Vehicle gear shifting method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicles, in particular to a vehicle gear shifting method and device, electronic equipment and a storage medium, and the method comprises the steps that whether a current vehicle has a gear shifting threshold value determination requirement or not is judged; if the current vehicle has the gear-in threshold determination demand, determining a gear to be updated and an updating mode of the gear to be updated according to the gear-in threshold determination demand, and updating a gear shifting limit position of the gear to be updated according to the updating mode of the gear to be updated; and calculating a difference value between the gear shifting limit position of the updated to-be-updated gear and a preset gear shifting offset to obtain a gear shifting threshold value of the to-be-updated gear, and performing gear shifting according to the gear shifting threshold value of the to-be-updated gear. Therefore, the problems of out-of-gear, abnormal abrasion and abnormal sound of a transmission control system, faults of abnormal damage of an executing mechanism and the like caused by inaccurate gear shifting position and insufficient stroke due to the fact that individual differences of different transmissions are not considered in the prior art are solved, and accurate gear shifting and no abnormal gear entering are guaranteed for a single transmission.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle gear shifting method, device, electronic device and storage medium. Background Art

[0002] The accuracy of the shift threshold plays an important role in the performance, efficiency, life and driving experience of the automatic transmission. The shift position accuracy of the automatic transmission (AMT) has the following limitations:

[0003] 1. Limitations of theoretical calculations: Traditional methods for determining shift positions mainly rely on theoretical calculations, which cannot fully consider external influencing factors such as elastic deformation of parts under stress, parts manufacturing tolerances, assembly tolerances and errors. These factors will affect the performance of the gearbox in actual operation, but theoretical calculations are difficult to accurately simulate these complex actual situations.

[0004] 2. Influence of individual differences: Due to the large number of internal parts in each gearbox assembly, individual differences such as the manufacturing tolerance of individual parts and assembly tolerance of the assembly make it difficult for the theoretically calculated shift position to adapt to mass-produced products. Such individual differences make it possible for even the same model of gearbox to exhibit different shift characteristics in actual applications.

[0005] 3. Adaptability to dynamic working conditions: Theoretical calculations are often based on static or simplified dynamic models, but in actual driving, vehicles will encounter various complex working conditions, such as different road conditions, driving habits, etc. These factors will affect the accuracy and timing of gear shifting.

[0006] 4. Wear and aging of parts: Over time, wear and aging of internal parts of the gearbox will also affect the accuracy of the shift position, and this change is difficult to predict and take into account in theoretical calculations.

[0007] 5. Optimization of control strategies: In actual shift control, it is necessary to consider how to reduce shift shock, improve comfort, and reduce friction losses of the clutch and brake. The optimization of these control strategies often needs to be adjusted based on actual driving data and feedback, not just theoretical calculations.

[0008] 6. The need for real-time adjustment: Due to the constant changes in external conditions, such as vehicle load, road conditions, etc., the shift strategy needs to be adjusted in real time to adapt to these changes, and it is difficult to achieve such real-time dynamic adjustment through theoretical calculations.

[0009] In summary, for the shift position of a mechanical automatic transmission, the relevant technology basically obtains an approximate shift position through theoretical calculations, fails to take into account the individual differences of different transmissions, and is difficult to adapt to mass-produced products, resulting in inaccurate shift position and insufficient shift stroke, which in turn causes gear disengagement, abnormal wear and noise in the transmission control system, abnormal damage to the actuator and other problems. Summary of the invention

[0010] The present application provides a vehicle gear shifting method, device, electronic device and storage medium to solve the problem that the related technology fails to take into account the individual differences among different transmissions, resulting in inaccurate gear shifting position, insufficient gear shifting stroke, thus causing gear disengagement, abnormal wear and noise of the transmission control system, abnormal damage to the actuator and other problems. The present application is for a single transmission to ensure accurate gear shifting and smooth gear shifting.

[0011] A first aspect of the present application provides a vehicle shifting method, comprising the following steps:

[0012] Determine whether the current vehicle has a gear shift threshold determination requirement;

[0013] If the current vehicle has the gear shift threshold determination requirement, the gear to be updated and the update method of the gear to be updated are determined according to the gear shift threshold determination requirement, and the shift limit position of the gear to be updated is updated according to the update method of the gear to be updated; the difference between the updated shift limit position of the gear to be updated and the preset gear shift offset is calculated to obtain the gear shift threshold of the gear to be updated, and the gear is shifted according to the gear shift threshold of the gear to be updated.

[0014] Optionally, in some embodiments, the determining whether the current vehicle has a gear shift threshold determination requirement includes:

[0015] Determine whether the current vehicle has a preset offline requirement or a self-learning requirement for any gear, wherein the self-learning requirement for any gear is generated when any gear satisfies a preset self-learning condition;

[0016] If the current vehicle has the preset offline requirement or the self-learning requirement of any gear, it is determined that the current vehicle has the gear entry threshold determination requirement.

[0017] Optionally, in some embodiments, determining the gear to be updated and the updating method of the gear to be updated according to the gear entry threshold determination requirement, and updating the shift limit position of the gear to be updated according to the updating method of the gear to be updated, comprises:

[0018] If the shift threshold determination requirement is the preset lower limit requirement, the theoretical shift positions of all gears are acquired, and based on the theoretical shift position of each gear, the shift limit position of each gear is determined;

[0019] And, if the shift threshold determination requirement is a self-learning requirement of any gear, the shift limit position of any gear is updated based on a preset self-learning strategy.

