Method of controlling shifting of a vehicle, vehicle, processor and storage medium

Abstract

The application discloses a kind of methods for controlling vehicle gear shifting, vehicle, processor and storage medium, belong to vehicle intelligent control technical field, the method includes: obtaining the target gear information of vehicle, current time output shaft's output shaft speed measurement data and output shaft speed correlation data;Based on particle filtering algorithm, according to output shaft speed correlation data, output shaft speed measurement data is corrected, to obtain the output shaft speed after correction;According to the target motor speed of drive motor according to the output shaft speed after correction and target gear information;According to target motor speed control drive motor, so that the gear of vehicle reaches target gear.This application is based on particle filtering algorithm, according to output shaft speed correlation data, output shaft speed measurement data is corrected, improves the accuracy of gearbox output shaft speed measurement value, and then improves the accuracy of target motor speed, is conducive to improving the success rate of vehicle gear shifting.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent control of vehicles, in particular to a method for controlling gear shifting of a vehicle, a vehicle, a processor and a storage medium. BACKGROUND

[0002] At present, when the vehicle is shifting gears, the electrically controlled mechanical automatic gearbox needs to adjust the speed of the driving motor after the shifting actuator is disengaged, so that the speed of the synchronizer is close to the target gear speed, facilitating smooth and fast gear engagement. The output shaft speed of the gearbox is usually measured by a Hall sensor, but during the process of low speed or dramatic change of vehicle speed, the sensor measurement error is large, which can easily lead to failure of the vehicle gear engagement. Therefore, the method for vehicle gear shifting adopted in the prior art has the problem of low success rate. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a method for controlling gear shifting of a vehicle, a vehicle, a processor and a machine readable storage medium, to solve the problem of low success rate of the method for vehicle gear shifting adopted in the prior art.

[0004] To achieve the above-mentioned purpose, the first aspect of the embodiments of the present application provides a method for controlling gear shifting of a vehicle, the vehicle comprising a gearbox and a driving motor, the gearbox comprising an output shaft, the method comprising:

[0005] obtaining target gear information of the vehicle, output shaft speed measurement data of the output shaft at the current time and output shaft speed correlation data;

[0006] based on the particle filtering algorithm, correcting the output shaft speed measurement data according to the output shaft speed correlation data to obtain the corrected output shaft speed;

[0007] determining the target motor speed of the driving motor according to the corrected output shaft speed and the target gear information;

[0008] controlling the driving motor according to the target motor speed, so that the gear of the vehicle reaches the target gear.

[0009] In the embodiments of the present application, based on the particle filtering algorithm, the output shaft speed measurement data is corrected according to the output shaft speed correlation data to obtain the corrected output shaft speed, which comprises: based on the predetermined state equation, determining the output shaft speed calculation value according to the output shaft speed correlation data; taking the output shaft speed calculation value as the initial value of the random variable, based on the particle filtering algorithm and the predetermined observation equation, obtaining the fused probability density function of the output shaft speed; determining the corrected output shaft speed according to the output shaft speed correlation data and the fused probability density function of the output shaft speed.

[0010] In the embodiment of the present application, the method for determining the state equation and the observation equation comprises: obtaining a preset function relationship of the output shaft speed measurement data and the output shaft speed correlation data; performing Taylor expansion processing on the preset function relationship to obtain the state equation; and determining the observation equation according to a preset observation error quantity.

[0011] In the embodiment of the present application, the target gear information comprises a target gear set transmission ratio and a preset speed difference, and the preset speed difference is an allowable value of the speed difference between the coupling sleeve and the target gear; and the target motor speed of the driving motor is determined according to the corrected output shaft speed and the target gear information, and satisfies the following formula:

[0012] n target = n0·i ± Δn.

[0013] Wherein, n target is the target motor speed, n0 is the corrected output shaft speed, i is the target gear set transmission ratio, and Δn is the preset speed difference.

[0014] In the embodiment of the present application, the driving motor is controlled according to the target motor speed, so that the gear of the vehicle reaches the target gear, which comprises: obtaining the current motor speed of the driving motor; determining the target control torque of the driving motor according to the target motor speed and the current motor speed; and adjusting the speed of the driving motor to the target motor speed according to the target control torque, so that the gear of the vehicle reaches the target gear.

