth aspect, the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it is used to implement the vehicle shift control method described in any one of the first aspects.

[0037] The vehicle shift control method, device, controller and vehicle provided by the present application can obtain the driving torque of the vehicle during each driving process of the vehicle, determine the target gear position through the driving torque based on the principle of the highest system efficiency of the vehicle, and then perform shift control on the current gear position of the vehicle according to the determined target gear position, so that the vehicle can travel according to the target gear position after the shift. By selecting the optimal gear position according to the rule of the highest system efficiency, the overall energy consumption of the vehicle can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0039] Figure 1A schematic diagram of an application scenario provided by an embodiment of the present application;

[0040] Figure 2 A schematic diagram of a flow chart of a first embodiment of a vehicle shift control method provided in the present application;

[0041] Figure 3 A schematic flow chart of a second embodiment of a vehicle shift control method provided in the present application;

[0042] Figure 4 A schematic diagram of a flow chart of a third embodiment of a vehicle shift control method provided in the present application;

[0043] Figure 5 A schematic diagram of a flow chart of a fourth embodiment of a vehicle shift control method provided in the present application;

[0044] Figure 6 A principle block diagram of a gear shift control system provided in an embodiment of the present application;

[0045] Figure 7 A schematic structural diagram of a first embodiment of a vehicle shift control device provided in the present application;

[0046] Figure 8 A schematic diagram of the structure of a second embodiment of a vehicle shift control device provided by the present application;

[0047] Fig. 9 A schematic diagram of the structure of the controller provided in this application.

[0048] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0049] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0050] As commercial vehicles continue to demand more fuel efficiency or battery efficiency, as well as driving performance, vehicle shift control technology has become a key research area. Commercial vehicles usually operate under a variety of complex conditions, including different traffic conditions, road types, and load conditions. Due to the diversity and complexity of these factors, shift control needs to be highly adaptable in order to effectively cope with these changing driving conditions.

[0051] In traditional gear shift control technology, the gear shift of a vehicle usually relies on a pre-set gear shift reference table, and the target gear position can be determined based on the opening of the vehicle's accelerator pedal (also known as the accelerator pedal). Specifically, the vehicle controller can look up the gear shift reference table to determine the most appropriate gear position based on the opening of the accelerator pedal and the current vehicle speed, and then perform the gear shift operation.

[0052] However, in the actual use of commercial vehicles, the situation is often more complicated. This shift strategy that relies on the shift reference table and lacks flexibility may cause the vehicle to operate in a non-optimal gear, thereby increasing the vehicle's comprehensive energy consumption.

[0053] In response to the above problems, the inventors consider that the current gear of the vehicle during driving can be switched based on the rule of the highest system efficiency of the vehicle to reduce the comprehensive energy consumption of the vehicle. In a specific implementation, the driving torque of the vehicle can be obtained during the driving process of the vehicle, and the target gear can be determined by the driving torque based on the rule of the highest system efficiency of the vehicle, and the current gear of the vehicle can be shifted to control the vehicle to travel at the target gear after the shift. Based on this, the present application proposes a vehicle shifting control method, which aims to further reduce the comprehensive energy consumption of the vehicle during driving.

[0054] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of the present application. Figure 1 During the driving process of the vehicle, the controller can obtain the driving torque of the vehicle, determine the target gear based on the rule with the highest system efficiency, and switch the current gear of the vehicle.

[0055] For example, during the driving process of the vehicle, the vehicle control unit (VCU) can obtain the vehicle's driving torque as 100 Newton meters (N·m), determine the target gear as 3rd gear based on the rule of highest system efficiency, and switch the vehicle's current gear to 2nd gear.

[0056] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0057] Figure 2 This is a flow chart of the first embodiment of the vehicle shift control method provided by this application. Figure 2 , the method comprising:

[0058] S201. Acquire the driving torque of the vehicle while the vehicle is traveling.

[0059] The execution subject of the embodiment of the present application may be a controller, or a vehicle shift control device provided in the controller. The vehicle shift control device may be implemented by software, or by a combination of software and hardware. The vehicle shift control device may be a processor in the controller. For ease of understanding, the following description will be made by taking the execution subject as an example of a controller.

[0060] In this step, the controller can obtain the driving torque of the vehicle through the opening of the accelerator pedal during the driving of the vehicle.