[0020] Optionally, in some embodiments, determining the shift limit position of each gear based on the theoretical shift position of each gear comprises:

[0021] Determine the static shift force for each gear;

[0022] Selecting any gear from a plurality of gears as the current gear to be calibrated, determining a first shift force according to the static shift force of the current gear to be calibrated, and controlling the shift finger to shift the synchronizer to the current gear to be calibrated by the first shift force;

[0023] Based on the second shift force, the shift finger is maintained to shift the synchronizer to the current gear to be calibrated, and when the maintenance time reaches a first preset time, the first shift position actual value is obtained, the gear to be calibrated is shifted to neutral, and the step of determining the first shift force according to the static shift force of the current gear to be calibrated is re-executed until multiple shift position actual values ​​are obtained, wherein the second shift force is less than the first shift force;

[0024] Calculating an average value of the multiple actual shift position values, and if the difference between the average value and the theoretical shift position of the current gear to be calibrated is less than or equal to a first preset threshold, taking the average value as the shift limit position of the current gear to be calibrated, otherwise re-performing the step of determining the first shift force according to the static shift force of the current gear to be calibrated until the difference between the new average value and the theoretical shift position of the current gear to be calibrated is less than or equal to the first preset threshold;

[0025] Eliminate any one of the gears from the multiple gears, select any one of the remaining gears as the current gear to be calibrated, and execute the step of determining the first shift force according to the static shift force of the current gear to be calibrated until the shift limit position of each gear is obtained.

[0026] Optionally, in some embodiments, updating the shift limit position of any gear based on a preset self-learning strategy includes:

[0027] When the shifting of any gear is completed, the current position value of any gear is obtained after continuing to maintain the third shifting force for a second preset time period;

[0028] If the preset self-learning strategy is the first learning strategy, then when the difference between the current position value and the shift limit position corresponding to any gear is greater than the second preset threshold value, and when the current vehicle is powered off, the shift limit position corresponding to any gear is updated according to the sum of the second preset threshold value and the shift limit position corresponding to any gear, and when the current vehicle is powered off again and the change value of the shift limit position corresponding to any gear is less than the difference, the step of updating the shift limit position corresponding to any gear according to the sum of the second preset threshold value and the shift limit position corresponding to any gear is re-executed until the change value of the shift limit position corresponding to any gear is greater than or equal to the difference.

[0029] Optionally, in some embodiments, after obtaining the current position value of any gear, the method further includes:

[0030] If the preset self-learning strategy is the second learning strategy, then when the current vehicle is powered off, the shift limit position is updated to the current position value.

[0031] Optionally, in some embodiments, the preset self-learning condition includes:

[0032] The total number of shifts of any gear is greater than a first preset number;

[0033] and / or, the number of shift failures of any gear is greater than a second preset number;

[0034] and / or, the accumulated mileage corresponding to any one of the gears is greater than a first preset mileage;

[0035] and / or, the total mileage of the current vehicle is greater than a second preset mileage;

[0036] And / or, the user triggers gear shift self-learning.

[0037] A second aspect of the present application provides a device for determining a shift threshold, including:

[0038] A judgment module, used to judge whether the current vehicle has a gear entry threshold determination requirement;

[0039] a determination module, configured to determine the gear to be updated and the updating method of the gear to be updated according to the gear-entry threshold determination requirement when the current vehicle has the gear-entry threshold determination requirement, and to update the shift limit position of the gear to be updated according to the updating method of the gear to be updated;

[0040] The shifting module is used to calculate the difference between the updated shifting limit position of the gear to be updated and the preset shifting offset, obtain the shifting threshold of the gear to be updated, and shift according to the shifting threshold of the gear to be updated.

[0041] Optionally, in some embodiments, the judgment module includes:

[0042] A first judgment unit is used to judge whether the current vehicle has a preset offline demand or a self-learning demand for any gear, wherein the self-learning demand for any gear is generated when any gear satisfies a preset self-learning condition;

[0043] A determination unit is used to determine whether the current vehicle has the requirement to determine the gear entry threshold when the current vehicle has the preset off-line requirement or the self-learning requirement for any gear position.

[0044] Optionally, in some embodiments, the determining module includes:

[0045] A first acquisition unit is used to acquire the theoretical shift positions of all the gears when the shift threshold determination requirement is the preset lower limit requirement, and determine the shift limit position of each gear based on the theoretical shift position of each gear;

[0046] And, an updating unit is used to update the shift limit position of any gear based on a preset self-learning strategy when the shift threshold determination requirement is a self-learning requirement of any gear.

[0047] Optionally, in some embodiments, the determining module includes:

[0048] a first determining unit, configured to determine a static shift force for each gear position;

[0049] a second determining unit, configured to select any one gear from the plurality of gears as the current gear to be calibrated, determine a first shift force according to the static shift force of the current gear to be calibrated, and control the shift finger to shift the synchronizer to the current gear to be calibrated with the first shift force;

[0050] a second acquisition unit, for maintaining the shift finger to shift the synchronizer to the current gear to be calibrated based on the second shift force, and when the maintenance time reaches a first preset time, acquiring a first shift position actual value, shifting from the current gear to be calibrated to neutral, and re-performing the step of determining the first shift force according to the static shift force of the current gear to be calibrated, until a plurality of shift position actual values ​​are obtained, wherein the second shift force is less than the first shift force;

[0051] a calculation unit, configured to calculate an average value of the plurality of actual shift position values, and if a difference between the average value and the theoretical shift position of the current gear to be calibrated is less than or equal to a first preset threshold, use the average value as the shift limit position of the current gear to be calibrated, otherwise re-execute the step of determining the first shift force according to the static shift force of the current gear to be calibrated, until a difference between a new average value and the theoretical shift position of the current gear to be calibrated is less than or equal to the first preset threshold;

[0052] An execution unit is used to eliminate any gear from the multiple gears, select any gear from the remaining gears as the current gear to be calibrated, and execute the step of determining the first shift force according to the static shift force of the current gear to be calibrated until the shift limit position of each gear is obtained.

