Gear shifting control method and device and vehicle

Abstract

The invention discloses a gear shifting control method and device and a vehicle, the gear shifting control method and device are applied to the vehicle with electric drive, and the control method comprises the steps that a gear shifting instruction of the vehicle is obtained; according to the gear switching instruction, the gear taking-off condition of the vehicle is determined; the shifting fork position and shifting fork moving speed of the vehicle are monitored according to the gear taking-off condition; determining a motor speed regulation stage of the vehicle according to the shifting fork position and the shifting fork moving speed; monitoring the actual rotating speed of the motor of the vehicle according to the motor speed regulation stage; and gear switching of the vehicle is controlled based on the corresponding relation between the actual rotating speed of the motor and the target rotating speed of the motor. According to the gear shifting control method, the gear shifting process can be optimized, and on the premise that the safety and reliability of the system are met, the safety and reliability of gear shifting are guaranteed, so that the experience feeling of a driver is improved.

Description

Technical Field

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

[0002] With the development of society, pure electric vehicles and hybrid vehicles with motor drive have gradually been widely used. In the field of commercial vehicles, the electric drive system basically configures a multi-gear solution for the motor to meet the power requirements of large torque starting of commercial vehicles. How to achieve fast gear shifting during the gear shifting process of the electric drive system is the focus of the electric drive system control. Usually when the motor needs to switch gears, the motor torque is controlled to drop to zero, the shift fork is controlled to be shifted to the neutral position, the motor speed is adjusted after the shifting is completed, and the motor speed is synchronized after the motor speed regulation is completed. The shift fork is controlled to engage the gear, and the torque is restored after the gear engagement judgment is completed. The above five action processes need to be performed during the motor gear switching process, and each action takes a certain amount of time, making the power interruption process easier for users to perceive. Summary of the invention

[0003] The present invention provides a control method, a control device and a vehicle for motor gear shifting. By optimizing the gear shifting process, the position and the speed of the shift fork are monitored when the gear disengagement conditions are met, and the actual motor speed of the vehicle is monitored during the motor speed regulation stage. The safety and reliability of the gear shifting are guaranteed by the temporal overlap of these two actions, thereby improving the driver's experience.

[0004] According to a first aspect of the present invention, a gear shift control method is provided, which is applied to a vehicle with electric drive, and the control method comprises:

[0005] Obtaining a gear switching instruction of the vehicle;

[0006] Determining a gear shifting condition of the vehicle according to the gear shifting instruction;

[0007] Monitoring the shift fork position and shift fork movement speed of the vehicle according to the shift disengagement condition;

[0008] Determining a motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed;

[0009] Monitoring the actual speed of the motor of the vehicle according to the motor speed regulation stage;

[0010] The gear switching of the vehicle is controlled based on the corresponding relationship between the actual speed of the motor and the target speed of the motor.

[0011] Optionally, determining a gear shifting condition of the vehicle according to the gear shifting instruction includes:

[0012] Controlling the vehicle to shift gears and clear torque according to the gear switching instruction;

[0013] The gear-disengaging condition of the vehicle is determined according to a relationship between a motor reduction request torque of the vehicle and a first threshold value of the gear-disengaging torque clearance.

[0014] Optionally, determining the gear-disengaging condition of the vehicle according to the relationship between the motor torque reduction request of the vehicle and the first threshold of the gear-disengaging torque clearance further includes:

[0015] Obtaining an actual torque of a motor of the vehicle;

[0016] When the motor reduction request torque is less than the first threshold and the motor actual torque is less than the second threshold for gear-shifting clearance torque, it is determined that the vehicle meets the first gear-shifting condition.

[0017] Optionally, when the motor reduction torque request is less than the first threshold and the motor actual torque is less than the second threshold for gear-shifting torque clearance, it is determined that the vehicle meets the first gear-shifting condition, and further includes:

[0018] When the motor reduction request torque is less than the first threshold and the motor actual torque is less than the third threshold for gear-shifting and gear-clearing, it is determined that the vehicle meets a second gear-shifting condition; wherein the third threshold is less than the second threshold, the first gear-shifting condition includes controlling the shift fork to enter a pre-start state, and the second gear-shifting condition includes controlling the shift fork to enter a gear-shifting state.