[0015] In the embodiment of the present application, the vehicle adopts PID control, and the target control torque of the driving motor is determined according to the target motor speed and the current motor speed, which comprises: obtaining the current working condition data of the vehicle; determining the target control parameter of the PID controller according to the current working condition data based on a pre-constructed control parameter adaptive model, the control parameter adaptive model being used for outputting the control parameter corresponding to the working condition data according to the input working condition data; determining the motor speed difference of the driving motor according to the current motor speed and the target motor speed; and determining the target control torque according to the PID control model according to the motor speed difference and the target control parameter based on the PID control model.

[0016] In the embodiment of the present application, the method for constructing the control parameter adaptive model comprises: obtaining a plurality of sample data, the sample data comprising working condition data and control parameters corresponding to the working condition data; constructing a neural network model; and training the neural network model according to the plurality of sample data to obtain the control parameter adaptive model.

[0017] The second aspect of the embodiment of the present application provides a processor configured to execute the above-mentioned method for controlling the gear shifting of the vehicle.

[0018] The third aspect of the embodiment of the present application provides a vehicle, comprising: a gearbox comprising an output shaft; a driving motor; and the above-mentioned processor.

[0019] The fourth aspect of the embodiment of the present application provides a machine readable storage medium, and the machine readable storage medium stores programs or instructions, and the programs or instructions are executed by a processor to realize the method for controlling gear shifting of a vehicle.

[0020] The technical solution described above, by obtaining target gear information of the vehicle, output shaft speed measurement data of the output shaft at the current moment and output shaft speed correlation data, then based on a particle filter algorithm, the output shaft speed measurement data is corrected according to the output shaft speed correlation data to obtain corrected output shaft speed, then the target motor speed of the driving motor is determined according to the corrected output shaft speed and the target gear information, and finally the driving motor is controlled according to the target motor speed, so that the gear of the vehicle reaches the target gear. Based on the particle filter algorithm, the output shaft speed measurement data is corrected according to the output shaft speed correlation data, the accuracy of the output shaft speed measurement value of the gearbox is improved, and the accuracy of the target motor speed is improved, which is beneficial to improve the success rate of gear shifting of the vehicle.

[0021] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific implementation to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the drawings:

[0023] Figure 1 A flowchart of a method for controlling gear shifting of a vehicle is provided for the embodiments of the present application;

[0024] Figure 2 A flowchart of particle filter data fusion is provided for a specific embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiments of the present application, and is not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0026] It should be noted that if the application embodiments have directionality indications (such as up, down, left, right, front, back, etc.), the directionality indications are only used to explain the relative position relationship, motion condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directionality indications also change accordingly.

[0027] In addition, if the application embodiments have descriptions of "first", "second", etc., the "first", "second", etc. descriptions are only for description purposes and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the protection scope claimed by the present application.

[0028] In the vehicle shifting process, the shifting process of the electrically controlled mechanical automatic transmission mainly includes five steps of unloading torque reduction, gear shifting, speed regulation, gear engagement and torque recovery. When the TCU receives a shifting instruction, it first unloads the torque reduction of the drive motor, at which time the drive motor is in torque control mode. When the output torque of the drive motor is zero, the TCU controller controls the shifting actuator to shift gears, at which time the synchronizer is disengaged from the neutral position. When the TCU controller determines that the synchronizer is completely separated, the drive motor is switched to speed control mode to control the synchronizer to quickly approach the target gear speed, and then the TCU controller controls the shifting actuator to smoothly engage the gear, and finally the drive motor performs torque coordination control and torque recovery, and the entire shifting process ends. The "speed regulation" stage in the shifting process has a great influence on the shifting time and the success rate of shifting.

[0029] At present, the output shaft speed of the electrically controlled mechanical automatic transmission is usually measured by a Hall sensor, but in the process of low speed or dramatic change of vehicle speed, the sensor measurement error is large, which easily leads to long gear engagement time or gear engagement failure of the vehicle. In order to obtain reliable output shaft speed of the electrically controlled mechanical automatic transmission and improve the success rate of vehicle shifting, the application embodiments provide a method for controlling vehicle shifting.