[0053] Optionally, in some embodiments, the updating unit includes:

[0054] an acquisition subunit, configured to acquire a current position value of any gear position after continuing to maintain the third shifting force for a second preset time period when the shifting of any gear position is completed;

[0055] An updating subunit is used for updating the shift limit position corresponding to any gear according to the sum of the second preset threshold value and the shift limit position corresponding to any gear when the preset self-learning strategy is the first learning strategy, when the difference between the current position value and the shift limit position corresponding to any gear is greater than a second preset threshold value and the current vehicle is powered off, and when the current vehicle is powered off again and the change value of the shift limit position corresponding to any gear is less than the difference, re-executing the step of updating the shift limit position corresponding to any gear according to the sum of the second preset threshold value and the shift limit position corresponding to any gear until the change value of the shift limit position corresponding to any gear is greater than or equal to the difference.

[0056] Optionally, in some embodiments, after acquiring the current position value of any gear, the acquiring subunit further includes:

[0057] An updating sub-component is used to update the shift limit position to the current position value when the current vehicle is powered off when the preset self-learning strategy is the second learning strategy. Optionally, in some embodiments, the preset self-learning condition includes:

[0058] The total number of shifts of any gear is greater than a first preset number;

[0059] and / or, the number of shift failures of any gear is greater than a second preset number;

[0060] and / or, the accumulated mileage corresponding to any one of the gears is greater than a first preset mileage;

[0061] and / or, the total mileage of the current vehicle is greater than a second preset mileage;

[0062] And / or, the user triggers gear shift self-learning.

[0063] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle shifting method as described in the above embodiment.

[0064] The fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the vehicle shifting method as described in the above embodiment.

[0065] Therefore, by judging whether the current vehicle has a gear entry threshold determination requirement, if the current vehicle has a gear entry threshold determination requirement, the gear to be updated and the update method of the gear to be updated are determined according to the gear entry threshold determination requirement, and the shift limit position of the gear to be updated is updated according to the update method of the gear to be updated, and the difference between the updated shift limit position of the gear to be updated and the preset shift offset is calculated to obtain the gear entry threshold of the gear to be updated, and the gear is entered according to the gear entry threshold of the gear to be updated. Therefore, the problem that the related technology fails to consider the individual differences of different transmissions, resulting in inaccurate shift position and insufficient shift stroke, thus causing gear disengagement, abnormal wear of the transmission control system, abnormal noise, and abnormal damage of the actuator is solved. This application is aimed at a single transmission, ensuring accurate shifting and no abnormal gear entry.

[0066] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0068] Figure 1 A flowchart of a vehicle shifting method provided according to an embodiment of the present application;

[0069] Figure 2 A schematic diagram of the principle of a method for determining a zero-point coordinate of a shift finger provided according to an embodiment of the present application;

[0070] Figure 3 A schematic diagram of the principle of a method for determining a shift offset according to an embodiment of the present application;

[0071] Figure 4 A schematic diagram of a vehicle shifting method provided according to an embodiment of the present application;

[0072] Figure 5 A block diagram of a vehicle gear shifting device provided according to an embodiment of the present application;

[0073] Figure 6 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0074] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0075] The following describes the vehicle shifting method, device, electronic device and storage medium of the embodiment of the present application with reference to the accompanying drawings. In view of the fact that the related technologies mentioned in the above background technology fail to take into account the individual differences of different transmissions, resulting in inaccurate shift positions, insufficient shift strokes, and thus causing problems such as gear disengagement, abnormal wear and noise of the transmission control system, and abnormal damage to the actuator, the present application provides a vehicle shifting method, in which, by judging whether the current vehicle has a shifting threshold determination requirement, if the current vehicle has a shifting threshold determination requirement, the gear to be updated and the update method of the gear to be updated are determined according to the shifting threshold determination requirement, and the shifting limit position of the gear to be updated is updated according to the update method of the gear to be updated, and the difference between the updated shifting limit position of the gear to be updated and the preset shifting offset is calculated to obtain the shifting threshold of the gear to be updated, and the shifting is performed according to the shifting threshold of the gear to be updated. As a result, the problem of related technologies failing to take into account the individual differences among different transmissions, resulting in inaccurate gear shifting position, insufficient gear shifting stroke, and thus causing gear disengagement, abnormal wear and noise of the transmission control system, abnormal damage to the actuator, etc. is solved. This application is for a single transmission to ensure accurate gear shifting and smooth gear engagement.

[0076] Specifically, Figure 1 A schematic flow chart of a vehicle gear shifting method provided in an embodiment of the present application.

[0077] like Figure 1 As shown, the vehicle shifting method comprises the following steps:

[0078] In step S101, it is determined whether the current vehicle has a gear shift threshold determination requirement.

[0079] Further, in some embodiments, determining whether the current vehicle has a need to determine a threshold value for shifting a gear includes: determining whether the current vehicle has a preset offline requirement or a self-learning requirement for any gear, wherein the self-learning requirement for any gear is generated when any gear satisfies a preset self-learning condition; if the current vehicle has a preset offline requirement or a self-learning requirement for any gear, then it is determined that the current vehicle has a need to determine a threshold value for shifting a gear.

[0080] Among them, the preset offline requirements include: transmission offline requirements and vehicle offline requirements; the preset self-learning conditions include: the total number of shifts in any gear is greater than the first preset number; and / or, the number of shift failures in any gear is greater than the second preset number; and / or, the cumulative mileage corresponding to any gear is greater than the first preset mileage; and / or, the total mileage of the current vehicle is greater than the second preset mileage; and / or, the user triggers the shift self-learning. Among them, the first preset number, the second preset number, the first preset mileage and the second preset mileage can be preset by the user, can be obtained through a limited number of experiments, or can be obtained through a limited number of computer simulations, and are not specifically limited here. It can be understood that different transmissions have individual differences due to the large number of internal parts of the transmission assembly, the manufacturing tolerance of a single part, the assembly tolerance of the assembly, and other factors, which lead to individual differences in the gear position. Therefore, when the transmission is offline (or the vehicle is offline), it is necessary to determine the vehicle's gear entry threshold.