[0019] Optionally, determining the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed includes:

[0020] Obtaining the shift fork position and shift fork moving speed;

[0021] When the shift fork position coincides with the expected position and the shift fork movement speed is greater than or equal to a fourth threshold, it is determined that the motor enters the first speed regulation stage;

[0022] When the shift fork position is in the neutral position, it is determined that the motor enters the second speed regulation stage; wherein the first speed regulation stage includes controlling the control torque corresponding to the motor to be a fifth threshold, and the second speed regulation stage includes controlling the control torque corresponding to the motor to be a sixth threshold.

[0023] Optionally, monitoring the actual motor speed of the vehicle according to the motor speed regulation stage; and controlling the gear switching of the vehicle based on the corresponding relationship between the actual motor speed and the target speed of the motor includes:

[0024] monitoring the actual speed of the motor and the synchronous speed of the motor,

[0025] When the difference between the actual speed of the motor and the synchronous speed of the motor is less than a first gear advance speed difference threshold, it is determined that the vehicle meets a first gear shifting condition.

[0026] Optionally, when the difference between the actual speed of the motor and the synchronous speed of the motor is less than a first gear advance speed difference threshold, it is determined that the vehicle meets the first gear shifting condition, and further includes:

[0027] When the actual speed of the motor is equal to the synchronous speed of the motor, it is determined that the vehicle meets the second gear shifting condition, wherein the first gear shifting condition includes controlling the gear shifting system to enter a pre-start state, and the second gear shifting condition includes controlling the vehicle to shift gears.

[0028] Optionally, when the shift fork position coincides with the expected position and the shift fork movement speed is greater than or equal to a fourth threshold, it is determined that the motor enters the first speed regulation stage, further comprising:

[0029] When the shift fork position coincides with the expected position and the actual speed of the motor is inconsistent with the synchronous speed of the motor, the shift system is stopped and enters a pre-start state.

[0030] According to a second aspect of the present invention, a gear shift control device is provided, the control device is used to execute the gear shift control method described in any one of the first aspects of the present invention, the control device comprising:

[0031] An acquisition module, used to acquire a gear switching instruction of the vehicle;

[0032] A judgment module, used for monitoring the shift fork position and shift fork speed of the vehicle according to the shift disengagement condition; and determining the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork speed;

[0033] A control module is used to monitor the actual motor speed of the vehicle according to the motor speed regulation stage; and control the gear switching of the vehicle based on the corresponding relationship between the actual motor speed and the target motor speed.

[0034] According to a third aspect of the present invention, a vehicle is provided, comprising the gear shift control device described in the second aspect of the present invention.

[0035] The present invention discloses a control method, a control device and a vehicle for shifting, which are applied to vehicles with electric drive, and the control method includes: obtaining a gear switching instruction of the vehicle; determining a gear disengagement condition of the vehicle according to the gear switching instruction; monitoring a shift fork position and a shift fork movement speed of the vehicle according to the gear disengagement condition; determining a motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed; monitoring the actual motor speed of the vehicle according to the motor speed regulation stage; and controlling the gear switching of the vehicle based on the corresponding relationship between the actual motor speed and the target motor speed. The present invention provides a control method, a control device and a vehicle for motor shifting, which optimizes the shifting process, monitors the shift fork position and the movement speed when the gear disengagement condition is met, and monitors the actual motor speed of the vehicle during the motor speed regulation stage, and ensures the safety and reliability of the gear shifting through the temporal overlap of these two actions, thereby improving the driver's experience.