[0061] Specifically, the opening degree of the accelerator pedal can be detected by an accelerator pedal sensor, and the controller can calculate the required driving torque after receiving the signal sent by the accelerator pedal sensor.

[0062] For example, a vehicle is traveling at a speed of 30 km / h on a flat road. Based on the acceleration demand, the driver can step on the accelerator pedal to increase its opening. The accelerator pedal sensor detects that the accelerator pedal opening is 30%. After receiving the signal from the accelerator pedal sensor that the accelerator pedal opening is 30%, the controller can calculate the required driving torque as 100 N·m.

[0063] S202: Determine the target gear position by driving torque based on the rule of highest system efficiency of the vehicle.

[0064] In this step, the controller can determine the system efficiency corresponding to each to-be-selected gear according to the calculated driving torque, and determine the to-be-selected gear with the highest system efficiency as the target gear. The system efficiency is obtained by combining at least one of the motor efficiency, the gearbox efficiency, and the axle efficiency.

[0065] Motor efficiency refers to the efficiency of the motor in converting electrical energy into mechanical energy, which is the ratio of the output mechanical power to the input electrical power. Motor efficiency reflects the energy loss of the motor when converting electrical energy into the mechanical energy required to drive the vehicle. A high-efficiency motor can output more mechanical power while consuming less electrical energy, thereby improving the overall energy efficiency of the vehicle. Among them, the motor can refer to the drive motor that drives the wheels to rotate.

[0066] It should be noted that the vehicles provided in this application include but are not limited to the following types: traditional fuel vehicles, hybrid vehicles, electric vehicles, and fuel cell vehicles. If it is a traditional fuel vehicle, the motor efficiency in the system efficiency can correspond to the generator efficiency. For ease of understanding, the following description takes an electric vehicle as an example.

[0067] Gearbox efficiency refers to the efficiency of the gearbox in transmitting mechanical power, which is the ratio of the mechanical power output of the gearbox to the mechanical power input. Gearbox efficiency reflects the energy loss in the process of power transmission.

[0068] Axle efficiency refers to the efficiency of the axle in transmitting mechanical power, which is the ratio of the mechanical power output of the axle to the mechanical power input.

[0069] Motor efficiency, gearbox efficiency and axle efficiency are usually expressed as a percentage. Efficient motor efficiency can output more mechanical power while consuming less electrical energy, and efficient gearbox efficiency and axle efficiency can transmit the power of the motor to the wheels with less energy loss.

[0070] Optionally, the system efficiency can be calculated by multiplying the motor efficiency, gearbox efficiency, and axle efficiency. For example, if the motor efficiency is 90%, the gearbox efficiency is 85%, and the axle efficiency is 92%, then the system efficiency can be determined to be 70% by calculating the product of the three. That is, 70% of the input electrical energy is effectively converted into mechanical energy to drive the vehicle, and the rest of the energy is consumed during the transmission process.

[0071] In an optional implementation, the system efficiency can be determined by conducting a driving torque test at different speeds under different gears. The driving torque test can include the following steps ① to ④:

[0072] Step 1: Select the gear. At the beginning of the experiment, select a specific test gear.

[0073] Step ②: In each gear, set a series of different vehicle speeds for testing. These speeds should cover the normal operating range of the vehicle, from low speed to high speed.

[0074] Step 3: Apply different driving torques by controlling the motor. Specifically, this can be achieved by changing the throttle opening.

[0075] Step ④: Under each test condition, record the torque, speed, power and energy consumption data. After the experiment is completed, analyze the collected data in detail and calculate the system efficiency at different gears and vehicle speeds.

[0076] For example, the controller can determine that the system efficiency corresponding to the 2nd gear is 60% and the system efficiency corresponding to the 3rd gear is 70% according to the driving torque of 100 N·m, and the 3rd gear with the determined system efficiency of 70% can be determined as the target gear. The gears to be selected include the 2nd gear and the 3rd gear.

[0077] S203: Performing a gear shift control on the current gear of the vehicle according to the target gear, so that the vehicle travels according to the target gear after the gear shift.

[0078] In this step, the controller can perform gear shifting control on the current gear of the vehicle according to the determined target gear, and make the vehicle travel according to the target gear after the gear shifting.

[0079] For example, if the current gear of the vehicle is the 2nd gear, the controller can perform a shift control on the 2nd gear of the vehicle according to the determined 3rd gear, and make the vehicle travel according to the 3rd gear after the shift.