[0030] Figure 1 A flowchart of a method for controlling vehicle shifting provided by the application embodiments is shown. As shown in the figure, the application embodiments provide a method for controlling vehicle shifting, the vehicle includes a transmission and a drive motor, the transmission includes an output shaft, and the method is taken as an example to be applied to a processor. The method can include the following steps. Figure 1

[0031] ​In step S101, target gear information of the vehicle, output shaft speed measurement data of the output shaft at the current moment, and output shaft speed correlation data are obtained.

[0032] Specifically, the target gear information of the vehicle refers to data corresponding to a target gear required to be reached by the vehicle, and is related to a target gear corresponding to the target gear. The output shaft speed measurement data of the output shaft at the current moment is data measured by a Hall sensor. The output shaft speed correlation data refers to related data affected by the output shaft speed, and is different for different gearboxes used for different vehicles. For example, when the driving motor is shifting, the auxiliary motor is used for torque compensation, and the speed of the auxiliary motor can be used as the output shaft speed correlation data.

[0033] In step S102, the output shaft speed measurement data is corrected based on a particle filter algorithm and the output shaft speed correlation data to obtain a corrected output shaft speed.

[0034] Specifically, the particle filter algorithm approximates the probability density function by finding a set of random samples propagating in the state space, replaces the integral operation with the sample mean, and then obtains the minimum variance estimation of the system state. The principle is Monte Carlo integration based on Bayesian filtering. It can be understood that, in order to obtain reliable output shaft speed of the electrically controlled mechanical automatic transmission, the particle filter algorithm is used for multi-source data fusion in the embodiment of the application, the output shaft speed correlation data and the output shaft speed measurement data are fused to correct the output shaft speed measurement data, and the corrected output shaft speed measurement data is obtained. The accuracy of the output shaft speed measurement data of the gearbox is improved, the variance of the measured speed random variable is significantly reduced, and the success rate of shifting is improved.

[0035] In step S103, the target motor speed of the driving motor is determined according to the corrected output shaft speed and the target gear information.

[0036] In one example, the target gear information can include a transmission ratio, which is the ratio between the input shaft speed and the output shaft speed of the gearbox. In the case of a known target gear, the transmission ratio under this gear can be obtained by consulting the transmission ratio table or related parameters of the gearbox. For deceleration transmission, the transmission ratio is greater than 1; for acceleration transmission, the transmission ratio is less than 1. Further, the target motor speed of the driving motor can be calculated according to the corrected output shaft speed and the transmission ratio, and the target motor speed of the driving motor = corrected output shaft speed x transmission ratio.

[0037] In step S104, the driving motor is controlled according to the target motor speed, so that the gear of the vehicle reaches the target gear.

[0038] Specifically, the driving motor is controlled according to the target motor speed, which is a "speed regulation" stage in the shifting process, and the purpose of controlling the driving motor speed is to make the speed of the engaging sleeve or synchronizer close to the target gear speed. After the driving motor speed is controlled, the shifting mechanism needs to perform a gear engagement operation to make the vehicle gear reach the target gear. The accurate speed regulation purpose is to shorten the shifting time and increase the shifting success rate.

[0039] The technical solution described above comprises the following steps: obtaining target gear information of a vehicle, output shaft speed measurement data of an output shaft at a current time, and output shaft speed correlation data; correcting the output shaft speed measurement data based on a particle filter algorithm according to the output shaft speed correlation data to obtain corrected output shaft speed; determining a target motor speed of a driving motor according to the corrected output shaft speed and the target gear information; and controlling the driving motor according to the target motor speed to make the gear of the vehicle reach the target gear. Based on the particle filter algorithm, the output shaft speed measurement data is corrected according to the output shaft speed correlation data, which improves the accuracy of the output shaft speed measurement value of the gearbox and the accuracy of the target motor speed, and is beneficial to improving the success rate of vehicle shifting.

[0040] In the embodiment of the present application, the method for determining the state equation and the observation equation comprises: obtaining a preset function relationship between the output shaft speed measurement data and the output shaft speed correlation data; performing Taylor expansion processing on the preset function relationship to obtain the state equation; and determining the observation equation according to a preset observation error quantity.

