Method, device and vehicle for switching vehicle modes

Abstract

This application discloses a vehicle mode switching method, device, and vehicle, which can improve the coordination of the control system and reduce power interruption time. The vehicle mode switching method includes: when a vehicle mode switching requirement exists, obtaining vehicle load, vehicle shift information, the vehicle's current control mode, and the vehicle's target control mode; determining a coordinated strategy for shifting and switching the vehicle control mode based on the vehicle load, the vehicle's current control mode, and the vehicle's target control mode; wherein the coordinated strategy includes a neutral mode switching strategy and an in-gear mode switching strategy; and controlling the shifting and switching the vehicle control mode based on the coordinated strategy and the vehicle shift information.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device and vehicle for switching vehicle modes. Background Art

[0002] In today's society, with growing environmental awareness and increasingly prominent energy issues, the automotive industry is undergoing a profound transformation, accelerating its development towards energy conservation, emission reduction, and high efficiency and environmental protection. Hybrid vehicles, as innovative transportation vehicles that combine the advantages of traditional fuel engines with electric motors, have emerged as a hot topic and a key research and development focus in the automotive field. Hybrid vehicles typically feature multiple operating modes to accommodate varying driving conditions and requirements, the most common of which include pure electric mode, hybrid mode, and engine mode. Furthermore, hybrid systems involve shifting, which involves power interruption and torque control. Switching modes during shifts can improve vehicle comfort, but prolonged mode switching can result in prolonged power interruption, leaving the vehicle without power and potentially even experiencing a brief pause. This not only reduces driving comfort but also potentially compromises safety. Summary of the Invention

[0003] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a method, device and vehicle for switching vehicle modes, which can improve the coordination of the control system and reduce the power interruption time.

[0004] According to a first aspect of the present application, a method for vehicle mode switching is provided, comprising: when there is a demand for vehicle mode switching, obtaining vehicle load, vehicle shifting information, vehicle current control mode and vehicle target control mode; determining a coordinated strategy for shifting and vehicle control mode switching based on the vehicle load, vehicle current control mode and vehicle target control mode; wherein the coordinated strategy includes a neutral mode switching strategy and an in-gear mode switching strategy; and controlling shifting and vehicle control mode switching based on the coordinated strategy and the vehicle shifting information.

[0005] As a possible implementation method, the vehicle shifting information includes current gear information and target gear information. According to the gear mode switching strategy and the vehicle shifting information, the gear shifting and vehicle control mode switching are controlled, including: shifting according to the current gear information and the target gear information; wherein, the gear shifting process includes torque clearing, gear disengagement, motor speed regulation and gear engagement; before torque clearing, controlling the starter to start the engine; during torque clearing and gear disengagement, adjusting the engine speed and motor speed based on the target speed; wherein, the target speed is calculated based on the vehicle speed and the target gear information; when the engine speed and the motor speed meet the preset conditions, controlling the clutch to close to complete the gear shifting and vehicle control mode switching.

[0006] As a possible implementation method, when the engine speed and the motor speed meet preset conditions, the clutch is controlled to close, including: when the difference between the engine speed and the motor speed is less than or equal to a first preset difference, and the difference between the engine speed and the target speed is less than or equal to a second preset difference, and the difference between the motor speed and the target speed is less than or equal to a third preset difference, the clutch is controlled to close.

[0007] As a possible implementation method, according to the neutral mode switching strategy and the vehicle gear shifting information, the gear shifting and vehicle control mode switching are controlled, including controlling the clutch to close when the actual gear position of the transmission is neutral; when the clutch is closed, controlling the motor to reverse and start the engine; after the engine is started, controlling the motor to adjust the speed and shift into gear to complete the gear shifting and vehicle control mode switching.

[0008] As a possible implementation method, a coordinated strategy for shifting gears and switching vehicle control modes is determined based on the vehicle load, the current vehicle control mode, and the target vehicle control mode, including: when the vehicle load is less than a preset load, determining that the coordinated strategy for shifting gears and switching vehicle control modes is a neutral mode switching strategy based on the current vehicle control mode and the target vehicle control mode.

