Vehicle, gear control method and device thereof and electronic equipment

Abstract

The invention provides a vehicle, a gear control method and device thereof and electronic equipment, and relates to the field of automatic driving. The gear control method comprises the steps that in response to the situation that the current gear of a vehicle is kept unchanged within preset time and the current vehicle speed cannot reach the expected vehicle speed, whether the driving capacity of the vehicle is matched with the driving requirement or not is judged; when the driving capacity is not matched with the driving requirement, a reference gear control instruction and an upper computer gear control instruction are determined according to the driving requirement; and determining a target gear control instruction of the speed change equipment based on the reference gear control instruction, the upper computer gear control instruction and a built-in gear change curve of the speed change equipment. Aiming at the gear control problem in the automatic driving process, the vehicle and the gear control method thereof provided by the invention can automatically identify the unreasonable gear condition, and comprehensively determine the proper gear based on multiple gear determination strategies, so that the actual gear of the vehicle is matched with the current road condition, and the automatic driving precision and the driving experience are improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving, and specifically to a vehicle and a gear control method and device thereof, as well as an electronic device. Background Art

[0002] The autonomous driving algorithm is a technology that uses computers and sensors to achieve autonomous driving of vehicles. The autonomous driving algorithm can sense the surrounding environment through various sensors on the vehicle (such as cameras, radars, lidars, etc.), and process and analyze the sensed data through the computer system to achieve vehicle control and decision-making, so as to drive, turn, accelerate, decelerate, stop and other operations without the intervention of human drivers.

[0003] In existing autonomous driving algorithms, the control of vehicle gears is generally limited to the adjustment of gear types, such as forward gear, reverse gear, and neutral gear. The specific gear value of the vehicle gear is generally executed by the vehicle's built-in equipment (such as an automatic transmission). As a result, the actual gear value in autonomous driving may not be able to adapt to the vehicle speed requirements, causing the vehicle's gear to not match the road conditions, affecting the vehicle's driving on the current road section.

[0004] Based on the above technical problems, how to reasonably control the gear position of the car in the automatic driving mode is a technical problem that technicians in this field need to solve. Summary of the invention

[0005] In view of this, an embodiment of the present application provides a vehicle and a gear control method and device thereof, as well as an electronic device to achieve automatic control of the gear.

[0006] In the first aspect, an embodiment of the present application provides a gear control method for a vehicle, wherein the vehicle includes a speed change device, and the method includes: in response to the current gear of the vehicle remaining unchanged within a preset time and the current vehicle speed not reaching the expected vehicle speed or the current wheel-side torque not reaching the expected wheel-side torque, judging whether the vehicle's driving capability matches the driving requirements. The driving capability includes the vehicle speed range and wheel-side torque range corresponding to the current gear, and the driving requirements include the expected vehicle speed and expected wheel-side torque for the current road section. When the driving capability does not match the driving requirements, a reference gear control instruction and a host computer gear control instruction are determined according to the driving requirements. The reference gear control instruction is determined based on human driving data, and the host computer gear control instruction is determined based on the gear transmission ratio of the speed change device. Based on the reference gear control instruction, the host computer gear control instruction, and the internal gear shift curve of the speed change device, a target gear control instruction for the speed change device is determined.

[0007] In a second aspect, an embodiment of the present application provides a gear control device for a vehicle, wherein the vehicle includes a transmission device, and the gear control device includes an information acquisition module, a gear shift instruction generation module, and a target instruction determination module. The information acquisition module is used to judge whether the vehicle's driving ability matches the driving requirements in response to the current gear of the vehicle remaining unchanged and the current vehicle speed not reaching the expected vehicle speed or the current wheel torque not reaching the expected wheel torque within a preset time. The driving ability includes the vehicle speed range and wheel torque range corresponding to the current gear, and the driving requirements include the expected vehicle speed and expected wheel torque of the current road section. The gear shift instruction generation module is used to determine the reference gear control instruction and the upper computer gear control instruction according to the driving requirements when the driving ability does not match the driving requirements. The reference gear control instruction is determined based on human driving data, and the upper computer gear control instruction is determined based on the gear transmission ratio of the transmission device. The target instruction determination module is used to determine the target gear control instruction of the transmission device based on the reference gear control instruction, the upper computer gear control instruction, and the internal gear shift curve of the transmission device.

[0008] In a third aspect, an embodiment of the present application provides an electronic device, including one or more processors and a memory storing a program. The program includes instructions, and when the instructions are executed by the processor, the processor executes the gear control method described in the first aspect.

[0009] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising a transmission device and a controller. The transmission device is used to change the gear of the vehicle. The controller is in communication connection with the transmission device and is used to execute the gear control method described in the first aspect to control the transmission device to adaptively shift gears when the vehicle is in an automatic driving state.

[0010] The embodiments of the present application provide a vehicle and a gear control method and device thereof, as well as an electronic device. To address the gear control problem during autonomous driving, the vehicle and gear control method thereof provided by the present application can automatically identify unreasonable gear situations, and comprehensively determine the appropriate gear based on multiple gear determination strategies, thereby matching the actual gear of the vehicle with the current road conditions, thereby improving the accuracy of autonomous driving and the driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 This is an application scenario diagram of the gear control method provided in some embodiments of the present application.

[0013] Figure 2 It is an exemplary flow chart of the gear control method provided in some embodiments of the present application.

[0014] Figure 3 is an example diagram of a shift curve provided in some embodiments of the present application.

[0015] Figure 4 This is an exemplary flowchart for determining a host computer shift control instruction provided in some embodiments of the present application.

[0016] Figure 5 is an exemplary flowchart for determining a target gear shift position provided in some embodiments of the present application.

[0017] Figure 6 It is an exemplary flow chart for determining the driving capability of the current gear provided by some embodiments of the present application.

[0018] Figure 7 This is a schematic block diagram of modules of an electronic device provided in some embodiments of the present application.