[0041] It can be understood that before the fusion of the output shaft speed correlation data and the output shaft speed measurement data of the gearbox according to the particle filter algorithm, a preparation stage for fusion is needed to determine the state equation and the observation equation. Specifically, the preset function relationship between the output shaft speed measurement data and the output shaft speed correlation data in the embodiment of the present application can be:

[0042] n0=g(n′);

[0043] wherein n0 is the output shaft speed measurement data, n' is the output shaft speed correlation data, and g() is a function of the two.

[0044] The embodiment of the present application takes an electric drive AMT power shifting gearbox as an example. When the driving motor is shifting, the auxiliary motor performs torque compensation, and the speed of the auxiliary motor is taken as the output shaft speed correlation data. Therefore, the preset function relationship is specifically:

[0045]

[0046] wherein i gThe transmission ratio of the output shaft to the auxiliary motor. When the scheme of increasing the sensor at the position such as the input end which is less disturbed by the external environment is adopted, the function g() varies according to the situation, and the embodiments of the application are applicable.

[0047] Considering the measurement error of the output shaft related data and the error such as the wear of the transmission system, the above formula is Taylor expanded, and the state equation of the embodiments of the application is obtained as follows:

[0048] N k =f(N k-1 )+Q=N k-1 +g′(n′ k-1 )·(n′ k -n′ k-1 )+Q,Q~N(0,σ Q );

[0049] Wherein, N k is the output shaft speed at time k, which is considered as a random variable and is not a fixed value, n′ k is the value of the output shaft related data at time k, g′(n′ k-1 ) is the derivative value of the function relationship from the output shaft related data to the output shaft speed at time k-1, Q is the error of the state equation, which is a preset range value and is considered to be subject to Gaussian distribution, and sigma Q is the variance thereof.

[0050] The embodiments of the application adopt the sensor measurement data of the gearbox output shaft, i.e. the output shaft speed measurement data as observation, and therefore the observation equation is as follows:

[0051] Y k =h(N k )+R,R~N(0,σ R );

[0052] Wherein, h(N k ) is the function relationship from the output shaft speed at time k to the sensor output value, R is the observation error caused by the measurement accuracy of the sensor, which is a preset value and is determined according to the sensor adopted, and is usually a range value, which is considered to be subject to Gaussian distribution, and sigma R is the variance thereof. Y k is the sensor observation output data, which is considered as a random variable.

[0053] In this way, according to the above technical scheme, the preparation work before the sensor data fusion is completed, which provides a basis for the subsequent sensor fusion.

[0054] In the embodiment of the present application, the output shaft speed measurement data is corrected based on the particle filter algorithm according to the output shaft speed correlation data to obtain the corrected output shaft speed, which comprises: determining an output shaft speed calculation value based on a predetermined state equation according to the output shaft speed correlation data; taking the output shaft speed calculation value as a random variable initial value, and obtaining a fused probability density function of the output shaft speed based on the particle filter algorithm and a predetermined observation equation; and determining the corrected output shaft speed based on the output shaft speed correlation data and the fused probability density function of the output shaft speed.

[0055] Specifically, Figure 2 A flow chart of the particle filter data fusion provided by the embodiment of the present application is shown in FIG. 1. Figure 2 As shown in FIG. 1, the data fusion of the output shaft speed measurement data based on the output shaft speed correlation data according to the particle filter algorithm can comprise the following steps:

[0056] 1. State equation initial value.

[0057] Specifically, the output shaft speed calculation value is calculated based on the state equation according to the output shaft speed correlation data, wherein the output shaft speed correlation data refers to the measurement value of the sensor at the current time or the last historical time. The time when the data fusion starts is defined as 0 time, and the output shaft speed calculation value at 0 time is defined as the random variable initial value N0, which is subject to Gaussian distribution.

[0058] 2. Particle sampling.

[0059] Specifically, n sample particles of N0 are generated: and the corresponding weight of the initial value sample particle is generated The output weight is set to 1 / n. Wherein, represents the i th particle at 0 time, represents the weight of the i th particle at 0 time.

[0060] 3. Prediction step update.

[0061] Specifically, the prediction step update is performed to generate sample particles of N1 at the next time:

[0062]

[0063] Wherein, f() is the aforementioned predetermined state equation function relationship, and Q is the error of the aforementioned state equation.