[0036] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 is a flow chart of a motor shift control method provided by an embodiment of the present invention;

[0039] Figure 2 is a flow chart of another motor shift control method provided by an embodiment of the present invention;

[0040] Figure 3 is a flow chart of another motor shift control method provided by an embodiment of the present invention;

[0041] Figure 4 is a flow chart of another motor shift control method provided by an embodiment of the present invention;

[0042] Figure 5 is a flow chart of another motor shift control method provided by an embodiment of the present invention;

[0043] Figure 6 is a flow chart of another motor shift control method provided by an embodiment of the present invention;

[0044] Figure 7 It is a block diagram of a gear shift control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0046] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0047] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0048] Figure 1 is a flow chart of a motor shift control method provided by an embodiment of the present invention, refer to Figure 1 The motor shift control method provided by the embodiment of the present invention is applied to a vehicle driven by a motor, and the motor shift control method includes:

[0049] S1. Obtaining a gear shift instruction of the vehicle.

[0050] Specifically, when the driver needs the vehicle to shift gears, a gear shift command is sent to the vehicle's controller and a torque clearing command of a specified range is sent to the motor. The torque clearing command of a specified range refers to the process of reducing the motor torque to 0 within a specific time period. Normal gear shifting operations can only be performed after the motor torque is reduced to 0.

[0051] S2. Determine the gear shifting condition of the vehicle according to the gear shifting instruction.

[0052] Specifically, it is determined whether the vehicle has a gear shifting condition according to the gear shifting instruction received in the above step S1. Gear shifting refers to controlling the vehicle's gearbox to be in a neutral position through a vehicle controller to achieve gear shifting of the vehicle.

[0053] S3. Monitor the shift fork position and shift fork speed of the vehicle according to the shift disengagement conditions.

[0054] Among them, the shift fork is a mechanical device used to change the vehicle's gear transmission device, and is mainly used to shift gears in the vehicle.

[0055] Specifically, the shift fork position and the shift fork movement rate of the vehicle are monitored while the vehicle satisfies the shift disengagement condition determined in the above step S2.

[0056] S4. Determine the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed.

[0057] Specifically, according to the shift fork position and shift fork speed monitored in step S3, when the shift fork reaches the specified position, the vehicle enters the motor speed regulation stage, and the motor speed regulation refers to adjusting the motor speed of the vehicle.

[0058] S5. Monitor the actual motor speed of the vehicle according to the motor speed regulation stage.

[0059] Specifically, during the motor speed regulation stage of the vehicle, the actual motor speed of the vehicle is monitored.

[0060] S6. Controlling the gear switching of the vehicle based on the corresponding relationship between the actual speed of the motor and the target speed of the motor.

[0061] Specifically, the actual motor speed monitored in the above step S5 is received, and the corresponding relationship between the actual motor speed and the target motor speed is compared. When the actual motor speed is consistent with the target motor speed, the vehicle controller controls the shift fork to perform normal gear shifting operation to complete the gear shifting operation of the vehicle.

[0062] Optionally, after controlling the gear switching of the vehicle based on the correspondence between the actual speed of the motor and the target speed of the motor, the method further includes:

[0063] The vehicle's torque is controlled to return to the initial torque.

[0064] Specifically, after the gear shifting operation is completed in the above step S6, the torque of the motor is controlled to be restored to the initial torque to achieve normal driving of the vehicle.

[0065] An embodiment of the present invention provides a gear shift control method, which optimizes the gear shift process, monitors the position and speed of the shift fork when the gear disengagement conditions are met, and monitors the actual motor speed of the vehicle during the motor speed regulation stage. The safety and reliability of the gear shift are guaranteed by the temporal overlap of these two actions, thereby improving the driver's experience.

[0066] On the basis of the above-mentioned embodiments of the invention, the embodiments of the invention further refine the conditions for determining the gear shifting of the vehicle according to the gear shifting instruction. Figure 2 is another flow chart of a motor shift control method provided by an embodiment of the present invention, refer to Figure 2 , the shift control method provided by the embodiment of the present invention includes:

[0067] S21. Obtaining a gear shift instruction of the vehicle.

[0068] S22, controlling the vehicle to shift gears and clear torque according to the gear shift instruction.

[0069] Specifically, after receiving the gear switching instruction in the above step S21, the controller of the vehicle controls the motor to shift gears and clear torque according to the gear switching instruction, that is, to reduce the motor driving torque to zero.