[0019] Figure 8 This is a system block diagram of a vehicle gear control device provided in some embodiments of the present application. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0021] Application Overview

[0022] In actual autonomous driving application scenarios, the host computer can determine the speed requirement on the current road section, and determine the throttle and / or brake instructions accordingly, and send them to the corresponding actuators to achieve autonomous driving. In this process, the host computer generally does not directly control the gear value of the vehicle, but only determines the gear type from forward gear, reverse gear, and neutral gear according to the driving direction of the vehicle and the driving device. The gear shifting device generally determines the appropriate gear value based on the built-in gear shifting logic of the automatic gear technology according to the current working conditions of the vehicle.

[0023] The lower computer's internal shifting logic is generally built based on real-life driving habits. Considering the differences between autonomous driving algorithms and real-life driving, the lower computer may not be able to adapt to the autonomous driving control strategy. The difference between autonomous driving and real-life driving can at least be reflected in the control of the throttle.

[0024] The autonomous driving algorithm can generally directly control the throttle opening, and in real driving, the driver will control the throttle opening through the accelerator pedal. Among them, the throttle opening can generally refer to the fuel supply speed in a fuel car. The larger the opening, the faster the supply and the higher the engine power. For non-fuel vehicles (such as electric vehicles and hybrid vehicles), the throttle opening can be broadly understood as the ratio of the current power of the engine to the maximum power (or a parameter with similar meaning).

[0025] In the automatic transmission technology of real-life driving, the driver can generally control the gear position by controlling the pedal force of the accelerator pedal. Among them, when the driver wants to lower the gear, he will reduce the pedal force of the accelerator pedal in a short period of time. This behavior will form a trigger signal, and the speed change device will downshift after detection. On the contrary, when the driver increases the pedal force in a short period of time, the speed change device will upshift. However, in the automatic driving algorithm, in order to provide a better riding experience, the change of the throttle opening in the automatic driving algorithm is generally slow. As a result, the automatic transmission technology may not be able to recognize the gear shifting intention of the automatic driving algorithm, resulting in the upper computer continuing to control the throttle to an opening sufficient for shifting gears, and the lower computer may still maintain the current gear position, and will not make adaptive gear adjustments based on the throttle control of the upper computer. This may further cause the vehicle speed and / or wheel torque corresponding to the gear position of the vehicle to be unable to adapt to the requirements of the current road section.

[0026] For example, the above situation may result in an inability to shift up to a higher gear, which may result in the vehicle speed not meeting the requirements (such as cruise control requirements), which may cause a delay in the trip. For another example, the above situation may result in an inability to shift down to a lower gear, which may result in the wheel torque not meeting the requirements of the road section, which may result in tire slippage, insufficient power to go uphill, etc.

[0027] To solve the above technical problems, the embodiments of the present application provide a vehicle and its gear control method and device, as well as an electronic device. Regarding the gear control problem during automatic driving, the vehicle and its gear control method provided by the present application can automatically identify unreasonable gear situations, and comprehensively determine the appropriate gear based on multiple gear determination strategies, so that the actual gear of the vehicle matches the current road conditions, thereby improving the accuracy of automatic driving and the driving experience.

[0028] The above technical content will be explained in detail below in conjunction with the drawings of this application. In addition, it should be noted that the description in this application only reflects different exemplary embodiments, and unless otherwise specified, the embodiments below are all non-limiting embodiments of this application.

[0029] Application Scenario

[0030] Figure 11 is an application scenario diagram of the gear control method provided in some embodiments of the present application. The gear control method provided in the present application can be applied to a vehicle 100 configured with an automatic driving algorithm.

[0031] like Figure 1 As shown, the vehicle 100 may include an upper computer 110, a lower computer 120, an actuator 130, and a sensor device 140. In the process of automatic driving, the upper computer 110 may receive and process data obtained by the sensor device 140, and generate corresponding decisions according to preset algorithms and strategies. The lower computer 120 may control the corresponding actuator 130 based on the decision of the upper computer 110, so that the actuator 130 executes the corresponding decision, thereby putting the vehicle 100 in an automatic driving mode (such as intelligent assisted driving mode, driving modes such as cruise control, automatic parking mode, etc.).

[0032] The host computer 110 may refer to a computing device in the vehicle 100 for implementing the autonomous driving function, and the lower computer may refer to various controllers that interact directly with the vehicle-side hardware. For example, the host computer 110 may include a computing device (such as a vehicle-mounted host) configured with various autonomous driving algorithms. The host computer 110 may generate control instructions based on the preset autonomous driving algorithm and send them to the corresponding lower computer, so that the lower computer can control the corresponding actuator according to the control instruction. The embodiments of the present application are mainly described based on this structure.

[0033] In some embodiments, the functions of the upper computer and the lower computer in the present application can also be implemented by a domain controller. The domain controller can be understood as integrating the functions of the upper computer and the lower computer to control the actuator as a whole, which will not be described in detail here.

[0034] The actuator 130 may refer to a collection of physical actuators in the vehicle 100 for implementing different functions. The actuator 130 may generally include a physical structure and its control logic that has a control function in the vehicle 100. Figure 2 As shown, during the gear control process, the actuator 130 may include at least an actuator including a speed change device 131 and a throttle 132. The throttle 132 may adjust the throttle opening, and the speed change device 131 may adjust the gear of the vehicle 100. Specifically, the speed change device 131 may adjust the vehicle speed and wheel torque by adjusting the transmission ratio of the vehicle engine.

[0035] It should be noted that, similar to the aforementioned throttle, the speed change device 131 in this application can be a physical device corresponding to the internal combustion engine or a control module in the electric motor for controlling the transmission ratio. In addition, the lower computer can control other actuators, such as the engine, steering mechanism, etc. according to actual conditions.

[0036] The sensing device 140 may refer to a set of sensors in the vehicle 100. For example, the sensing device 140 may include a vehicle speed sensor for detecting vehicle speed, an inertial sensor for detecting acceleration, a torque sensor for detecting wheel torque, and other sensors supporting the vehicle and its autonomous driving functions (such as millimeter wave radar, ultrasonic radar, Lidar, camera, etc.).