[0080] In the embodiment of the present application, the controller can obtain the driving torque of the vehicle during the driving process of the vehicle, determine the target gear position based on the principle of highest system efficiency using the driving torque, and adjust the current gear position of the vehicle according to the target gear position so that the vehicle can travel according to the new target gear position. In the above process, the optimal shifting strategy can be determined based on the principle of highest system efficiency to reduce the comprehensive energy consumption of the vehicle and improve the overall performance of the vehicle.

[0081] exist Figure 2 Based on the embodiment shown below, combined with Figure 3 , the above-mentioned vehicle shift control method is further described in detail.

[0082] Figure 3 This is a flow chart of the second embodiment of the vehicle shift control method provided by this application. Figure 3 , the method may include:

[0083] S301. Acquire the driving torque of the vehicle while the vehicle is traveling.

[0084] For example, when a vehicle is traveling at a speed of 30 km / h on a flat road, the controller can receive a signal from the accelerator pedal sensor indicating that the accelerator pedal opening is 30%, and calculate the required driving torque to be 100 N·m based on the 30% accelerator pedal opening.

[0085] S302: Determine the system efficiency corresponding to each gear to be selected according to the driving torque.

[0086] In this step, the system efficiency corresponding to each gear to be selected can be determined according to the driving torque by conducting driving torque experiments at different speeds in different gears. The system efficiency is obtained by combining at least one of the motor efficiency, the gearbox efficiency, and the axle efficiency.

[0087] In a specific implementation, a system efficiency table corresponding to the driving torque can be summarized through a driving torque experiment, and the system efficiency corresponding to each gear to be selected can be determined by looking up the table.

[0088] For example, at a vehicle speed of 30 km / h, the system efficiency corresponding to a drive torque of 100 N·m can be shown in Table 1:

[0089] Table 1

[0090]

[0091] In an optional implementation, the system efficiency corresponding to each gear position may be calculated in real time according to the driving torque. For ease of understanding, the system efficiency including the gearbox efficiency is explained.

[0092] For example, in the 2nd and 3rd gears of the gearbox, the output power remains at W1 (the corresponding driving torque is 100 N·m). In the 2nd gear, the input power required to achieve the output power W1 is W2, and in the 3rd gear, the input power required to achieve the same output power W1 is W3. By comparing the input power in these two gears, the gearbox efficiency of each gear can be calculated based on the ratio of output power to input power.

[0093] Optionally, for electric vehicles, when combining at least one of the motor efficiency, the gearbox efficiency, and the axle efficiency, the battery discharge efficiency and the high-voltage accessory power related to the energy flow of the whole vehicle can also be comprehensively considered. Among them, the high-voltage accessories can include devices such as steering pumps, steering motors, air conditioning compressors, and inverters. These devices consume electrical energy when the vehicle is running, and therefore have a significant impact on the overall energy efficiency.

[0094] Regarding the battery discharge efficiency, the driving torque test can also be carried out on the vehicle at different speeds in different gears to determine the battery discharge efficiency corresponding to each selected gear. When conducting the driving torque test, the power consumption of the high-voltage accessories can be included in the energy flow analysis of the whole vehicle to determine its impact on the system efficiency.

[0095] Optionally, when performing the whole vehicle energy flow analysis, in addition to considering the motor, gearbox, axle efficiency, battery discharge efficiency and power consumption of high-voltage accessories, the energy recovery mechanism can also be analyzed. In particular, when the vehicle is mechanically braked, the regenerative braking system can recover energy, convert kinetic energy into electrical energy, and store it back in the battery or use it to drive high-voltage accessories. This process not only reduces the net energy consumption of the battery, but also improves the overall energy utilization efficiency of the vehicle.

[0096] S303: Determine the candidate gear position with the highest system efficiency as the target gear position.

[0097] For example, the third gear, which is the to-be-selected gear with a system efficiency of 70%, can be determined as the target gear.

[0098] S304: Determine the gear shifting speed corresponding to the target gear position.

[0099] In this step, the gear shifting vehicle speed corresponding to the target gear position can be determined according to the determined target gear position, wherein the gear shifting vehicle speed represents the critical vehicle speed for gear switching.