[0070] S23, determining a gear-disengaging condition of the vehicle according to a relationship between a motor torque reduction request of the vehicle and a first threshold value for gear-disengaging torque clearance.

[0071] Specifically, the motor reduction request torque of the vehicle is determined according to the gear shifting and torque clearing of the motor in the above-mentioned step S22. The motor reduction request torque refers to the reduction of the motor driving torque of the vehicle to an expected value. Whether the vehicle satisfies the gear shifting condition is determined according to the relationship between the motor reduction request torque and the first threshold of gear shifting and torque clearing. Further, when the motor reduction request torque is less than the first threshold of gear shifting and torque clearing, it is determined that the vehicle satisfies the gear shifting condition. Exemplarily, when the gear shifting and torque clearing reaches 0, it indicates that normal vehicle gear shifting can be performed. Since the entire motor system has a delay, the first threshold can be set to 10% in an embodiment of the present invention, that is, when the motor reduction request torque is less than 10% of the motor torque (that is, the first threshold is 10%), the action is started in advance to comprehensively save the overall gear shifting time. The specific size of the first threshold can be set according to actual conditions, and the embodiment of the present invention does not limit the first threshold.

[0072] S24, monitoring the shift fork position and shift fork movement speed of the vehicle according to the shift disengagement condition.

[0073] S25, determining the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed.

[0074] S26. Monitor the actual motor speed of the vehicle according to the motor speed regulation stage.

[0075] S27: Controlling the gear switching of the vehicle based on the corresponding relationship between the actual speed of the motor and the target speed of the motor.

[0076] Based on the above embodiment, the embodiment of the present invention further refines the determination of the vehicle's gear-shifting condition based on the relationship between the vehicle's motor torque reduction request and the first threshold for gear-shifting torque clearance. Figure 3 Another motor shift control method provided by the present invention is provided by the embodiment of the present invention. Figure 3 The shift control method provided by the embodiment of the present invention further includes:

[0077] S31. Obtaining a gear shift instruction of the vehicle.

[0078] S32, controlling the vehicle to shift gears and clear torque according to the gear switching instruction.

[0079] S33: Obtain the actual torque of the motor of the vehicle.

[0080] Specifically, after the vehicle is disengaged from gear and torque is cleared in the above step S32, the motor torque of the vehicle is gradually reduced, and the actual motor torque of the vehicle is obtained.

[0081] S34. When the motor's requested torque reduction is less than a first threshold and the motor's actual torque is less than a second threshold for gear shifting, it is determined that the vehicle meets the first gear shifting condition. For example, when the motor's requested torque reduction is less than 5% of the motor's torque (i.e., the second threshold is 5%), pre-action is started to comprehensively save the overall gear shifting time. The specific size of the second threshold can be set according to actual conditions, and the embodiment of the present invention does not limit the second threshold.

[0082] Specifically, when the motor reduction request torque is less than a first threshold and the motor actual torque is less than a second threshold for gear-shifting clearance torque, it is determined that the vehicle meets a first gear-shifting condition, wherein the first gear-shifting condition includes controlling the shift fork to enter a pre-start state.

[0083] S35, monitoring the shift fork position and shift fork moving speed of the vehicle according to the shift disengagement condition.

[0084] S36, determining the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed.

[0085] S37, monitoring the actual motor speed of the vehicle according to the motor speed regulation stage.

[0086] S38. Controlling the gear switching of the vehicle based on the corresponding relationship between the actual speed of the motor and the target speed of the motor.

[0087] Based on the above-mentioned embodiment of the invention, the embodiment of the invention further refines the determination that the vehicle meets the first gear-shifting condition when the motor reduction request torque is less than the first threshold and the motor actual torque is less than the second gear-shifting clearance torque threshold. Figure 4 is another flow chart of a motor shift control method provided by an embodiment of the present invention, refer to Figure 4 , the shift control method provided by the embodiment of the present invention includes:

[0088] S41, obtaining a gear switching instruction of the vehicle.

[0089] S42, controlling the vehicle to shift gears and clear torque according to the gear switching instruction.

[0090] S43: Obtain the actual torque of the motor of the vehicle.