[0037] Based on the above structure, the vehicle 100 can be controlled by the host computer 110 when driving, and the vehicle 100 and its related signals can be detected by the sensor device 130. When the gear position does not match the road conditions, the host computer 110 can execute the gear control method provided by the present application, and generate corresponding control instructions for the actuator 130 (such as the speed change device 131) to control the speed change device 131 to adaptively shift gears when the vehicle 100 is in the automatic driving state. In addition, the specific method of the gear control method is not described here, and can be found in detail. Figure 2 and its related description.

[0038] Exemplary Shift Control Method

[0039] Figure 2 It is an exemplary flow chart of the gear control method provided in some embodiments of the present application. Figure 2 The process P200 shown can be executed by the gear control device 800 or a related computing device (such as the host computer 110 or a domain controller).

[0040] like Figure 2 As shown, P200 may include the following steps:

[0041] S210: In response to the current gear of the vehicle remaining unchanged within a preset time and the current vehicle speed not reaching the expected vehicle speed or the current wheel torque not reaching the expected wheel torque, determine whether the vehicle's driving capability matches the driving requirement. In some embodiments, S210 may be executed by the information acquisition module 810.

[0042] S220: When the driving capability does not match the driving requirement, determine the reference gear control command and the upper computer gear control command according to the driving requirement. In some embodiments, S220 may be executed by the gear shift command generation module 820.

[0043] S230, determining a target gear control instruction for the transmission device based on the reference gear control instruction, the upper computer gear control instruction, and the internal gear shift curve of the transmission device. In some embodiments, S230 may be executed by the target instruction determination module 830.

[0044] In some embodiments, in the aforementioned S210, the information acquisition module 810 can be executed in response to a trigger condition and implemented by judging the corresponding parameters. Among them, the current gear of the vehicle remains unchanged within a preset time and the current vehicle speed does not reach the expected vehicle speed or the current wheel torque does not reach the expected wheel torque, which can be understood as the trigger condition of S210, and the subsequent determination step is periodically executed / continuously executed only when the trigger condition is met. The subsequent determination step is to determine whether the vehicle's driving ability matches the driving requirements based on the corresponding value / value range.

[0045] The preset time can be configured as a time threshold related to the duration of the current gear. The duration of the current gear can refer to the length of time from the initial moment when the vehicle is in the current gear to the moment when the method starts to be executed. That is, when the duration is greater than the preset time, the information acquisition module 810 can detect whether the current gear matches the current road section.

[0046] In some embodiments, the preset time can be set based on actual needs. For example, the preset time can be configured with different thresholds based on road conditions. The simpler the road conditions, the shorter the preset time. For another example, the preset time can be configured based on the sensitivity of gear position detection. The shorter the preset time, the more times the gear position detection is performed and the more sensitive it is.

[0047] In some embodiments, the gear may include a gear type and a gear value. The gear type may be related to the driving state of the vehicle. For example, the gear type may include a forward gear reflecting the forward driving of the vehicle, a reverse gear reflecting the backward driving, and a neutral gear in which the gearbox is separated from the driving wheels. The gear value may be a mapping result of the transmission ratio of the vehicle's gearbox. In this mapping, generally, the larger the gear value, the smaller the transmission ratio of the gearbox. For example, in a vehicle with 5 forward gears, the transmission ratios corresponding to the 1st to 3rd gears are getting smaller and smaller and are greater than 1, the transmission ratio corresponding to the 4th gear is 1, and the transmission ratio corresponding to the 5th gear is less than 1. The current gear may specifically refer to the gear of the vehicle when executing S210. At this time, the gear remains unchanged means that both the gear type and the gear value remain unchanged.

[0048] In some embodiments, the gear may refer to a gear value that controls the engine transmission ratio. In this case, the gear remains unchanged and the gear value remains unchanged.

[0049] It should be noted that the gear position in the present application is not limited to the actual gear position of the transmission in a traditional fuel vehicle. For electric vehicles, multiple virtual gear positions can also be constructed based on the change in the transmission ratio, thereby controlling the engine to be at a suitable transmission ratio.

[0050] The vehicle speed may refer to the speed of the vehicle in the direction of movement, and the current vehicle speed may refer to the real-time speed of the vehicle when S210 is executed or triggered. The expected vehicle speed may refer to the expected driving speed on the current road section obtained according to the automatic driving related algorithm. For example, the expected vehicle speed may be the cruising speed in the cruise control state. For another example, the expected vehicle speed may be the recommended driving speed of the current road section obtained based on the total driving path and the estimated arrival time planning of the vehicle.

[0051] Wheel torque may refer to the torque output by the engine transmitted to the wheels through the transmission system (such as a transmission device), specifically the torque exerted on the wheels, which is used to propel the vehicle forward or backward. The current wheel torque may refer to the real-time wheel torque of the vehicle when executing this gear control method. The expected wheel torque may refer to the wheel torque that the vehicle is expected to reach at least on the current road section, calculated according to the relevant algorithm of the upper computer. For example, the expected wheel torque may refer to the minimum wheel torque that can pass the current road section.

[0052] In some embodiments, the expected wheel torque may also be configured based on the expected acceleration / expected traction in the current lane. For example, if the expected acceleration is greater than 0, the wheel torque may be calculated based on the acceleration and the ground resistance as the expected wheel torque.

[0053] In some embodiments, based on the above description, in S210, for the above-mentioned situation that the current vehicle speed does not reach the expected vehicle speed or the current wheel-side torque does not reach the expected wheel-side torque, the information acquisition module 810 can identify based on the vehicle speed data and wheel-side torque within the preset time. That is, if the vehicle speed / wheel-side acceleration data set does not contain the corresponding expected value within the preset time, or is not in the corresponding expected value range, the above-mentioned gear position and road section mismatch may have occurred, and subsequent judgment is required.