[0064] At this time, the probability density function of the predicted value N1 is:

[0065]

[0066] Wherein, δ() is the Dirichlet function, represents the i-th particle at time 1. This process actually changes the position of the sample particle, and the weight of the sample particle is not changed.

[0067] 4. The observation step updates.

[0068] Specifically, the sample particle weight is updated by introducing the measured value of the transmission output shaft speed as an observation. Let the sensor observation data y1 be obtained at the current time, and the probability density function of the speed prediction value at this time should be:

[0069]

[0070] wherein, H() is the aforementioned predetermined observation equation function relationship, y1 is the sensor observation data, f R () is the PDF (probability density function) of the random error caused by the sensor accuracy, which corresponds to the aforementioned random variable R, and according to the aforementioned, it is in the form of Gaussian distribution, the mean is 0, and the variance is determined as σ R according to the sensor parameters. η is a normalization parameter.

[0071] Let

[0072] Then:

[0073]

[0074] At this point, the measured value of the transmission output shaft Hall sensor speed and the output shaft speed correlation value are fused.

[0075] 5. Particle resampling.

[0076] Specifically, in order to avoid particle degradation, when it is determined that the weight of each particle reaches a set threshold, the sample particles are resampled by a resampling algorithm, and the output shaft speed at the subsequent time is calculated.

[0077] Finally, the corrected output shaft speed is determined according to the above speed prediction probability density function. Specifically, the corrected output shaft speed of the transmission at time k is the expectation of the speed prediction probability density function, and the specific result is shown in the following formula:

[0078]

[0079] wherein, is the expectation of the corrected output shaft speed, is the position of the i-th sample particle at time k, which is obtained by the third step of prediction step update; is the weight of the i-th particle at time k, which is obtained by the fourth step of observation step update.

[0080] Thus, the multi-source data fusion is performed through the particle filter algorithm, the accuracy of the output shaft speed measurement data of the gearbox is improved, and the variance of the random variable of the measured speed is significantly reduced.

[0081] In the embodiment of the present application, the target gear information includes a target gear set transmission ratio and a preset speed difference, the preset speed difference is an allowable value of the speed difference between the combination sleeve and the target gear, and the target motor speed of the driving motor is determined according to the corrected output shaft speed and the target gear information, and satisfies the following formula:

[0082] n target =n0·i±Δn;

[0083] wherein, n target is the target motor speed, n0 is the corrected output shaft speed, i is the target gear set transmission ratio, and Δn is the preset speed difference.

[0084] It can be understood that, generally, the target motor speed is determined based on the transmission ratio of the gearbox and the output shaft speed, but in the actual operation process, the speed of the driving motor can also be affected by other factors, such as the load, efficiency, and temperature of the motor. Therefore, in order to improve the accuracy of the calculation of the target motor speed, the calculation of the target motor speed is further adjusted and optimized according to the characteristics of the motor in the embodiment of the present application, and the target gear information in the embodiment of the present application can include the target gear set transmission ratio and the allowable value of the speed difference between the combination sleeve and the target gear, both of which are determined according to the actual situation of the vehicle. Thus, the target motor speed calculated based on the above formula is more accurate.

[0085] In the embodiment of the present application, the driving motor is controlled according to the target motor speed, so that the gear of the vehicle reaches the target gear, including: obtaining the current motor speed of the driving motor; determining the target control torque of the driving motor according to the target motor speed and the current motor speed; adjusting the speed of the driving motor to the target motor speed according to the target control torque, so that the gear of the vehicle reaches the target gear.

[0086] It can be understood that after the target motor speed is determined, in order to adjust the motor speed to the target motor speed, the corresponding target control torque needs to be determined, that is, the output torque of the driving motor when the motor speed reaches the target motor speed. Specifically, the embodiment of the present application can adopt a PID control method, obtain the current motor speed of the driving motor, and then calculate the motor speed difference according to the current motor speed and the target motor speed. Then, the motor speed difference is input into the PID control model, and the corresponding target control torque is calculated in combination with the preset PID control parameters. Wherein, the PID control parameters can be preset according to the vehicle condition. Finally, the input current of the driving motor is adjusted according to the target control torque, and then the motor speed of the driving motor is adjusted, so that the driving motor reaches the target motor speed, thereby making the gear of the vehicle reach the target gear.