[0081] In the actual implementation process, when the transmission rolls off the production line (or the entire vehicle rolls off the production line), the shift threshold needs to be determined to reduce the differences in the shift threshold caused by factors such as elastic deformation of transmission parts under force, parts manufacturing tolerances, assembly tolerances and errors.

[0082] In addition, during the user's use of the vehicle, when the vehicle has a self-learning demand for any gear, it is necessary to determine the vehicle's gear-entry threshold, wherein the self-learning demand for any gear is generated when any gear satisfies the preset self-learning conditions, specifically: (1) Accumulated gear shift times: If the number of gear shift operations for any gear accumulates to a preset upper limit, i.e., the first preset number, it means that the gear-entry threshold needs to be re-determined. The reason is that long-term use of any gear may cause wear and tear on the transmission, thereby causing changes in the gear-entry threshold; (2) Accumulated gear shift failure times: If the number of gear shift failures for any gear accumulates to a preset threshold, i.e., the second preset number, it indicates that there is a problem with the gear shifting performance of the transmission and the gear-entry threshold needs to be re-determined. (3) Gear mileage accumulation: If the accumulated mileage of any gear during driving exceeds a set value, namely the first preset mileage, it means that the gear entry threshold needs to be checked and adjusted; (4) Vehicle mileage accumulation: If the total mileage of the vehicle exceeds a preset value, namely the second preset mileage, it means that the vehicle's gearbox needs maintenance, including redefining the gear entry threshold; (5) Customer or service station customized trigger conditions. Customers or service stations can decide whether to start the gear shift self-learning program based on a set of preset operating modes (for example, continuous braking and accelerator operations within a specific time, and pressing a specific combination of certain buttons in the vehicle), which may involve redefining the gear entry threshold.

[0083] During the actual implementation process, the embodiment of the present application can determine whether the vehicle has a gear shift threshold determination requirement when the current vehicle has a preset offline requirement or any gear position meets the preset self-learning conditions during the use of the vehicle, comprehensively considering the scenarios of the gear shift threshold determination requirement that may exist when the vehicle is offline and during the use of the vehicle.

[0084] In step S102, if the current vehicle has a shift threshold determination requirement, the gear to be updated and the update method of the gear to be updated are determined according to the shift threshold determination requirement, and the shift limit position of the gear to be updated is updated according to the update method of the gear to be updated;.

[0085] Further, in some embodiments, the gear to be updated and the updating method of the gear to be updated are determined according to the shift entry threshold determination requirement, and the shift limit position of the gear to be updated is updated according to the updating method of the gear to be updated, including: if the shift entry threshold determination requirement is a preset lower-line requirement, then the theoretical shift positions of all gears are obtained, and based on the theoretical shift positions of each gear, the shift limit position of each gear is determined; and, if the shift entry threshold determination requirement is a self-learning requirement for any gear, then the shift limit position of any gear is updated based on the preset self-learning strategy.

[0086] Among them, the theoretical shift position is the theoretical position of the shift finger, which is calculated by the sum of the theoretical shift stroke of the synchronizer, the theoretical design tolerance of the shift finger to the synchronizer, and the theoretical tolerances of other matching dimensions on the dimension chain. The shift limit position is the actual position of the shift finger, which is obtained by actual testing. The preset self-learning strategies include a first learning strategy and a second learning strategy. The first learning strategy is a gradual update learning strategy, and the second learning strategy is a one-time update learning strategy.

[0087] Specifically, the embodiment of the present application determines different updating methods of the gear shift limit positions according to different gear threshold determination requirements. Specifically, when the gear entry threshold determination requirement is a vehicle offline requirement, the gears to be updated are all the gears of the vehicle, and the updating method of the gears to be updated is: based on the theoretical gear shift position of each gear, determine the gear shift limit position of each gear; when the gear entry requirement is a self-learning requirement for any gear, the gear to be updated is any corresponding gear, and the gear shift limit position of any gear is updated based on a preset self-learning strategy.

[0088] Here, the update method of the shift limit position is introduced when the shift threshold determination requirement is the vehicle offline requirement. Specifically, if the shift threshold determination requirement is the vehicle offline requirement, it is necessary to obtain the theoretical shift position of all gears. Here, how to obtain the theoretical shift position of each gear is introduced.

[0089] In the embodiment of the present application, the shift finger can be as follows Figure 2 As shown, Figure 2 This is a schematic diagram of a shift finger provided according to an embodiment of the present application. The shift finger can move axially along the guide shaft, and the zero point of the shift finger is the middle position on the inner sides of both sides of the actuator housing.

[0090] Theoretical shift position = theoretical shift travel of synchronizer + theoretical design tolerance of shift finger to synchronizer + theoretical tolerance of other matching dimensions in the dimension chain.

[0091] Among them, the theoretical shifting stroke of the synchronizer is a preset value, the theoretical design tolerance of the shift finger to the synchronizer and the theoretical tolerances of other mating dimensions on the dimensional chain are empirical values, the theoretical design tolerance of the shift finger to the synchronizer and the theoretical tolerances of other mating dimensions on the dimensional chain can be pre-set by the user, obtained through a limited number of experiments, or obtained through a limited number of computer simulations, and are not specifically limited here.