[0054] Driving capability may refer to the parameter range of the vehicle in the current gear. The driving capability includes at least the vehicle speed range and wheel torque range corresponding to the current gear. Driving requirements may refer to the driving parameter requirements for passing the current road section. The driving requirements include at least the expected vehicle speed and expected wheel torque for the current road section. The expected wheel torque may be determined based on the expected acceleration to the expected vehicle speed.

[0055] Driving requirements may refer to the requirements of the current road section for vehicle driving parameters, which may generally include the expected vehicle speed and expected wheel torque of the current road section. The expected vehicle speed and expected wheel torque may be further determined based on the aforementioned expected values ​​and in combination with the conditions of the current road section (such as road resistance, speed limit of the road section). In some embodiments, the expected vehicle speed (or expected speed range) of the road section may be determined based on the speed limit of the current road section and the relevant time planning of the autonomous driving.

[0056] In some embodiments, in S210, when the information acquisition module 810 determines whether the vehicle's driving capability matches the driving requirements, the information acquisition module 810 may first calculate or infer the driving capability based on the current gear position, thereby determining the driving capability and comparing it with the driving requirements, thereby determining whether the current gear position meets the driving requirements of the current road section. For example, the throttle opening may be changed based on the current gear position to determine the vehicle speed range and wheel torque range, and then determine whether there is a value corresponding to the driving requirements in the aforementioned range. This avoids misjudgment caused only by incorrect throttle opening. For more information on determining driving capability, see Figure 6 and its related description.

[0057] In some embodiments, in S220, the gear shift instruction generation module 820 can generate a corresponding control instruction based on the current road condition to implement S220. The control instruction can be an instruction including a gear shift position. For example, the control instruction can be encapsulated based on the corresponding gear shift position, so that when the control instruction is applied to the corresponding lower computer, the corresponding lower computer can parse the control instruction to determine the gear shift position of the speed change device.

[0058] In S220, the shift instruction generation module 820 may generate a reference gear control instruction and a host computer control instruction. The reference gear control instruction may refer to a gear control instruction directly determined based on human driving data. Human driving data may refer to operation data of an experienced human driver during manual driving, for example, shifting conditions at different vehicle speeds.

[0059] In some embodiments, the relevant equipment can record the gear shifting of human drivers under different road conditions and different vehicle speeds, and construct a third-party curve based on the recording results. The gear shift instruction generation module 820 can match the third-party curve with the current road condition and the current vehicle speed to determine the reference gear control instruction. For example, the gear shift instruction generation module 820 can match the third-party curve with the current road condition and the current vehicle speed to determine the gear shift position in the third-party curve that matches the current road condition, and encapsulate it based on the gear shift position to determine the reference gear control instruction. Among them, the third-party curve can be configured as a gear shift curve. For more information about the gear shift curve, please refer to S230 and Figure 3 Related description.

[0060] The upper computer gear control instruction can reflect the ideal transmission ratio determined by the upper computer. In some embodiments, the gear shift instruction generation module 820 can determine the engine transmission ratio that can meet the driving requirements based on the different gear transmission ratios of the transmission device, and then use the gear corresponding to the gear ratio as the shift gear to determine the upper computer gear control instruction that matches the driving requirements. For more information about the process of determining the upper computer control instruction, please refer to Figure 4and its related description.

[0061] In some embodiments, in S230, the target instruction determination module 830 may determine the most appropriate target control instruction from the control instructions obtained above, thereby implementing S230. The target control instruction may be a control instruction determined from various control instructions based on preset rules. For example, the preset rule may be a statistical rule, and the determined target control instruction may be the control instruction corresponding to the target shift gear position with the largest number of shift gear appearances, that is, the results of multiple control instruction determination methods are all the target shift gear position, which further indicates that the target shift gear position has a high degree of credibility. The number of occurrences of the shift gear position may refer to the frequency of each shift gear position value in each control instruction during a target control instruction determination process. For more information on the target gear position control instruction determination method, please refer to Figure 5 and its related description.

[0062] In some embodiments, the speed change device provides a corresponding control interface to the lower computer so that the target instruction determination module 830 can obtain the built-in shift curve of the speed change device, so that the instruction determination module 113 can determine the built-in gear control instruction of the speed change device based on the built-in gear shift curve. Then, a target gear control instruction for the speed change device is determined from the reference gear control instruction, the upper computer gear control instruction and the built-in gear control instruction. Among them, the gear shift curve can be a graphical representation of the relationship between driving parameters such as vehicle speed and throttle opening and gear. Correspondingly, the built-in gear shift curve of the speed change device can reflect the built-in gear shift logic of the speed change device.

[0063] In some embodiments, the target instruction determination module 830 can transmit the corresponding control instruction to the speed change device, so that the control module of the speed change device determines the built-in gear control instruction and sends it to the target instruction determination module 830. In some embodiments, the target instruction determination module 830 can also be configured to include a control module of the speed change device, directly matching the built-in gear shift curve with the current road conditions, thereby determining the corresponding shift gear and the corresponding built-in gear control instruction. The execution device generally includes a hardware structure and an execution controller. The control module of the speed change device refers to a speed change controller in the speed change device for controlling the hardware structure.

[0064] In some embodiments, the target gear position control instruction determined based on the above process may be sent to a transmission device so that the vehicle is in a target gear shift position corresponding to the target gear position control instruction.

[0065] Therefore, the above-mentioned gear control method can automatically identify unreasonable gear situations that may exist in the driving process of the autonomous driving vehicle, and comprehensively determine the appropriate gear based on multiple gear determination strategies, so that the actual gear of the vehicle matches the current road conditions, thereby improving the accuracy of autonomous driving and the driving experience.