[0087] In the embodiment of the present application, the vehicle adopts PID control to determine the target control torque of the driving motor according to the target motor speed and the current motor speed, including: obtaining the current working condition data of the vehicle; determining the target control parameter of the PID controller according to the current working condition data based on the pre-constructed control parameter adaptive model, the control parameter adaptive model being used to output the control parameter corresponding to the working condition data according to the input working condition data; determining the motor speed difference of the driving motor according to the current motor speed and the target motor speed; determining the target control torque according to the PID control model according to the motor speed difference and the target control parameter based on the PID control model.

[0088] In the embodiment of the present application, the construction method of the control parameter adaptive model includes: obtaining a plurality of sample data, the sample data including working condition data and control parameters corresponding to the working condition data; establishing a neural network model; training the neural network model according to the plurality of sample data to obtain the control parameter adaptive model.

[0089] Specifically, the vehicle in the embodiment of the present application adopts a PID control method. It can be understood that according to the determination formula of the target motor speed, the speed regulation time of the driving motor is as follows:

[0090]

[0091] Wherein, n current is the current motor speed of the driving motor, is the acceleration of the driving motor, J in is the moment of inertia of the output shaft of the driving motor, T m is the output torque of the driving motor, and i1 and i2 are the transmission ratios of different gears. It can be seen from the above formula that the speed regulation time of the driving motor is related to the output torque of the motor. The PID controller can well control the driving motor to quickly and accurately reach the specified target motor speed. The PID control method is as follows:

[0092]

[0093] err = n targer -n current ;

[0094] wherein, err is the speed difference between the current motor speed of the motor and the target motor speed, K P , K I and K D are three control parameters of the PID control algorithm.

[0095] Since the three control parameters of the PID controller of the driving motor will change with different working conditions, the speed regulation effect of the driving motor is different from the bench test effect, which also causes the increase of the gear engagement time or the failure of the gear engagement. Therefore, in order to quickly adjust the driving motor to the target motor speed, in addition to the need for quick and accurate measurement of the output shaft speed of the gearbox, the PID control parameters of the driving motor also need to be self-adaptively adjusted for different working conditions. In this regard, the embodiment of the present application determines the optimal control parameters corresponding to different working condition data by constructing a control parameter adaptive model, so as to accurately and quickly control the motor speed of the driving motor under different vehicle working conditions.

[0096] Specifically, the construction of the control parameter adaptive model can include the following steps:

[0097] 1. Determine the working condition data affecting the control effect of the driving motor.

[0098] 2. Perform a bench test.

[0099] 3. Judge the driving motor speed control curve index according to the test results.

[0100] 4. Determine the optimal PID model control parameters corresponding to different working condition data to obtain sample data, which includes working condition data and control parameters corresponding to the working condition data.

[0101] 5. Establish a neural network model, the input of which is different working condition data, and the output of which is the optimal PID model control parameters corresponding to each working condition data. The neural network model is trained according to the sample data to obtain the constructed control parameter adaptive model.

[0102] In this way, the control parameter adaptive model can output adaptive PID control parameters to the controller according to different working conditions, so as to accurately and quickly control the motor speed of the driving motor under different vehicle working conditions.

[0103] The application improves the accuracy of the measured value of the output shaft speed of the gearbox, significantly reduces the variance of the random variable of the measured speed, and constructs an adaptive parameter adjustment model of the PID controller through a neural network, so that the driving motor quickly and accurately reaches the target speed, the gear shifting time is saved, and the gear shifting success rate is improved.

[0104] The method for controlling vehicle gear shifting provided in the application can be used for a power gear shifting AMT gearbox, and when the auxiliary motor performs torque compensation, the output shaft speed of the gearbox with high reliability is obtained by fusing the auxiliary motor speed and the output shaft sensor data in the embodiment of the application, and then the driving motor is controlled by the parameter adaptive PID controller.

[0105] The method for controlling vehicle gear shifting provided in the application can also be used for a conventional AMT gearbox, and the output shaft related data of the gearbox is obtained by arranging a Hall sensor at a position with small interference such as an input shaft or an intermediate shaft, then the output shaft sensor data is fused with the data by the method of the application to obtain the output shaft speed of the gearbox with high reliability, and then the driving motor is controlled by the parameter adaptive PID controller.