[0100] In an optional implementation, the gear shifting speed associated with the target gear can be found in a preset gear shifting strategy table according to the target gear, wherein the gear shifting strategy table can be pre-set based on factors such as the vehicle's dynamic characteristics, driving mode (such as economic model, sports mode), and vehicle weight.

[0101] For example, the gear shifting speed can be determined to be 25 km / h based on the target gear position 3rd gear.

[0102] S305: If the gear-shifting speed is less than or equal to the current speed of the vehicle, and the target gear position is not equal to the current gear position, the current gear position of the vehicle is shifted according to the target gear position.

[0103] In this step, based on the shifting speed being less than or equal to the current speed of the vehicle and the target gear being unequal to the current gear, the current gear of the vehicle can be shifted according to the target gear so that the vehicle travels according to the target gear after the shifting.

[0104] For example, the current speed of the vehicle is 30 km / h and the current gear is 2nd gear. Then, according to the shifting speed of 25 km / h, which is less than the current speed of the vehicle of 30 km / h, and the target gear 3rd gear is not equal to the current gear 2nd gear, the current gear 2nd gear of the vehicle is shifted according to the target gear 3rd gear, so that the vehicle travels according to the target gear 3rd gear after the shifting.

[0105] S306: If the gear-shifting speed is greater than the current speed of the vehicle, or the target gear is equal to the current gear, then the current gear of the vehicle is not shifted.

[0106] In this step, the current gear of the vehicle may not be shifted because the shifting speed is greater than the current speed of the vehicle, or the target gear is equal to the current gear, so that the vehicle continues to travel in the current gear.

[0107] For example, the current speed of the vehicle is 20 km / h and the current gear is 2nd gear. Then, according to the shifting speed of 25 km / h being greater than the current speed of the vehicle of 20 km / h, the current gear 2nd gear of the vehicle is not shifted, so that the vehicle continues to travel in the current gear 2nd gear.

[0108] In an embodiment of the present application, the controller can obtain the driving torque of the vehicle. Based on the driving torque, the system efficiency corresponding to each to-be-selected gear is determined, and the to-be-selected gear with the highest system efficiency is selected as the target gear. Then, the gear shifting speed related to the target gear can be determined. If the gear shifting speed is less than or equal to the current speed of the vehicle, and the target gear is different from the current gear, a gear shifting operation will be performed to switch the current gear to the target gear. Conversely, if the gear shifting speed is greater than the current speed of the vehicle, or the target gear is the same as the current gear, no gear shifting operation will be performed. In the above process, by selecting the gear with the highest system efficiency as the target gear, energy loss can be effectively reduced, and the overall energy consumption of the vehicle can be reduced, thereby achieving the optimal energy efficiency of vehicle operation.

[0109] Figure 4 This is a flow chart of the third embodiment of the vehicle shift control method provided by this application. Figure 2 Based on the examples shown, see Figure 4 , the method comprising:

[0110] S401. Acquire the driving torque of the vehicle while the vehicle is traveling.

[0111] For example, during the driving of the vehicle, the driving torque of the vehicle can be obtained as 100 N·m based on the accelerator pedal opening being 30%.

[0112] S402: Optimize the driving torque according to the vehicle mass and determine the optimized driving torque.

[0113] In this step, the driving torque determined by the accelerator pedal opening can be optimized according to the obtained vehicle mass to obtain the optimized driving torque.

[0114] Since commercial vehicles have a significant weight difference between unloaded and fully loaded states, the acceleration of the vehicle is significantly different at the same speed and accelerator pedal opening. This difference makes it difficult for the driver to accurately control the vehicle, resulting in sudden acceleration or deceleration, which in turn increases energy consumption and affects driving stability. Therefore, the vehicle performance can be optimized by adjusting the drive torque according to the vehicle mass.

[0115] Optionally, the target torque coefficient corresponding to the vehicle mass can be determined according to a preset mapping relationship based on the vehicle mass, and the product of the target torque coefficient and the driving torque can be determined as the optimized driving torque. The preset mapping relationship is used to indicate the corresponding relationship between the vehicle mass and the torque coefficient.

[0116] For the preset mapping relationship, you can obtain it in any of the following ways:

[0117] Method 1: Use the vehicle dynamics simulation model to simulate and analyze the acceleration performance of the vehicle under different vehicle masses. By adjusting the drive torque, the acceleration performance of the vehicle under various load conditions can reach the expected target, thereby establishing a mapping relationship between the vehicle mass and the target torque coefficient.