[0066] Specifically, in the gear control method provided by the present application, it is possible to predict that the gear may not match the road condition by keeping the current gear of the vehicle unchanged within a preset time and the current vehicle speed does not reach the expected vehicle speed or the current wheel-side torque does not reach the expected wheel-side torque. The matching relationship between the driving ability and the driving requirements is further judged, thereby realizing automatic identification of unreasonable gear situations and avoiding the continuous occurrence of unreasonable gear situations. In addition, the gear shifting position is determined and the optimal target gear shifting position is determined through three dimensions, namely, real driving data, theoretical data, and the built-in gear shifting logic of the transmission device, which effectively improves the accuracy of gear determination, thereby improving the degree of matching between the actual gear of the vehicle and the current road conditions, and improving the accuracy of automatic driving and driving experience.

[0067] In some embodiments, the vehicle's driving capability may match the driving requirement. For example, if the value corresponding to the driving requirement is within the range of the driving capability, the throttle opening may be controlled to meet the requirement. The aforementioned P200 may also include step S240 for this case.

[0068] S240: When the driving capability matches the driving requirement, the vehicle is controlled to drive based on the current gear, that is, the vehicle can continue to drive based on the gear, and other parameters (such as throttle opening) are adaptively adjusted to meet the driving requirement.

[0069] It should be noted that, in the case where the speed change device has an open control interface, the aforementioned S210, S220, and S230 can all be executed by the vehicle-mounted host, and then the vehicle-mounted host sends the determined target gear control instruction to the corresponding lower computer to control the speed change device. Alternatively, in the case where the speed change device does not have an open control interface, the aforementioned S210 and S220 can be executed by the vehicle-mounted host, and then the vehicle-mounted host sends the corresponding instruction to the speed change device, and then the control module of the speed change device executes the aforementioned S230.

[0070] In some embodiments, after the vehicle-mounted host completes execution of S220, a plurality of gear control instructions may be determined and sent to a control module of the transmission device based on a preset communication protocol, so that the control module of the transmission device executes S230.

[0071] In some embodiments, to ensure the accuracy of data transmission, the preset communication protocol may include repeated transmission of multiple signal cycles. That is, when the vehicle-mounted host transmits the gear control instruction, it may send the same control instruction to the control module of the transmission device for multiple consecutive cycles (such as three cycles), so that the transmission device and its calculation module can obtain accurate gear control instructions.

[0072] Example Shift Curves

[0073] Figure 3 is an example diagram of a shift curve provided in some embodiments of the present application.

[0074] like Figure 3 As shown, the shift curve can be presented as a line graph. The horizontal axis of the line graph is the vehicle speed, which is in miles per hour (mph), and the vertical axis of the line graph can be the throttle opening. The line graph includes two line groups, a dotted line and a solid line. Figure 3 The gear value, vehicle speed, and throttle opening value are only examples used to illustrate the application principle of the gear shift curve and should not be construed as a limitation to the present application.

[0075] Just as an example of a shift curve, Figure 3 The shift curve in may include a dotted line group and a solid line group, wherein the dotted line group may reflect the constraint condition during downshifting, and the solid line group may reflect the constraint condition during upshifting.

[0076] like Figure 3 As shown, in the dotted line group, from left to right in the figure, there are the downshift line of 2nd gear down to 1 gear, the downshift line of 3rd gear down to 2 gears, the downshift line of 4th gear down to 3 gears, and the downshift line of 5th gear down to 4 gears. In the solid line group, from left to right in the figure, there are the upshift line of 1st gear up to 2 gears, the upshift line of 2nd gear up to 3 gears, the upshift line of 3rd gear up to 4 gears, and the upshift line of 4th gear up to 5 gears.

[0077] The above-mentioned upshift and downshift curves can be understood as the constraints of shifting in corresponding situations. That is, when the throttle and the vehicle speed meet the corresponding constraints, the corresponding shift logic can be executed. For example, when the throttle opening is constant at 30%, the vehicle speed will gradually increase in the current gear. When the corresponding relationship between the throttle opening value and the vehicle speed exceeds the gear change curve along the gear change method, the gear change curve can be executed to perform the corresponding gear change.

[0078] In the process of upshifting, when the vehicle is running at a constant 30% throttle opening value, the vehicle speed will gradually increase. When the vehicle speed in the 1st gear is 10mph, the vehicle speed exceeds the speed of the upshift curve from 1st gear to 2nd gear at the 30% throttle opening value, and the current gear can be shifted to 2nd gear. And continue to accelerate until it is in a reasonable gear and the acceleration of the vehicle is offset (that is, the traction is equal to the road friction).

[0079] Similar to the above-mentioned upshifting process, when the vehicle is decelerating at 20% throttle opening value in 5th gear, the vehicle speed will gradually decrease. When the vehicle speed is about to reach 20mph, which is less than the speed at 20% throttle opening value in the downshift curve of 5th gear to 4th gear, the gear will be downgraded to 4th gear. And so on, until the acceleration of the vehicle is offset.

[0080] In some embodiments, the internal shift curve and the third-party shift curve may include multiple shift curves reflecting different situations. Before determining the corresponding control instruction, the current working condition may be matched with each situation to determine a reasonable shift curve.

[0081] In addition, it should be noted that Figure 3 The shift curve shown is the shift curve under the throttle opening and vehicle speed. The correlation between wheel torque and gear position can also be presented and determined in a similar form. No further details are given here. The shift curve can also be presented in other forms according to technical needs (such as the shift curve under the dual-clutch transmission model). In actual use, corresponding adjustments can be made according to the situation.

[0082] In some embodiments, the built-in shift curve and the third-party curve can be preset with different shift curves according to the needs of actual applications. Before determining the shift position, a shift curve matching the current road condition can be determined from multiple shift curves based on the current road condition, so as to determine the shift position from the shift curve matching the current road condition. Among them, each shift curve can reflect the shifting situation under different road conditions.

[0083] Exemplary host computer shift control instruction determination method

[0084] Figure 4 This is an exemplary flowchart for determining a host computer shift control instruction provided in some embodiments of the present application. Figure 4 The process P400 shown may be executed by the shift instruction generation module 820 .

[0085] like Figure 4 As shown, P400 may include the following steps:

[0086] S410: Determine a gear shift position based on driving requirements.