[0092] Furthermore, in some embodiments, based on the theoretical shift position of each gear, the shift limit position of each gear is determined, including: determining the static shift force of each gear; selecting any gear from multiple gears as the current gear to be calibrated, and determining the first shift force according to the static shift force of the current gear to be calibrated, and controlling the shifting synchronizer to shift to the current gear to be calibrated with the first shift force; based on the second shift force, maintaining the shift finger to shift the synchronizer to the current gear to be calibrated, and when the maintenance time reaches a first preset time, obtaining the first shift position actual value, shifting from the current gear to be calibrated to neutral, and re-executing the step of determining the first shift force according to the static shift force of the current gear to be calibrated, until multiple gears are obtained. The method comprises the steps of: setting an actual value of a plurality of shift positions, wherein the second shift force is less than the first shift force; calculating an average value of the actual values ​​of the plurality of shift positions, and if the difference between the average value and the theoretical shift position of the current gear to be calibrated is less than or equal to a first preset threshold value, taking the average value as the shift limit position of the current gear to be calibrated, otherwise re-executing the step of determining the first shift force according to the static shift force of the current gear to be calibrated, until the difference between the new average value and the theoretical shift position of the current gear to be calibrated is less than or equal to the first preset threshold value; eliminating any gear from the plurality of gears, selecting any gear from the remaining gears as the current gear to be calibrated, and executing the step of determining the first shift force according to the static shift force of the current gear to be calibrated, until the shift limit position of each gear is obtained.

[0093] Here, it is introduced how to obtain the shift limit position of each gear.

[0094] The first preset time and the first preset threshold value may be preset by the user, may be obtained through a limited number of experiments, or may be obtained through a limited number of computer simulations, and are not specifically limited here. The static shift force is the shift force required for the shift finger to move the synchronizer without the application of additional force. Specifically, the embodiment of the present application can determine the static shift force of each gear through actual testing, and determine the multiple gears to be calibrated according to the gear entry threshold determination requirements. Generally, when the transmission (or the whole vehicle) is off the production line, it is necessary to determine the gear entry threshold for all gears of the vehicle to enhance the reliability of the gear entry. Then, any gear is selected from the multiple gears as the current gear to be calibrated, and the first shift force is determined according to the static shift force of the current gear to be calibrated, wherein the first shift force is greater than the static shift force, and the first shift force is used to control the synchronizer to shift to the current gear to be calibrated, so as to simulate the force required for shifting in actual driving, and ensure that the shift finger can overcome the resistance of the synchronizer, successfully shift the synchronizer, make the gears mesh, and successfully shift.

[0095] After successfully shifting gears with the first shift force, the gears are in a meshing state. The second shift force is then used to maintain the shift finger and shift the synchronizer to the current gear to be calibrated, and the first preset time is maintained to ensure that the gears can remain in a meshing state even under lower force. In this state, the actual value of the first shift position is read, and the gear is shifted to neutral. The shifting process is re-simulated to obtain multiple actual values ​​of the shift positions, and the average value of the multiple actual values ​​of the shift positions is calculated. By taking the average value through multiple tests, accidental errors are reduced to obtain more stable and reliable data.

[0096] After obtaining the average value of multiple actual values ​​of shift positions, calculate the difference between the average value and the theoretical shift position of the current gear to be calibrated. If the difference is less than or equal to the first preset threshold, use the average value as the shift limit position of the current gear to be calibrated. Otherwise, re-perform actual testing to obtain new shift limit positions until the difference between the new average value and the theoretical shift position of the current gear to be calibrated is less than or equal to the first preset threshold, so as to screen reasonable shift limit positions through the theoretical shift positions, prevent erroneous data, ensure the accuracy of the shift limit positions, and repeat the above steps until the shift limit positions of each gear are obtained.

[0097] Specifically, the embodiment of the present application can determine the shift limit position in the following manner:

[0098] (1) Measured static shift force: The static shift force required for the shift finger to move the synchronizer is measured without applying any additional force, as shown in Table 1. Table 1 is an example table of static shift force for a transmission.

[0099] Table 1

[0100]

[0101] (2) Determine the first shift force according to the static shift force of the current gear to be calibrated: increase the static shift force to the first shift force (e.g., 1300N), and use the force mode to control the shift finger to move the synchronizer to shift gears with the first shift force.

[0102] (3) Based on the second shift force, the shift finger is maintained to shift the synchronizer to the current gear to be calibrated: in the force mode, when the position of the shift finger no longer changes, the first shift force is reduced to the second shift force (for example, 1000N, or 60% of the original static shift force), and this force is maintained for a first preset time.

[0103] (4) Reading the actual value of the shift position: While maintaining the second shift force, read the actual value of the shift position of the shift finger.

[0104] 5. Shift to neutral gear: After completing the above steps, shift the gear to be calibrated to neutral gear.

[0105] 6. Repeat the operation and take the average value: Repeat 2-4 multiple times (for example, 3 to 5 times) to obtain multiple actual values ​​of the shift positions, and then take the average value of the multiple actual values ​​of the shift positions, which is recorded as average.

[0106] 7. Compare the difference: Calculate the difference between the average of the current gear to be calibrated and the theoretical shift position S1 of the current gear to be calibrated obtained by theoretical calculation, and record it as difference.

[0107] 8. Determine whether to discard the data: If the difference is greater than the first preset threshold constant, discard this set of data and execute 2-5 again.

[0108] 9. Determine the Selflearn value: If the difference is less than or equal to the first preset threshold constant, then accept the average value as the shift limit position of the gear (Selflearn).

[0109] During the actual implementation process, the embodiment of the present application can obtain the theoretical shift position of the shift finger in each gear through theoretical calculation, and obtain the shift limit position of each gear through actual testing, and remove the shift limit position whose difference between the shift limit position and the theoretical shift position is greater than a first preset threshold value, so as to filter the shift limit positions obtained from the actual test through the theoretical shift position, remove abnormal values, and improve the accuracy of the shift limit position.