[0118] Method 2: On actual roads or test sites, conduct acceleration tests on the vehicle under different load conditions, measure the vehicle's acceleration and energy consumption, adjust the drive torque to optimize vehicle performance, and record the relationship between the corresponding vehicle mass and the target torque coefficient.

[0119] Method 3: By analyzing the historical data of the vehicle in actual operation, observing the performance under different load conditions, and extracting effective torque coefficient information.

[0120] Method 4: Use machine learning algorithms to automatically learn and establish a nonlinear mapping relationship between vehicle mass and target torque coefficient based on a large amount of vehicle operation data.

[0121] For example, the preset mapping relationship may be as shown in Table 2:

[0122] Table 2

[0123]

[0124] In Table 2, load represents the percentage of the vehicle's current load relative to its maximum load capacity. When the vehicle mass is its own weight, it means that the vehicle is unloaded and has no cargo or additional weight. When the vehicle mass is the sum of its own weight and the maximum load, it means that the vehicle is fully loaded and has reached its maximum load capacity.

[0125] For example, the target torque coefficient corresponding to the vehicle weight can be determined as 0.6 based on the vehicle weight, and the product of the target torque coefficient 0.6 and the driving torque 100 N·m is determined as the optimized driving torque, wherein the optimized driving torque is 60 N·m.

[0126] S403: Based on the rule of highest system efficiency of the vehicle, determine the target gear position through the optimized driving torque.

[0127] For example, based on the rule that the vehicle's system efficiency is the highest, the target gear may be determined to be the 3rd gear through the optimized driving torque of 60 N·m.

[0128] S404: According to the target gear, the current gear of the vehicle is controlled to shift, so that the vehicle travels according to the target gear after the shift.

[0129] In an embodiment of the present application, the driving torque of the vehicle can be optimized according to the vehicle mass. By following the principle of highest system efficiency, the optimized driving torque is used to determine the target gear. Then, the current gear of the vehicle is shifted according to the target gear to ensure that the vehicle travels according to the target gear after the shift. In the above process, by optimizing the driving torque corresponding to the accelerator pedal according to the vehicle mass, more accurate power output can be achieved, thereby reducing the overall energy consumption of the vehicle.

[0130] Figure 5 This is a flow chart of the fourth embodiment of the vehicle shift control method provided by this application. Figure 4 Based on the examples shown, see Figure 5 , the method comprising:

[0131] S501. Acquire the driving torque of the vehicle while the vehicle is traveling.

[0132] For example, during the driving of the vehicle, the driving torque of the vehicle can be obtained as 100 N·m based on the accelerator pedal opening being 30%.

[0133] S502: Determine the acceleration of the vehicle at the last moment according to the vehicle speeds at the current moment and the last moment.

[0134] In this step, the acceleration of the vehicle at the previous moment can be determined based on the vehicle speeds at the current moment and the previous moment, and the time interval between the two moments.

[0135] In vehicle dynamics analysis, acceleration is defined as the rate at which speed changes over time. In practical applications, speed sensors usually collect vehicle speed at a high frequency, which means that the time intervals are usually very short during the vehicle's driving process. This high-frequency data acquisition allows speed changes to be considered continuous, making acceleration the average rate of change over this very short period of time.

[0136] The time interval between the current moment and the previous moment can be flexibly adjusted according to specific needs to better adapt to different application scenarios and analysis objectives.

[0137] The time interval between the current moment and the previous moment can be adjusted according to specific needs.

[0138] For example, at the current moment, the speed recorded by the sensor is 22m / s, while at the previous moment, the speed recorded was 20m / s. Based on the time interval of 1s between the current moment and the previous moment, it can be determined that the acceleration of the vehicle at the previous moment was 2m / s².

[0139] S503: Determine the vehicle mass according to the acceleration at the last moment and the driving torque at the last moment.

[0140] In this step, the vehicle mass can be determined based on the determined acceleration and the driving torque at the last moment.

[0141] In a specific implementation, the driving force acting on the wheel can be determined based on the driving torque and the wheel radius of the vehicle, and the vehicle mass can be calculated based on the driving force and acceleration according to Newton's second law.

[0142] Optionally, when calculating the driving force, rolling friction also needs to be considered. The rolling friction will offset a portion of the driving force, so the net driving force actually acting on the vehicle should be the result of deducting the rolling friction from the driving force.