[0087] S420: Based on different gear ratios and shift positions of the transmission device, determine a vehicle speed range and a wheel torque range corresponding to the shift position.

[0088] S430: In response to the vehicle speed range and wheel torque range corresponding to the gear shift position satisfying the driving requirements, a gear control instruction of the upper computer is determined based on the gear shift position.

[0089] In some embodiments, the above P400 can be understood as an iterative process. That is, in S430, when the vehicle speed range and wheel torque range corresponding to the shift gear do not meet the driving requirements, S410 can be repeatedly executed to determine a new shift gear, thereby determining a shift gear that meets the driving requirements among the various shift gears to generate a shift control instruction for the upper computer.

[0090] In some embodiments, in executing S410, multiple candidate shift positions that match the driving requirements may be determined, and the candidate shift positions may be calculated one by one based on the aforementioned iterative process. The shift position (or candidate shift position) in S410 may be determined based on historical data or a preset shift curve (such as the aforementioned third-party shift curve, built-in shift curve, etc.). For example, multiple driving data corresponding to the current road condition may be determined from historical data, and the gears therein may be called as the shift positions.

[0091] In some embodiments, the aforementioned S420 can be executed based on the transmission ratio, that is, the transmission ratio corresponding to each gear shift position can be determined, and the vehicle speed and wheel torque can be derived based on the corresponding transmission ratio, so as to determine the vehicle speed range and wheel torque range corresponding to the gear shift position.

[0092] In some embodiments, the aforementioned S430 can be executed by the expected vehicle speed in the driving requirements. For example, after determining the vehicle speed range and wheel-side torque range corresponding to the shift position, it is possible to directly find out whether the expected vehicle speed is within the vehicle speed range. If not, the current shift position is inappropriate and needs to be replaced. In some embodiments, the shift position can be further judged based on whether the vehicle can reach the expected speed. That is, the wheel-side torque corresponding to the expected vehicle speed can be determined, and the acceleration corresponding to the wheel-side torque can be determined based on the current road conditions (such as the road resistance of the current road conditions), and then based on the acceleration, it is calculated whether the vehicle can accelerate to the expected speed. If not or not within the preset acceleration time, it can be determined that the current gear position is inappropriate.

[0093] Therefore, the upper computer shift control instruction determination method provided in the present application can determine the appropriate shift gear based on theoretical calculations, realize a gear determination method different from the shift curve, and improve the determination accuracy of the target shift gear from different angles.

[0094] Exemplary target shift control command determination method

[0095] Figure 5 is an exemplary flowchart for determining a target gear shift position provided in some embodiments of the present application. Figure 5 The process P500 shown may be executed by the target instruction determination module 830 .

[0096] like Figure 5 As shown, P500 may include the following steps:

[0097] S510: Based on the reference gear control instruction, the upper computer gear control instruction and the built-in gear control instruction, the frequency of each gear shifting gear is counted.

[0098] S520. Determine a target shift gear based on the frequency of each shift gear to determine a target gear control instruction.

[0099] Specifically, the frequency may specifically refer to the number of times each shift gear (i.e., gear value) appears in different control instructions during the process of determining the target gear control instruction. For example, if the shift gear of the upper computer gear control instruction is 4 gears, the shift gear of the reference gear control instruction is 4 gears, and the shift gear of the built-in gear control instruction is 5 gears, then the frequency of 4 gears is 2, and the frequency of 5 gears is 1.

[0100] In some embodiments, when there are many gear shift positions, it may happen that each gear shift position appears once in the control instruction. Then, frequency statistics can be considered based on the relationship between the gear shift position and the current gear position. That is, the frequency of occurrence of the three categories of maintaining the gear position, lowering the gear position, and raising the gear position in each control instruction is determined.

[0101] In some embodiments, S510 can be implemented by analyzing each gear control instruction. That is, the target instruction determination module 830 can first determine the shift gear corresponding to each gear control instruction, and count the shift gears to determine the frequency of each shift gear in the gear control instruction.

[0102] In some embodiments, S520 may be directly executed based on the shift gear with the highest frequency, so that the target shift gear is the one with the highest frequency in the gear control instructions.

[0103] In some embodiments, in order to avoid data confusion caused by three control instructions corresponding to three different shift positions, the aforementioned S520 may also be performed based on the weighted frequency of the shift position. Therefore, the aforementioned S520 may specifically include the following sub-steps:

[0104] S521. Determine a command weight of each gear control command based on a command source of each gear control command.

[0105] S522: Process the frequencies based on the instruction weights to determine the weighted frequencies of the various shift positions to determine the target shift position, wherein the target shift position is the shift position corresponding to the maximum value of the weighted frequencies.

[0106] In some embodiments, in order to ensure the continuity and stability of the operation of the speed change device, the built-in gear control instruction of the speed change device may have the highest priority. In this case, the instruction weight of the built-in gear control instruction is greater than the instruction weight of the reference gear control instruction, and the instruction weight of the built-in gear control instruction is greater than the instruction weight of the upper computer gear control instruction. For example, the instruction weight of the built-in gear control instruction may be 0.4, and the instruction weights of the upper computer gear control instruction and the reference gear control instruction may both be 0.3.

[0107] Therefore, the present application can reasonably combine various gear control instructions to determine the appropriate target control instruction. And by configuring the instruction weight for each gear control instruction, the problem of gear shift conflicts of various instructions is avoided. In addition, by configuring the instruction weight of the built-in gear control instruction to the maximum value, the stability and continuity of the speed change device are guaranteed.

[0108] Exemplary driving capability determination method

[0109] Figure 6 It is an exemplary flow chart for determining the driving capability of the current gear provided by some embodiments of the present application. Figure 6 The process P600 shown can be executed by the information acquisition module 810 .

[0110] like Figure 6 As shown, P600 may include the following steps:

[0111] S610: Control the output throttle of the vehicle to reach a preset opening, so as to determine the driving capability of the vehicle at the preset opening.