[0110] Optionally, in some embodiments, the shift limit position of any gear is updated based on a preset self-learning strategy, including: when any gear is shifted, after continuing to maintain the third shift force for a second preset time, obtaining the current position value of any gear; if the preset self-learning strategy is the first learning strategy, then when the difference between the current position value and the shift limit position corresponding to any gear is greater than the second preset threshold, and when the current vehicle is powered off, the shift limit position corresponding to any gear is updated according to the sum of the second preset threshold and the shift limit position corresponding to any gear, and when the current vehicle is powered off again and the change value of the shift limit position corresponding to any gear is less than the difference, the step of updating the shift limit position corresponding to any gear according to the sum of the second preset threshold and the shift limit position corresponding to any gear is re-executed until the change value of the shift limit position corresponding to any gear is greater than or equal to the difference.

[0111] Here, a method for updating the shift limit position when the shift threshold determination requirement is a self-learning requirement for any gear is introduced.

[0112] Among them, the third shift force, the second preset time and the second preset threshold can be pre-set by the user, can be obtained through a limited number of experiments, or can be obtained through a limited number of computer simulations, and are not specifically limited here. Preferably, the third shift force is 1000N.

[0113] It should be noted that the third shifting force needs to be greater than the shifting force when shifting into any gear.

[0114] Specifically, if any gear triggers self-learning during vehicle driving, the gear shifting force will be reduced to 0 after normal gear shifting, and the gear shifting force will continue to increase to the third shifting force (for example, 1000N) and maintain for the second preset time before reading the current position value SS.

[0115] When the preset self-learning strategy is the first learning strategy, that is, the updating method is the gradual updating method, the difference between the displacement value SS of any gear and the shift limit position corresponding to any gear saved by the previous TCU is used. If the difference is less than or equal to the second preset threshold, no updating is required. If the difference is greater than the second preset threshold, the shift limit position corresponding to any gear is updated to the shift limit position corresponding to any gear saved last time + the second preset threshold after the power is turned off this time; the next time the user powers on and drives and powers off again, the shift limit position corresponding to any gear is updated, and the change range still needs to be less than the second preset threshold; and so on, until the total updated change value is equal to the first difference.

[0116] Optionally, in some embodiments, after obtaining the current position value of any gear, it also includes: if the preset self-learning strategy is the second learning strategy, then when the current vehicle is powered off, the shift limit position is updated to the current position value.

[0117] Specifically, when the preset self-learning strategy is the second learning strategy, that is, the update method is to complete the update once, when the user powers off this time, the read current position value is used as the target value to update the shift limit position of any gear of the TCU.

[0118] It should be noted that when the vehicle is parked, whether before or after power is turned off, the automatic instrument panel will inform the customer that the vehicle has entered the gear self-learning state through a reminder. This reminder can be of the following types: (1) Visual reminder: The display screen on the instrument panel will display specific information or icons, such as "Gear self-learning" or a gear icon with a learning symbol next to it, to intuitively tell the driver that the vehicle is undergoing gear self-learning. (2) Auditory reminder: The vehicle may emit a specific reminder sound, such as a short beep, to remind the driver to pay attention to changes in the vehicle status. (3) Tactile reminder: If the vehicle is equipped with a tactile feedback function, it may remind the driver through a slight vibration of the seat or steering wheel. (4) Voice reminder: If equipped with a voice assistant, the vehicle will remind the driver by broadcasting "The vehicle is undergoing gear self-learning, please wait". (5) Combined reminder: In order to ensure that the driver can notice, the vehicle may use multiple reminder methods at the same time, such as visual and auditory reminders at the same time.

[0119] Therefore, the embodiment of the present application can update any corresponding gear by gradual updating or one-time updating when any gear of the vehicle triggers the preset self-learning condition, thereby avoiding the difference in gear shift thresholds caused by wear or usage habits of the transmission and increasing the reliability and accuracy of gear shifting.

[0120] In step S103, the difference between the updated shift limit position of the gear to be updated and the preset shift offset is calculated to obtain the shift entry threshold of the gear to be updated, and the gear is shifted according to the shift entry threshold of the gear to be updated.

[0121] Among them, the gear-entry threshold is an indicator for determining whether to enter a gear during the gear-entry process. The preset gear shift offset diff=D+dlt, wherein D is the inverted cone meshing length of the synchronizer sleeve engagement teeth, and dlt is the difference caused by deformation, manufacturing tolerance, assembly tolerance, etc. D and dlt are both constants, so the preset gear shift offset is also a constant.

[0122] Combination Figure 3 As shown, the shift threshold C = Selflearn-diff, wherein Selflearn is the shift limit position, the shift threshold is obtained by offsetting diff based on Selflearn, diff is a constant, and the shift position threshold C changes in the same direction as Selflearn.

[0123] Therefore, combined with Figure 4 As shown, the embodiment of the present application obtains the theoretical shifting position of each gear through theoretical calculation, and finds the shifting limit position of each gear with a specific force, and finally determines the shifting threshold of each gear, thereby avoiding the difference in the shifting threshold due to manufacturing errors of the transmission and increasing the reliability and accuracy of shifting.

[0124] According to the vehicle shifting method proposed in the embodiment of the present application, by judging whether the current vehicle has a shifting threshold determination requirement, if the current vehicle has a shifting threshold determination requirement, the gear to be updated and the update method of the gear to be updated are determined according to the shifting threshold determination requirement, and the shifting limit position of the gear to be updated is updated according to the update method of the gear to be updated, and the difference between the updated shifting limit position of the gear to be updated and the preset shifting offset is calculated to obtain the shifting threshold of the gear to be updated, and the gear is shifted according to the shifting threshold of the gear to be updated. Therefore, the problem that the related technology fails to consider the individual differences of different transmissions, resulting in inaccurate shifting position and insufficient shifting stroke, thus causing gear disengagement, abnormal wear of the transmission control system, abnormal noise, abnormal damage to the actuator, etc. is solved. The present application is aimed at a single transmission, ensuring accurate shifting and no abnormal shifting.