[0143] In addition, when calculating the driving force, factors such as wind resistance and slope resistance can be further considered. Wind resistance will increase with the increase of vehicle speed, weakening the driving force, while slope resistance depends on the inclination angle of the road, increasing resistance when going uphill and reducing resistance when going downhill. Therefore, the actual net driving force can also be the result of subtracting rolling friction, wind resistance and slope resistance from the driving force, so as to more accurately reflect the power demand and vehicle mass estimation of the vehicle under various driving conditions.

[0144] For example, based on the acceleration of 2m / s² and the driving torque of 100N·m at the previous moment, it can be determined that the vehicle mass is its own weight and the vehicle is in an unloaded state.

[0145] In order to more accurately determine the vehicle load, the vehicle mass can be divided into multiple levels. This classification not only helps to understand the performance of the vehicle under different loads, but also provides a more detailed basis for adjusting the vehicle control system.

[0146] For example, the vehicle mass can be divided into four levels as shown in Table 3:

[0147] Table 3

[0148]

[0149] In Table 3, in the unloaded state, the vehicle only carries its own weight; in the lightly loaded state, the vehicle carries a slight load, such as a small number of passengers or cargo; in the heavily loaded state, the vehicle carries a large number of passengers or cargo; and in the fully loaded state, the vehicle reaches the limit of its designed carrying capacity.

[0150] It should be noted that the number of levels for vehicle mass can be adjusted according to specific needs and application scenarios. For example, a more detailed classification can be made according to different industry standards, vehicle types or usage environments.

[0151] In an optional implementation, the vehicle mass may also be acquired in real time through a weight sensor or measuring device pre-installed on the vehicle.

[0152] S504: Determine a target torque coefficient corresponding to the vehicle mass through a preset mapping relationship according to the vehicle mass.

[0153] In this step, the target torque coefficient corresponding to the vehicle mass can be determined based on the pre-established mapping relationship through the calculated vehicle mass, wherein the preset mapping relationship is used to indicate the corresponding relationship between the vehicle mass and the torque coefficient.

[0154] In a specific implementation, an acceleration test may be performed on a vehicle under different load conditions on an actual road. By measuring the acceleration and comprehensive energy consumption of the vehicle, the driving torque is adjusted to optimize vehicle performance, and the relationship between the vehicle mass and the target torque coefficient is recorded, thereby establishing a corresponding relationship between the vehicle mass and the torque coefficient.

[0155] For example, the target torque coefficient corresponding to the vehicle can be determined to be 0.6 based on the vehicle mass being the vehicle's own weight, that is, the vehicle is in an unloaded state.

[0156] S505: Determine the product of the target torque coefficient and the driving torque as the optimized driving torque.

[0157] For example, the optimized driving torque can be determined to be 60 N·m by multiplying the target torque coefficient 0.6 by the driving torque 100 N·m.

[0158] S506 . Based on the rule of highest system efficiency of the vehicle, determine the target gear position by using the optimized driving torque.

[0159] S507: According to the target gear, the current gear of the vehicle is controlled to shift, so that the vehicle travels according to the target gear after the shift.

[0160] It should be noted that the execution process of step S506 may refer to the execution process of step S202, and the execution process of step S507 may refer to the execution process of step S203, which will not be described in detail here.

[0161] In the embodiment of the present application, the acceleration at the previous moment can be determined by the current and previous vehicle speeds, and the vehicle mass can be calculated using the acceleration and the driving torque. The driving torque obtained during the vehicle's driving process is optimized according to the vehicle mass, and based on the principle of maximum system efficiency, the optimized driving torque is used to determine the target gear, and the gear shifting control is performed based on the target gear, so that the vehicle drives according to the target gear. In the above process, by optimizing the driving torque and determining the target gear using the vehicle mass, the vehicle can avoid sudden acceleration or deceleration, thereby improving the vehicle's power performance and reducing the overall energy consumption.

[0162] Figure 6 This is a principle block diagram of the shift control system provided in the embodiment of the present application. Figure 6 , including: strategy optimization of vehicle mass identification, shift point optimization, and shift strategy optimization.

[0163] Strategy optimization for vehicle quality identification can include:

[0164] S601. Determine a mass range according to the driving torque and the acceleration corresponding to the vehicle speed.