[0112] S620: Estimate the driving capability of the vehicle when the output throttle is in a fully open state based on the driving capability corresponding to the preset opening.

[0113] In some embodiments, P600 can be implemented based on a combination of actual testing and derivation calculations. Among them, S610 can be an actual execution step, and S620 can be a derivation calculation step. That is, in S610, the throttle opening can be gradually increased to a preset opening (such as 80%) by controlling the throttle, and the driving ability (such as vehicle speed and wheel torque) under the corresponding state can be recorded by the sensor. Then S620 is executed, and a preset algorithm (such as a regression algorithm, etc.) is used based on the data obtained in S610 to determine the driving ability when the throttle opening is 100% (i.e., fully open). Finally, the driving ability of the current gear is determined based on the driving ability of the current gear between the throttle opening of 0 and the throttle fully open state.

[0114] In some embodiments, P600 can also be executed in different scenarios as needed to determine the driving capabilities of each gear in different scenarios, so as to call other steps or methods. For example, the aforementioned S420 can directly call the driving capabilities in the corresponding situation to determine the corresponding vehicle speed range and wheel torque range.

[0115] Based on the above method, the driving capability of the current gear under the current vehicle condition can be accurately known. In addition, some high throttle openings are determined based on inference, avoiding overload of the engine and power system and ensuring the stability of the vehicle.

[0116] Exemplary Electronic Devices

[0117] Figure 7 This is a schematic block diagram of modules of an electronic device provided in some embodiments of the present application. Figure 7 The electronic device 700 shown can be used to implement the gear control method shown in any embodiment in the art.

[0118] Reference Figure 7 The electronic device 700 includes a processing component 710, which further includes one or more processors, and a memory resource represented by a memory 720 for storing instructions executable by the processing component 710, such as an application. The application stored in the memory 720 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 710 is configured to execute instructions to perform the above-mentioned gear control method.

[0119] The electronic device 700 may also include a power supply component configured to perform power management of the electronic device 700, a wired or wireless network interface configured to connect the electronic device 700 to a network, and an input / output (I / O) interface. The electronic device 700 may be operated based on an operating system stored in the memory 720, such as Windows Server 2000. TM , Mac OSX TM , Unix TM , Linux TM , FreeBSD TM or similar.

[0120] A non-temporary computer-readable storage medium, when the instructions in the storage medium are executed by the processor of the electronic device 700, the electronic device 700 can execute a gear control method, including: in response to the current gear of the vehicle remaining unchanged and the current vehicle speed not reaching the expected vehicle speed or the current wheel-side torque not reaching the expected wheel-side torque within a preset time, judging whether the vehicle's driving ability matches the driving requirements. When the driving ability does not match the driving requirements, determining a reference gear control instruction and a host computer gear control instruction according to the driving requirements. Based on the reference gear control instruction, the host computer gear control instruction and the built-in gear shift curve of the transmission device, determining a target gear control instruction of the transmission device.

[0121] Exemplary Shift Controls

[0122] Figure 8 This is a system block diagram of a vehicle gear control device provided in some embodiments of the present application.

[0123] like Figure 8 As shown, the gear control device 800 may include an information acquisition module 810 , a gear shift instruction generation module 820 and a target instruction determination module 830 .

[0124] The information acquisition module 810 can be used to determine whether the vehicle's driving capability matches the driving requirement in response to the current gear position of the vehicle remaining unchanged and the current vehicle speed not reaching the expected vehicle speed or the current wheel torque not reaching the expected wheel torque within a preset time. The driving capability includes the vehicle speed range and wheel torque range corresponding to the current gear position, and the driving requirement includes the expected vehicle speed and expected wheel torque of the current road section.

[0125] The shift instruction generation module 820 is used to determine the reference gear control instruction and the upper computer gear control instruction according to the driving requirement when the driving capability does not match the driving requirement. The reference gear control instruction is determined based on human driving data, and the upper computer gear control instruction is determined based on the gear transmission ratio of the speed change device.

[0126] The target instruction determination module 830 may be used to determine a target gear control instruction for the transmission device based on a reference gear control instruction, a gear control instruction of a host computer, and a built-in gear shift curve of the transmission device.

[0127] Gear Control Example

[0128] Case 1: During the vehicle's automatic driving process, the transmission may always run at a constant low gear. That is, the host computer maintains a high throttle command for a period of time, and the vehicle cannot shift up normally. That is, the current gear remains unchanged or the expected gear cannot be reached.

[0129] Based on situation one, the host computer diagnoses that the current throttle output of the vehicle corresponds to the actual speed of the vehicle and cannot meet the operating requirements. At this time, the host computer is triggered to execute the aforementioned gear control method. The host computer will determine the reference gear control instruction and the host computer gear control instruction based on the aforementioned method. Then determine the built-in gear control instruction based on the built-in gear shift curve of the transmission device. And comprehensively determine the target gear control instruction by combining the reference gear control instruction, the host computer gear control instruction and the built-in gear control instruction. Among them, based on the aforementioned situation one, the reference gear control instruction and the host computer gear control instruction will both be upshift quality (that is, the gear shift gear is higher than the current gear), so that the target gear control instruction is an upshift instruction to overcome the built-in logic of the transmission device, so that the vehicle can reach the desired speed normally.

[0130] Case 2: When the vehicle is in a long downhill condition during the operation of the vehicle's automatic driving, the vehicle will generally be in a neutral sliding state. At this time, the gear position of the vehicle remains unchanged for a long time and the speed changes slightly, and it may not be possible to reach the expected speed of the automatic driving for the current road section. That is, in this case, the gear control method provided by this application can also be triggered.

[0131] Similar to the above situation, the host computer determines the reference gear control instruction and the host computer gear control instruction based on the above method, and then determines the built-in gear control instruction based on the built-in gear shift curve of the transmission device. Among them, considering that the neutral gliding state is the logic of the transmission fuel saving under normal long downhill conditions, instructions to maintain neutral will be made in the built-in gear control instruction and the reference gear control instruction. The host computer gear control instruction may generate an instruction to shift up based on the current working conditions. Therefore, after comprehensive judgment, the target gear control instruction should be an instruction to maintain neutral. Therefore, when making a comprehensive judgment, the error of a certain control instruction determination method can be overcome, thereby ensuring the accuracy of the target gear control instruction.