[0009] As a possible implementation method, when the vehicle load is less than a preset load, the coordinated strategy for shifting and switching the vehicle control mode is determined to be a neutral mode switching strategy based on the vehicle's current control mode and the vehicle's target control mode, including: when the vehicle's current control mode is a pure electric control mode, and the vehicle's target control mode is a hybrid power control mode, and the vehicle load is less than a preset load, determining that the coordinated strategy is a neutral mode switching strategy.

[0010] As a possible implementation method, a coordinated strategy for gear shifting and vehicle control mode switching is determined based on the vehicle load, the vehicle's current control mode, and the vehicle's target control mode, including: when the vehicle load is greater than or equal to a preset load, determining that the coordinated strategy for gear shifting and vehicle control mode switching is an in-gear mode switching strategy based on the vehicle's current control mode and the vehicle's target control mode.

[0011] As a possible implementation, when the vehicle load is greater than or equal to a preset load, the coordinated strategy for shifting and switching the vehicle control mode is determined to be an in-gear mode switching strategy based on the vehicle's current control mode and the vehicle's target control mode, including: when the vehicle's current control mode is a pure electric control mode, and the vehicle's target control mode is a hybrid power control mode, and the vehicle load is greater than or equal to the preset load, determining the coordinated strategy to be an in-gear mode switching strategy; or when the vehicle's current control mode is a hybrid power control mode, and the vehicle's target control mode is a hybrid power control mode, and the vehicle load is greater than or equal to the preset load, determining the coordinated strategy to be an in-gear mode switching strategy.

[0012] According to a second aspect of the present application, a device for switching a vehicle mode is provided, comprising: an acquisition module for acquiring a vehicle load, vehicle shifting information, a current vehicle control mode, and a target vehicle control mode when there is a need for vehicle mode switching; a determination module for determining a coordinated strategy for shifting and switching the vehicle control mode based on the vehicle load, the current vehicle control mode, and the target vehicle control mode; wherein the coordinated strategy includes a neutral mode switching strategy and an in-gear mode switching strategy; and a control module for controlling the shifting and switching the vehicle control mode based on the coordinated strategy and the vehicle shifting information.

[0013] According to the third aspect of the present application, a vehicle is provided, comprising: a gearbox, a clutch, a motor and an engine; a vehicle mode switching device as described in the second aspect or any one of the implementations of the second aspect, wherein the vehicle mode switching device is communicatively connected to the gearbox, the clutch, the motor and the engine.

[0014] The vehicle mode switching method, device and vehicle provided in the present application can perform mode switching simultaneously when shifting gears, switch the vehicle's current control mode to the vehicle's target control mode, and select an appropriate mode switching strategy based on the vehicle load to quickly and efficiently complete the coordinated control of mode switching and gear shifting, optimize vehicle comfort, and improve the speed of mode switching while ensuring power. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0016] Figure 1 It is a structural diagram of a transmission system of a hybrid vehicle provided by an exemplary embodiment of the present application.

[0017] Figure 2 It is a flowchart of a method for vehicle mode switching provided by an exemplary embodiment of the present application.

[0018] Figure 3 It is a flowchart of a pure electric mode shift control process provided by an exemplary embodiment of the present application.

[0019] Figure 4 It is a flowchart of a neutral mode switching strategy provided by an exemplary embodiment of the present application.

[0020] Figure 5 It is a flowchart of an in-gear mode switching strategy provided by an exemplary embodiment of the present application.

[0021] Figure 6 It is a structural diagram of a vehicle mode switching device provided by an exemplary embodiment of the present application.

[0022] Explanation of the reference numerals: 101 - engine; 102 - clutch; 103 - drive motor / generator; 104 - gearbox; 105 - ECU; 106 - auxiliary controller DCAC / DCDC; 107 - power battery / BMS; 108 - battery; 109 - MCU; 110 - TCU / CCU; 111 - instrument; 112 - shift handle; 113 - HCU; 114 - electric power steering pump. DETAILED DESCRIPTION

[0023] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described herein.

[0024] Hybrid vehicles typically have multiple operating modes to accommodate different driving conditions and requirements, the most common of which include pure electric mode, hybrid mode, and engine mode. In pure electric mode, the vehicle relies solely on the electric motor for power. This offers significant advantages of zero emissions and low noise when driving at low speeds, on short trips, or in situations where quietness is a high priority. This effectively reduces environmental pollution while providing passengers with a quiet driving environment. In hybrid mode, the engine and electric motor work together, intelligently allocating their output power based on the vehicle's real-time power needs, fully leveraging their performance characteristics to ensure sufficient power while achieving efficient energy utilization and reducing fuel consumption and exhaust emissions. Engine mode primarily operates when the vehicle is traveling at high speeds or when high power output is required. The engine directly drives the vehicle, ensuring it has sufficient power to handle a variety of complex road conditions.