[0091] S44: When the motor reduction torque request is less than the first threshold and the motor actual torque is less than the second threshold for gear-shifting clearance torque, it is determined that the vehicle meets the first gear-shifting condition.

[0092] S45. When the motor's requested torque reduction is less than the first threshold and the motor's actual torque is less than the third threshold for gear shifting, it is determined that the vehicle meets the second gear shifting condition. Exemplarily, when the motor's requested torque reduction is less than 3% of the motor's torque (i.e., the third threshold is 3%), pre-action is started to comprehensively save the overall gear shifting time. The specific size of the third threshold can be set according to actual conditions, and the embodiment of the present invention does not limit the third threshold.

[0093] Specifically, in the above step S44, after the vehicle meets the first gear-shifting condition, the motor torque of the vehicle gradually decreases. When the motor reduction request torque is less than the first threshold and the motor actual torque is less than the third gear-shifting threshold, it is determined that the vehicle meets the second gear-shifting condition, wherein the second gear-shifting condition includes controlling the shift fork to enter the gear-shifting state to achieve rapid gear-shifting of the shift fork, wherein the third threshold is less than the second threshold. It can be understood that the vehicle first enters the first gear-shifting condition, and as the motor torque of the vehicle gradually decreases, the vehicle will enter the second gear-shifting condition.

[0094] S45, monitoring the shift fork position and shift fork movement speed of the vehicle according to the shift disengagement condition.

[0095] S36, determining the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed.

[0096] S37, monitoring the actual motor speed of the vehicle according to the motor speed regulation stage.

[0097] S38. Controlling the gear switching of the vehicle based on the corresponding relationship between the actual speed of the motor and the target speed of the motor.

[0098] On the basis of the above-mentioned embodiments of the invention, the embodiments of the invention further refine the motor speed regulation stage of the vehicle determined according to the shift fork position and the shift fork speed. Figure 5 is another flow chart of a motor shift control method provided by an embodiment of the present invention, refer to Figure 5 , the shift control method provided by the embodiment of the present invention includes:

[0099] S51. Obtain a gear shift instruction of the vehicle.

[0100] S52: Determine a gear shifting condition of the vehicle according to the gear shifting instruction.

[0101] S53, monitoring the shift fork position and shift fork movement speed of the vehicle according to the shift disengagement condition.

[0102] S54, obtaining the shift fork position and shift fork moving speed.

[0103] Specifically, the fork position and fork moving speed monitored in real time in the above step S53 are acquired and received.

[0104] S55: When the shift fork position coincides with the expected position and the shift fork movement speed is greater than or equal to a fourth threshold, it is determined that the motor enters the first speed regulation stage.

[0105] Specifically, when it is monitored that the shift fork moves to the desired position and the movement rate of the shift fork is greater than or equal to the fourth threshold, it is determined that the motor enters the first speed regulation stage, and the motor is requested to enter the speed mode and the motor is requested to respond to the speed request. The first speed regulation stage includes controlling the control torque corresponding to the motor to be the fifth threshold. The fifth threshold can be set according to actual needs, and the embodiment of the present invention does not limit this.

[0106] S56: When the shift fork is in the neutral position, it is determined that the motor enters the second speed regulation stage.

[0107] Specifically, when it is monitored that the shift fork is in the neutral position, it is determined that the motor enters the second speed regulation stage, and the motor is requested to enter the speed mode and the motor is requested to respond to the speed request. The second speed regulation stage includes controlling the control torque corresponding to the motor to be the sixth threshold value. The sixth threshold value can be set according to actual needs, and the embodiment of the present invention does not limit this.

[0108] S57, monitoring the actual motor speed of the vehicle according to the motor speed regulation stage.

[0109] S58: Controlling the gear switching of the vehicle based on the corresponding relationship between the actual speed of the motor and the target speed of the motor.

[0110] On the basis of the above-mentioned embodiments of the invention, the embodiments of the invention further refine the process of monitoring the actual motor speed of the vehicle according to the motor speed regulation stage; and controlling the gear switching of the vehicle based on the corresponding relationship between the actual motor speed and the target motor speed. Figure 6 is another flow chart of a motor shift control method provided by an embodiment of the present invention, refer to Figure 6 , the shift control method provided by the embodiment of the present invention includes:

[0111] S61. Obtain a gear switching instruction of the vehicle.