[0165] In this step, during the driving process of the vehicle, that is, when the vehicle speed is greater than 0, the acceleration of the vehicle at the previous moment can be determined based on the vehicle speed at the current moment and the previous moment. The determined acceleration and the driving torque at the previous moment can be used to determine the vehicle's overall mass.

[0166] S602: Acquire driving torque.

[0167] In this step, the driving torque of the vehicle can be obtained and optimized according to the vehicle mass to determine the optimized driving torque, that is, the torque corresponding to the pedal speed of the vehicle at the current moment.

[0168] Shift point optimization can include:

[0169] S603: Optimize the optimal shift point based on system efficiency.

[0170] S604: Obtain target gear position.

[0171] In this step, the target gear (recommended gear) can be determined by the driving torque based on the rule that the vehicle's system efficiency is the highest, and the current gear of the vehicle can be shifted according to the target gear. The system efficiency is obtained by combining at least one of the motor efficiency, the gearbox efficiency, and the axle efficiency.

[0172] Shift strategy optimization can include:

[0173] S605: Gear position determination.

[0174] In this step, the gear shifting speed corresponding to the target gear position can be determined. If the gear shifting speed is less than or equal to the current speed of the vehicle, and the target gear position is not equal to the current gear position, the current gear position of the vehicle is controlled to be shifted according to the target gear position; if the gear shifting speed is greater than the current speed of the vehicle, or the target gear position is equal to the current gear position, the current gear position of the vehicle is not controlled to be shifted. The current gear position of the vehicle can be determined by the original vehicle gear shifting curve.

[0175] S606, executing output gear.

[0176] The specific implementation process of the shift control system principle block diagram provided in the embodiment of the present application can refer to the technical solution in the above method embodiment. The implementation principle and beneficial effects are similar and will not be repeated here.

[0177] Figure 7 This is a structural diagram of the first embodiment of the vehicle shift control device provided by this application. Figure 7 , the vehicle shift control device 10 comprises:

[0178] An acquisition module 11 is used to acquire the driving torque of the vehicle during the driving process of the vehicle;

[0179] A processing module 12, configured to determine a target gear position by using the driving torque based on a rule that the system efficiency of the vehicle is the highest;

[0180] The control module 13 is used to perform gear shifting control on the current gear of the vehicle according to the target gear, so that the vehicle travels according to the target gear after the gear shifting.

[0181] The vehicle shift control device provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0182] In a possible implementation manner, the processing module 12 is specifically configured to:

[0183] Determining a system efficiency corresponding to each gear to be selected according to the driving torque, wherein the system efficiency is obtained by combining at least one of a motor efficiency, a gearbox efficiency, and an axle efficiency;

[0184] The gear position to be selected with the highest system efficiency is determined as the target gear position.

[0185] In a possible implementation manner, the control module 13 is specifically configured to:

[0186] Determining a gear shift vehicle speed corresponding to the target gear, wherein the gear shift vehicle speed represents a critical vehicle speed for gear switching;

[0187] If the gear-shifting vehicle speed is less than or equal to the current vehicle speed, and the target gear position is not equal to the current gear position, the current gear position of the vehicle is shifted according to the target gear position.

[0188] In a possible implementation manner, the control module 13 is further configured to:

[0189] If the gear-shifting vehicle speed is greater than the current vehicle speed, or the target gear is equal to the current gear, no gear shifting control is performed on the current gear of the vehicle.

[0190] Figure 8 This is a structural diagram of the second embodiment of the vehicle shift control device provided by this application. Figure 8 ,exist Figure 7 Based on the embodiment shown, the vehicle shift control device 10 further includes:

[0191] An optimization module 14, configured to optimize the driving torque according to the vehicle mass and determine an optimized driving torque;

[0192] Accordingly, the processing module 12 is specifically used for:

[0193] Based on a rule that the system efficiency of the vehicle is the highest, the target gear is determined by the optimized driving torque.

[0194] In a possible implementation manner, the optimization module 14 is specifically configured to:

[0195] According to the vehicle mass, determining a target torque coefficient corresponding to the vehicle mass by a preset mapping relationship, wherein the preset mapping relationship is used to indicate a corresponding relationship between the vehicle mass and the torque coefficient;

[0196] The product of the target torque coefficient and the driving torque is determined as the optimized driving torque.