[0125] Next, the vehicle gear shifting device according to the embodiment of the present application will be described with reference to the accompanying drawings.

[0126] Figure 5 It is a block diagram of a gear shifting device for a vehicle according to an embodiment of the present application.

[0127] like Figure 5 As shown, the vehicle gear shifting device 10 includes: a judgment module 100 , a determination module 200 and a gear shifting module 300 .

[0128] The judgment module 100 is used to judge whether the current vehicle has a gear shift threshold determination requirement.

[0129] The determination module 200 is used to determine the gear to be updated and the updating method of the gear to be updated according to the gear entry threshold determination requirement when the current vehicle has a gear entry threshold determination requirement, and to update the shift limit position of the gear to be updated according to the updating method of the gear to be updated.

[0130] The shifting module 300 is used to calculate the difference between the updated shifting limit position of the gear to be updated and the preset shifting offset, obtain the shifting threshold of the gear to be updated, and shift according to the shifting threshold of the gear to be updated.

[0131] Optionally, in some embodiments, the judgment module 100 includes: a first judgment unit and a determination unit.

[0132] Among them, the first judgment unit is used to judge whether the current vehicle has a preset offline demand or a self-learning demand for any gear, wherein the self-learning demand for any gear is generated when any gear meets the preset self-learning condition.

[0133] The determination unit is used to determine whether the current vehicle has a gear entry threshold determination requirement when the current vehicle has a preset off-line requirement or a self-learning requirement for any gear.

[0134] Optionally, in some embodiments, the determination module 200 includes: a first acquisition unit and an update unit.

[0135] Among them, the first acquisition unit is used to obtain the theoretical shift positions of all gears when the shift threshold determination requirement is a preset lower-line requirement, and determine the shift limit position of each gear based on the theoretical shift position of each gear.

[0136] The updating unit is used to update the shift limit position of any gear based on a preset self-learning strategy when the shift threshold determination requirement is a self-learning requirement of any gear.

[0137] Optionally, in some embodiments, the determination module 200 includes: a first determination unit, a second determination unit, a second acquisition unit, a calculation unit, and an execution unit.

[0138] Wherein, the first determination unit is used to determine the static shift force of each gear.

[0139] The second determination unit is used to select any gear from multiple gears as the current gear to be calibrated, and determine the first shift force according to the static shift force of the current gear to be calibrated, and control the shift finger to shift the synchronizer to the current gear to be calibrated with the first shift force.

[0140] The second acquisition unit is used to maintain the shift finger to shift the synchronizer to the current gear to be calibrated based on the second shift force, and when the maintenance time reaches a first preset time, obtain the first shift position actual value, shift from the current gear to be calibrated to neutral, and re-execute the step of determining the first shift force according to the static shift force of the current gear to be calibrated, until multiple shift position actual values ​​are obtained, wherein the second shift force is less than the first shift force.

[0141] A calculation unit is used to calculate the average value of multiple actual values ​​of shift positions. If the difference between the average value and the theoretical shift position of the current gear to be calibrated is less than or equal to a first preset threshold, the average value is used as the shift limit position of the current gear to be calibrated, otherwise the step of determining the first shift force based on the static shift force of the current gear to be calibrated is re-executed until the difference between the new average value and the theoretical shift position of the current gear to be calibrated is less than or equal to the first preset threshold.

[0142] The execution unit is used to eliminate any gear from multiple gears, select any gear from the remaining gears as the current gear to be calibrated, and execute the step of determining the first shift force according to the static shift force of the current gear to be calibrated until the shift limit position of each gear is obtained.

[0143] Optionally, in some embodiments, the updating unit includes: an acquiring subunit and an updating subunit.

[0144] Among them, the acquisition subunit is used to acquire the current position value of any gear after continuing to maintain the third shifting force for a second preset time period when the shifting of any gear is completed.

[0145] An updating subunit is used for updating the shift limit position corresponding to any gear according to the sum of the second preset threshold value and the shift limit position corresponding to any gear when the preset self-learning strategy is the first learning strategy, when the difference between the current position value and the shift limit position corresponding to any gear is greater than the second preset threshold value and the current vehicle is powered off, and when the current vehicle is powered off again and the change value of the shift limit position corresponding to any gear is less than the difference, re-executing the step of updating the shift limit position corresponding to any gear according to the sum of the second preset threshold value and the shift limit position corresponding to any gear until the change value of the shift limit position corresponding to any gear is greater than or equal to the difference.

[0146] Optionally, in some embodiments, after obtaining the current position value of any gear, obtaining the subunit further includes: updating the subcomponent.

[0147] Among them, the update sub-component is used to update the shift limit position to the current position value when the current vehicle is powered off when the preset self-learning strategy is the second learning strategy.

[0148] Optionally, in some embodiments, the preset self-learning conditions include: the total number of gear shifts in any gear is greater than a first preset number; and / or the number of gear shift failures in any gear is greater than a second preset number; and / or the cumulative mileage corresponding to any gear is greater than the first preset mileage; and / or the total mileage of the current vehicle is greater than the second preset mileage; and / or the user triggers gear shift self-learning.

[0149] It should be noted that the above explanation of the embodiment of the vehicle gear shifting method is also applicable to the vehicle gear shifting device of this embodiment, and will not be repeated here.

[0150] According to the vehicle shifting device proposed in the embodiment of the present application, by judging whether the current vehicle has a shifting threshold determination requirement, if the current vehicle has a shifting threshold determination requirement, the gear to be updated and the update method of the gear to be updated are determined according to the shifting threshold determination requirement, and the shifting limit position of the gear to be updated is updated according to the update method of the gear to be updated, and the difference between the updated shifting limit position of the gear to be updated and the preset shifting offset is calculated to obtain the shifting threshold of the gear to be updated, and the gear is shifted according to the shifting threshold of the gear to be updated. Therefore, the problem that the related technology fails to consider the individual differences of different transmissions, resulting in inaccurate shifting position and insufficient shifting stroke, thus causing gear disengagement, abnormal wear of the transmission control system, abnormal noise, abnormal damage to the actuator, etc. is solved. The present application is aimed at a single transmission, ensuring accurate shifting and no abnormal shifting.