[0112] S62: Determine a gear shifting condition of the vehicle according to the gear shifting instruction.

[0113] S63, monitoring the shift fork position and shift fork movement speed of the vehicle according to the shift disengagement condition.

[0114] S64, determining the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed.

[0115] S65, monitor the actual motor speed and the synchronous motor speed.

[0116] Specifically, after the vehicle enters the motor speed regulation stage in the above step S64, the actual motor speed and the motor synchronous speed are monitored in real time. The motor synchronous speed refers to the state where the motor rotor speed is the same as the stator rotating magnetic field speed when the motor is running stably.

[0117] S66: When the difference between the actual motor speed and the synchronous motor speed is less than the first gear advance speed difference threshold, it is determined that the vehicle meets the first gear shifting condition.

[0118] Specifically, the gear-in speed difference refers to a speed difference threshold artificially set in order to achieve more precise motor control. When the difference between the actual motor speed and the motor target speed is less than this threshold, it is determined that the motor has reached the specified gear-in position. When the difference between the actual motor speed and the motor synchronous speed is less than the first gear-in speed difference threshold, it is determined that the vehicle meets the first gear shifting condition, wherein the first gear shifting condition includes controlling the gear shifting system to enter the pre-start state.

[0119] S67: When the actual motor speed is equal to the motor synchronous speed, it is determined that the vehicle meets the second gear shifting condition.

[0120] Specifically, when the actual speed of the motor monitored in real time is equal to the synchronous speed of the motor, it is determined that the vehicle meets the second gear shifting condition, wherein the second gear shifting condition includes controlling the vehicle to shift gears and quickly completing the gear shifting action.

[0121] Optionally, in the above step S55, when the fork position coincides with the expected position and the fork movement speed is greater than or equal to the fourth threshold, it is determined that the motor enters the first speed regulation stage, further comprising:

[0122] When the shift fork position coincides with the expected position and the actual motor speed is inconsistent with the motor synchronous speed, the shift system stops and enters the pre-start state.

[0123] Specifically, when the control fork moves to the desired position and the motor has not yet completed synchronization, that is, when the actual speed of the motor is inconsistent with the synchronous speed of the motor, the pre-start state of the motor is immediately stopped to avoid safety accidents such as vehicle gear knocking.

[0124] According to the same inventive concept, Figure 7 is a block diagram of a shift control device provided by an embodiment of the present invention, with reference to Figure 7 The embodiment of the present invention provides a shift control device, the control device is used to execute any one of the shift control methods in the above invention embodiments, the control device comprises:

[0125] Acquisition module 1, used to obtain the vehicle's gear switching instruction.

[0126] The judgment module 2 is used to monitor the shift fork position and shift fork speed of the vehicle according to the shifting condition; and determine the motor speed regulation stage of the vehicle according to the shift fork position and shift fork speed.

[0127] The control module 3 is used to monitor the actual motor speed of the vehicle according to the motor speed regulation stage; and control the gear switching of the vehicle based on the corresponding relationship between the actual motor speed and the target motor speed.

[0128] A gear shift control device provided in an embodiment of the present invention can achieve the same technical effect as a gear shift control method provided in the above-mentioned embodiment of the invention, which will not be described in detail here.

[0129] According to the same inventive concept, an embodiment of the present invention provides a vehicle, comprising the gear shifting control device in the above-mentioned invention embodiment.

[0130] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A gear shift control method, characterized in that: Applied to a vehicle with electric drive, the control method includes: Obtaining a gear switching instruction of the vehicle; Determining a gear shifting condition of the vehicle according to the gear shifting instruction; Monitoring the shift fork position and shift fork movement speed of the vehicle according to the shift disengagement condition; Determining a motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed; Monitoring the actual speed of the motor of the vehicle according to the motor speed regulation stage; The gear switching of the vehicle is controlled based on the corresponding relationship between the actual speed of the motor and the target speed of the motor.