[0197] In a possible implementation manner, the optimization module 14 is further configured to:

[0198] Determining the acceleration of the vehicle at the last moment according to the vehicle speeds at the current moment and the last moment;

[0199] The vehicle mass of the vehicle is determined according to the acceleration at the last moment and the driving torque at the last moment.

[0200] The vehicle shift control device provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0201] Fig. 9The schematic diagram of the controller provided for this application. Fig. 9 The controller 20 provided in this embodiment includes: at least one processor 21 and a memory 22. Optionally, the controller 20 also includes a communication component 23. The processor 21, the memory 22 and the communication component 23 are connected via a bus 24.

[0202] In a specific implementation process, at least one processor 21 executes the computer-executable instructions stored in the memory 22, so that at least one processor 21 executes the above method.

[0203] The specific implementation process of the processor 21 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0204] The controller provided in the embodiment of the present application can be a vehicle controller, a transmission controller, a motor controller, or other types of controllers arranged in the vehicle, and can execute the technical solutions shown in the above method embodiments. The implementation principles and beneficial effects are similar and will not be repeated here.

[0205] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0206] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0207] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0208] The present application provides a vehicle, including a vehicle body and Fig. 9 The controller shown is used to implement the vehicle shift control method in the above embodiment.

[0209] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0210] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0211] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0212] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0213] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0214] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0215] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0216] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0217] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0218] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A vehicle shift control method, characterized in that: include: During the driving of the vehicle, obtaining the driving torque of the vehicle; determining a target gear position by the driving torque based on a rule that the system efficiency of the vehicle is the highest; According to the target gear position, the current gear position of the vehicle is shifted and controlled so that the vehicle travels according to the target gear position after the shifting.

2. The method according to claim 1, characterized in that: The determining the target gear position by the driving torque based on the rule that the system efficiency of the vehicle is the highest includes: Determining a system efficiency corresponding to each gear to be selected according to the driving torque, wherein the system efficiency is obtained by combining at least one of a motor efficiency, a gearbox efficiency, and an axle efficiency; The gear position to be selected with the highest system efficiency is determined as the target gear position.

3. The method according to claim 1 or 2, characterized in that: The step of controlling the current gear position of the vehicle according to the target gear position includes: Determining a gear shift vehicle speed corresponding to the target gear, wherein the gear shift vehicle speed represents a critical vehicle speed for gear switching; If the gear-shifting vehicle speed is less than or equal to the current vehicle speed, and the target gear position is not equal to the current gear position, the current gear position of the vehicle is shifted according to the target gear position.

4. The method according to claim 3, characterized in that The method further comprises: If the gear-shifting vehicle speed is greater than the current vehicle speed, or the target gear is equal to the current gear, no gear shifting control is performed on the current gear of the vehicle.

5. The method according to claim 1, characterized in that Before determining the target gear position by the driving torque based on the rule that the system efficiency of the vehicle is the highest, the method further includes: Optimizing the driving torque according to the vehicle mass and determining an optimized driving torque; Accordingly, the target gear is determined by the driving torque based on the rule of the highest system efficiency of the vehicle, including: Based on a rule that the system efficiency of the vehicle is the highest, the target gear is determined by the optimized driving torque.

6. The method according to claim 5, characterized in that Optimizing the driving torque according to the vehicle mass to determine the optimized driving torque includes: According to the vehicle mass, determining a target torque coefficient corresponding to the vehicle mass by a preset mapping relationship, wherein the preset mapping relationship is used to indicate a corresponding relationship between the vehicle mass and the torque coefficient; The product of the target torque coefficient and the driving torque is determined as the optimized driving torque.

7. The method according to claim 5 or 6, characterized in that: Before optimizing the driving torque according to the vehicle mass and determining the optimized driving torque, the method further includes: Determining the acceleration of the vehicle at the last moment according to the vehicle speeds at the current moment and the last moment; The vehicle mass of the vehicle is determined according to the acceleration at the last moment and the driving torque at the last moment.

8. A vehicle shift control device, characterized in that: include: An acquisition module, used for acquiring the driving torque of the vehicle during the driving process of the vehicle; A processing module, configured to determine a target gear position by using the driving torque based on a rule that the system efficiency of the vehicle is the highest; The control module is used to perform gear shifting control on the current gear of the vehicle according to the target gear, so that the vehicle travels according to the target gear after the gear shifting.

9. A controller, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: It comprises a vehicle body and the controller as claimed in claim 9.

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