[0132] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, and will not be described one by one here.

[0133] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0134] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0135] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods 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 through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0136] 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.

[0137] In addition, each functional unit in each embodiment of the present application 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.

[0138] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program check codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0139] It should be noted that, in the description of this application, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0140] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A gear control method for a vehicle, wherein the vehicle includes a gear shifting device, characterized in that: The method comprises: In response to the current gear position of the vehicle remaining unchanged within a preset time and the current vehicle speed failing to reach the expected vehicle speed or the current wheel torque failing to reach the expected wheel torque, determining whether the driving capability of the vehicle matches the driving requirement; wherein the driving capability includes the vehicle speed range and the wheel torque range corresponding to the current gear position, and the driving requirement includes the expected vehicle speed and the expected wheel torque for the current road section; When the driving capability does not match the driving requirement, a reference gear control instruction and a host computer gear control instruction are determined according to the driving requirement; wherein the reference gear control instruction is determined based on human driving data, and the host computer gear control instruction is determined based on the gear transmission ratio of the transmission device; Based on the reference gear control instruction, the upper computer gear control instruction and the built-in gear shift curve of the gear shift device, a target gear control instruction of the gear shift device is determined.

2. The gear position control method according to claim 1, characterized in that: The determining whether the driving capability of the vehicle matches the driving requirement includes: When the expected vehicle speed is outside the vehicle speed range or the expected wheel torque is outside the wheel torque range, it is determined that the driving capability does not match the driving requirement.

3. The gear position control method according to claim 1, characterized in that: The step of determining the reference gear position control instruction and the upper computer gear position control instruction comprises: determining the reference gear control instruction matching the driving requirement according to a third-party gear shift curve, wherein the third-party gear shift curve is constructed based on the gear shifting situation of a human driver under different road conditions; According to the different gear transmission ratios of the speed change device, the upper computer gear control instruction matching the driving requirement is determined.

4. The gear position control method according to claim 3, characterized in that: The step of determining the upper computer gear control instruction matching the driving requirement according to the different gear transmission ratios of the speed change device comprises: determining a gear shift position based on the driving requirement; Based on the transmission ratios of different gears of the transmission device and the shift gear, determining the vehicle speed range and wheel torque range corresponding to the shift gear; In response to the vehicle speed range and wheel torque range corresponding to the gear shift position satisfying the driving requirement, the upper computer gear control instruction is determined based on the gear shift position.

5. The gear position control method according to claim 1, characterized in that: The step of determining the target gear control instruction of the transmission device based on the reference gear control instruction, the upper computer gear control instruction and the internal gear shift curve of the transmission device comprises: Determining a built-in gear position control instruction of the transmission device based on a built-in gear shift curve of the transmission device; From the reference gear control instruction, the upper computer gear control instruction and the built-in gear control instruction, one is determined as the target gear control instruction of the speed change device.

6. The gear position control method according to claim 5, characterized in that: The reference gear control instruction, the upper computer gear control instruction and the built-in gear control instruction respectively include a gear shift position and an instruction source, and the method further includes: Based on the reference gear control instruction, the upper computer gear control instruction and the built-in gear control instruction, counting the frequency of each gear shifting gear; A target shift gear is determined based on the frequency of each shift gear to determine the target gear control command.

7. The gear position control method according to claim 6, characterized in that: The determining of the target shifting gear position based on the frequency of each shifting gear position comprises: Determining a command weight of each gear control command based on a command source of each gear control command; The frequencies are processed based on the instruction weights to determine weighted frequencies of the various shift positions to determine the target shift position, wherein the target shift position is the shift position corresponding to the maximum value of the weighted frequencies.

8. The gear position control method according to claim 7, characterized in that: The instruction weight of the built-in gear control instruction is greater than the instruction weight of the reference gear control instruction, and the instruction weight of the built-in gear control instruction is greater than the instruction weight of the upper computer gear control instruction.

9. The gear position control method according to claim 1, characterized in that: The gear control may further include: By controlling the output throttle of the vehicle to reach a preset opening, the driving ability of the vehicle at the preset opening is determined; The driving capability of the vehicle when the output throttle is in a fully opened state is estimated based on the driving capability corresponding to the preset opening degree.

10. A gear position control device for a vehicle, the vehicle comprising a speed change device, characterized in that: The gear control device comprises: An information acquisition module, configured to determine whether the vehicle's driving capability matches the driving requirement in response to the current gear position of the vehicle remaining unchanged and the current vehicle speed failing to reach the expected vehicle speed or the current wheel torque failing to reach the expected wheel torque within a preset time; wherein the driving capability includes the vehicle speed range and wheel torque range corresponding to the current gear position, and the driving requirement includes the expected vehicle speed and expected wheel torque for the current road section; a gear shift instruction generating module, for determining a reference gear control instruction and a host computer gear control instruction according to the driving requirement when the driving capability does not match the driving requirement; wherein the reference gear control instruction is determined based on human driving data, and the host computer gear control instruction is determined based on the gear transmission ratio of the speed changing device; The target instruction determination module is used to determine the target gear control instruction of the transmission device based on the reference gear control instruction, the upper computer gear control instruction and the built-in gear shift curve of the transmission device.

11. An electronic device, characterized in that: include: One or more processors; as well as A memory storing a program, wherein the program includes instructions, and when the instructions are executed by the processor, the processor executes the shift control method according to any one of claims 1 to 9.

12. A vehicle, characterized in that: include: A gear shifting device for changing the gear position of the vehicle; as well as A controller communicatively connected to the transmission device is used to execute the gear control method according to any one of claims 1 to 9 to control the transmission device to adaptively shift gears when the vehicle is in an automatic driving state.

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