2. The gear shift control method according to claim 1, characterized in that: The step of determining a gear shifting condition of the vehicle according to the gear shifting instruction includes: Controlling the vehicle to shift gears and clear torque according to the gear switching instruction; The gear-disengaging condition of the vehicle is determined according to a relationship between a motor reduction request torque of the vehicle and a first threshold value of the gear-disengaging torque clearance.

3. The gear shift control method according to claim 2, characterized in that: Determining the gear-disengaging condition of the vehicle according to the relationship between the motor torque reduction request of the vehicle and the first threshold of the gear-disengaging torque clearance further includes: Obtaining an actual torque of a motor of the vehicle; When the motor reduction request torque is less than the first threshold and the motor actual torque is less than the second threshold for gear-shifting clearance torque, it is determined that the vehicle meets the first gear-shifting condition.

4. The gear shift control method according to claim 3, characterized in that: When the motor reduction torque request is less than the first threshold and the motor actual torque is less than the second threshold of the gear-shifting torque clearance, it is determined that the vehicle meets the first gear-shifting condition, and the method further includes: When the motor reduction request torque is less than the first threshold and the motor actual torque is less than the third threshold for gear-shifting and gear-clearing, it is determined that the vehicle meets a second gear-shifting condition; wherein the third threshold is less than the second threshold, the first gear-shifting condition includes controlling the shift fork to enter a pre-start state, and the second gear-shifting condition includes controlling the shift fork to enter a gear-shifting state.

5. The gear shift control method according to claim 1, characterized in that: Determining the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed includes: Obtaining the shift fork position and shift fork moving speed; When the shift fork position coincides with the expected position and the shift fork movement speed is greater than or equal to a fourth threshold, it is determined that the motor enters the first speed regulation stage; When the shift fork position is in the neutral position, it is determined that the motor enters the second speed regulation stage; wherein the first speed regulation stage includes controlling the control torque corresponding to the motor to be a fifth threshold, and the second speed regulation stage includes controlling the control torque corresponding to the motor to be a sixth threshold.

6. The gear shift control method according to claim 5, characterized in that: Monitoring the actual speed of the motor of the vehicle according to the motor speed regulation stage; Controlling the gear switching of the vehicle based on the correspondence between the actual speed of the motor and the target speed of the motor includes: monitoring the actual speed of the motor and the synchronous speed of the motor, When the difference between the actual speed of the motor and the synchronous speed of the motor is less than a first gear advance speed difference threshold, it is determined that the vehicle meets a first gear shifting condition.

7. The gear shift control method according to claim 6, characterized in that: When the difference between the actual speed of the motor and the synchronous speed of the motor is less than the first gear advance speed difference threshold, it is determined that the vehicle meets the first gear shifting condition, and further includes: When the actual speed of the motor is equal to the synchronous speed of the motor, it is determined that the vehicle meets the second gear shifting condition, wherein the first gear shifting condition includes controlling the gear shifting system to enter a pre-start state, and the second gear shifting condition includes controlling the vehicle to shift gears.

8. The gear shift control method according to claim 7, characterized in that: When the shift fork position coincides with the expected position and the shift fork movement speed is greater than or equal to a fourth threshold, it is determined that the motor enters the first speed regulation stage, further comprising: When the shift fork position coincides with the expected position and the actual speed of the motor is inconsistent with the synchronous speed of the motor, the shift system is stopped and enters a pre-start state.

9. A gear shift control device, characterized in that: The control device is used to execute the shift control method according to any one of claims 1 to 8, and the control device comprises: An acquisition module, used to acquire a gear switching instruction of the vehicle; A judgment module, used for monitoring the shift fork position and shift fork speed of the vehicle according to the shift disengagement condition; and determining the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork speed; A control module is used to monitor the actual motor speed of the vehicle according to the motor speed regulation stage; and control the gear switching of the vehicle based on the corresponding relationship between the actual motor speed and the target speed of the motor.

10. A vehicle, characterized in that: A gear shift control device comprising the gear shift control device according to claim 9.

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