[0151] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0152] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0153] When the processor 602 executes the program, the vehicle shifting method provided in the above embodiment is implemented.

[0154] Furthermore, the electronic device further comprises:

[0155] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0156] The memory 601 is used to store computer programs that can be executed on the processor 602 .

[0157] The memory 601 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0158] If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0159] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0160] The processor 602 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0161] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned vehicle shifting method.

[0162] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0163] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0164] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0165] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0166] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0167] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle shifting method, characterized in that: The following steps are involved: Determine whether the current vehicle has a gear shift threshold determination requirement; If the current vehicle has the gear-entry threshold determination requirement, determining the gear to be updated and the updating method of the gear to be updated according to the gear-entry threshold determination requirement, and updating the shift limit position of the gear to be updated according to the updating method of the gear to be updated; The difference between the updated shift limit position of the gear to be updated and the preset shift offset is calculated to obtain the shift entry threshold of the gear to be updated, and the gear is shifted according to the shift entry threshold of the gear to be updated.

2. The method according to claim 1, characterized in that The determining whether the current vehicle has a gear shift threshold determination requirement includes: Determine whether the current vehicle has a preset offline requirement or a self-learning requirement for any gear, wherein the self-learning requirement for any gear is generated when any gear satisfies a preset self-learning condition; If the current vehicle has the preset offline requirement or the self-learning requirement of any gear, it is determined that the current vehicle has the gear entry threshold determination requirement.

3. The method according to claim 2, characterized in that The step of determining the gear to be updated and the updating method of the gear to be updated according to the shift threshold determination requirement, and updating the shift limit position of the gear to be updated according to the updating method of the gear to be updated, comprises: If the shift threshold determination requirement is the preset lower limit requirement, the theoretical shift positions of all gears are acquired, and based on the theoretical shift position of each gear, the shift limit position of each gear is determined; And, if the shift threshold determination requirement is a self-learning requirement of any gear, the shift limit position of any gear is updated based on a preset self-learning strategy.

4. The method according to claim 3, characterized in that The step of determining the shift limit position of each gear based on the theoretical shift position of each gear comprises: Determine the static shift force for each gear; Selecting any gear from a plurality of gears as the current gear to be calibrated, determining a first shift force according to the static shift force of the current gear to be calibrated, and controlling the shift finger to shift the synchronizer to the current gear to be calibrated by the first shift force; Based on the second shift force, the shift finger is maintained to shift the synchronizer to the current gear to be calibrated, and when the maintenance time reaches a first preset time, the first shift position actual value is obtained, the gear to be calibrated is shifted to neutral, and the step of determining the first shift force according to the static shift force of the current gear to be calibrated is re-executed until multiple shift position actual values ​​are obtained, wherein the second shift force is less than the first shift force; Calculating an average value of the multiple actual shift position values, and if the difference between the average value and the theoretical shift position of the current gear to be calibrated is less than or equal to a first preset threshold, taking the average value as the shift limit position of the current gear to be calibrated, otherwise re-performing the step of determining the first shift force according to the static shift force of the current gear to be calibrated until the difference between the new average value and the theoretical shift position of the current gear to be calibrated is less than or equal to the first preset threshold; Eliminate any one of the gears from the multiple gears, select any one of the remaining gears as the current gear to be calibrated, and execute the step of determining the first shift force according to the static shift force of the current gear to be calibrated until the shift limit position of each gear is obtained.

5. The method according to claim 3, characterized in that: The updating of the shift limit position of any gear based on a preset self-learning strategy includes: When the shifting of any gear is completed, the current position value of any gear is obtained after continuing to maintain the third shifting force for a second preset time period; If the preset self-learning strategy is the first learning strategy, then when the difference between the current position value and the shift limit position corresponding to any gear is greater than the second preset threshold value, and when the current vehicle is powered off, the shift limit position corresponding to any gear is updated according to the sum of the second preset threshold value and the shift limit position corresponding to any gear, and when the current vehicle is powered off again and the change value of the shift limit position corresponding to any gear is less than the difference, the step of updating the shift limit position corresponding to any gear according to the sum of the second preset threshold value and the shift limit position corresponding to any gear is re-executed until the change value of the shift limit position corresponding to any gear is greater than or equal to the difference.

6. The method according to claim 5, characterized in that After obtaining the current position value of any gear, the method further includes: If the preset self-learning strategy is the second learning strategy, then when the current vehicle is powered off, the shift limit position is updated to the current position value.

7. The method according to claim 2, characterized in that The preset self-learning conditions include: The total number of shifts of any gear is greater than a first preset number; and / or, the number of shift failures of any gear is greater than a second preset number; and / or, the accumulated mileage corresponding to any one of the gears is greater than a first preset mileage; and / or, the total mileage of the current vehicle is greater than a second preset mileage; And / or, the user triggers gear shift self-learning.

8. A vehicle shifting device, characterized in that: include: A judgment module, used to judge whether the current vehicle has a gear entry threshold determination requirement; a determination module, configured to determine the gear to be updated and the updating method of the gear to be updated according to the gear-entry threshold determination requirement when the current vehicle has the gear-entry threshold determination requirement, and to update the shift limit position of the gear to be updated according to the updating method of the gear to be updated; The shifting module is used to calculate the difference between the updated shifting limit position of the gear to be updated and the preset shifting offset to obtain the shifting threshold of the gear to be updated, so as to shift according to the shifting threshold of the gear to be updated.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle shifting method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle shifting method as described in any one of claims 1-7.

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