[0106] The embodiment of the application further provides a processor configured to execute the method for controlling vehicle gear shifting in the above embodiment.

[0107] The embodiment of the application further provides a vehicle, comprising: a gearbox comprising an output shaft; a driving motor; and the processor in the above embodiment.

[0108] The embodiment of the application further provides a machine readable storage medium, and the machine readable storage medium stores programs or instructions, and the programs or instructions are executed by the processor to realize the method for controlling vehicle gear shifting in the above embodiment.

[0109] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system or a computer program product. Therefore, the application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0110] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0111] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0112] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0113] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0114] The memory can include non-persistent memory and / or volatile memory, such as a random access memory (RAM) including a cache area for the temporary storage of data. A

[0115] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0116] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0117] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method for controlling vehicle gear shifting, characterized in that: The vehicle includes a gearbox and a drive motor, the gearbox includes an output shaft, and the method includes: Obtaining target gear information of the vehicle, output shaft speed measurement data of the output shaft at the current moment, and output shaft speed related data; Based on a particle filter algorithm, the output shaft speed measurement data is corrected according to the output shaft speed correlation data to obtain a corrected output shaft speed; determining a target motor speed of the drive motor according to the corrected output shaft speed and the target gear information; controlling the drive motor according to the target motor speed so that the gear position of the vehicle reaches the target gear position; The method of correcting the output shaft speed measurement data based on the output shaft speed correlation data based on the particle filter algorithm to obtain a corrected output shaft speed includes: determining a calculated output shaft speed value based on the output shaft speed associated data based on a predetermined state equation; The calculated value of the output shaft speed is used as the initial value of the random variable, and based on the particle filter algorithm and the predetermined observation equation, a probability density function of the output shaft speed after fusion is obtained; determining the corrected output shaft speed according to the output shaft speed correlation data and a probability density function of the output shaft speed; The method for determining the state equation and the observation equation includes: Acquire a preset functional relationship between the output shaft speed measurement data and the output shaft speed correlation data; Performing Taylor expansion processing on the preset functional relationship to obtain the state equation; The observation equation is determined according to a preset observation error amount.

2. The method according to claim 1, characterized in that The target gear information includes a target gear set transmission ratio and a preset speed difference, wherein the preset speed difference is an allowable value of the speed difference between the coupling sleeve and the target gear; The target motor speed of the drive motor is determined to satisfy the following formula based on the corrected output shaft speed and the target gear information: ； in, is the target motor speed, is the corrected output shaft speed, is the target gear set transmission ratio, is the preset speed difference.

3. The method according to claim 1, characterized in that The step of controlling the drive motor according to the target motor speed so that the gear position of the vehicle reaches the target gear position includes: Obtaining the current motor speed of the drive motor; determining a target control torque of the drive motor according to the target motor speed and the current motor speed; The speed of the drive motor is adjusted to the target motor speed according to the target control torque, so that the gear position of the vehicle reaches the target gear position.

4. The method according to claim 3, characterized in that The vehicle adopts PID control, and determining the target control torque of the drive motor according to the target motor speed and the current motor speed includes: Obtaining current operating condition data of the vehicle; Determining target control parameters of the PID controller according to the current operating condition data based on a pre-built control parameter adaptive model, wherein the control parameter adaptive model is used to output control parameters corresponding to the input operating condition data; determining a motor speed difference of the drive motor according to the current motor speed and the target motor speed; Based on a PID control model, the target control torque is determined according to the motor speed difference and the target control parameter according to the PID control model.

5. The method according to claim 4, characterized in that The method for constructing the control parameter adaptive model includes: Acquire a plurality of sample data, wherein the sample data includes operating condition data and control parameters corresponding to the operating condition data; Build a neural network model; The neural network model is trained according to the plurality of sample data to obtain the control parameter adaptive model.

6. A processor, characterized in that: The device is configured to execute the method for controlling vehicle gear shifting according to any one of claims 1 to 5.

7. A vehicle, characterized in that: include: a gearbox, the gearbox comprising an output shaft; Drive motor; The processor according to claim 6.

8. A machine-readable storage medium storing a program or instruction, characterized in that: When the program or the instruction is executed by a processor, the method for controlling vehicle gear shifting according to any one of claims 1 to 5 is implemented.

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