[0025] The mechanical power system of a traditional car is fuel tank-engine-transmission-final reducer to wheels. In addition to the traditional mechanical power system, the hybrid vehicle transmission system adds an electric path power system of battery-motor-transmission-final reducer-wheels. Figure 1 This is a diagram of the transmission system structure of a hybrid vehicle provided by an exemplary embodiment of the present application. Figure 1 , a more detailed introduction to the transmission system structure of hybrid vehicles. Figure 1As shown, the hybrid vehicle's transmission system includes: Engine 101: A conventional power source, generating power by burning fuel, providing the vehicle's basic driving force. Clutch 102: Connects and disconnects power transmission between engine 101 and drive motor / generator 103, enabling flexible integration and disengagement of engine 101 with the powertrain. Drive motor / generator 103: Serves as a dual function, acting as both an electric motor to propel the vehicle and a generator to recover energy during braking or deceleration, converting mechanical energy into stored electrical energy. Transmission 104: A variable-ratio transmission mechanism controlled by a shift mechanism, capable of amplifying and reducing the speed and torque of the input or output shaft. By varying the speed and torque output by drive motor / generator 103 and engine 101, the transmission adapts to different driving conditions, enabling efficient vehicle operation under various speed and load conditions. Electric power steering pump 114: Provides assistance to the vehicle's steering system, reducing the driver's steering effort and improving driving comfort and safety. The ECU (Electronic Control Unit) 105 controls the vehicle's driving state and various functions. The auxiliary controller DCAC / DCDC 106 converts the high-voltage DC power from the power battery into AC or low-voltage DC power suitable for devices like the electric power steering pump 114, achieving energy conversion and distribution. The power battery / BMS (Battery Management System) 107 stores and supplies the power required for vehicle operation. The BMS monitors and manages the power battery's status, including its charge and discharge processes, temperature, voltage, and other parameters, to ensure safe and efficient operation. The battery 108 provides power to the vehicle's low-voltage systems (such as the instrument panel 111 and control unit), ensuring their proper operation. The MCU (Motor Controller) 109 controls the operation of the drive motor / generator 103, precisely adjusting the motor's speed, torque, and power output based on the vehicle's driving requirements and the driver's instructions. TCU (Transmission Control Unit) / CCU (Chassis Control Unit) 110: The TCU is responsible for controlling the timing and process of gear shifts in the transmission 104 to achieve the optimal gear ratio. The CCU coordinates the vehicle's chassis systems, including braking and suspension, to ensure vehicle stability and handling. Instrument Panel 111: Displays various vehicle operating information, such as speed, battery level, and fault indications, providing the driver with intuitive feedback on vehicle status. Shifter 112: The driver selects the vehicle's driving mode (e.g., forward, reverse, neutral, etc.) and shift timing by operating the shifter 112. The HCU (Hybrid Control Unit) 113: As the core control unit of the hybrid system, it coordinates the operation of various components, including the engine 101, drive motor / generator 103, and transmission 104, to achieve optimal performance and energy management.

[0026] In addition, if Figure 1 As shown in the figure, CAN signals are frequently labeled. The CAN (Controller Area Network) bus is a network protocol used for communication between electronic control units within a vehicle. Through the CAN bus, various control units (such as the HCU, MCU, and TCU) can exchange information in real time, enabling coordinated operation. High-voltage wiring harnesses connect high-voltage components such as the power battery, drive motor / generator, and electric power steering pump, transmitting high-voltage electrical energy. Low-voltage wiring harnesses connect low-voltage components such as the battery, instrument cluster, and control unit, transmitting low-voltage signals and electrical energy. The engine, clutch, drive motor / generator, and transmission are connected via mechanical transmission devices (such as shafts and gears) to achieve power transmission and conversion. This structure and connection method enable hybrid vehicles to fully leverage the advantages of the engine and electric motor, achieving efficient, energy-saving, and environmentally friendly driving performance.

[0027] by Figure 1 For example, a single-motor parallel hybrid heavy-duty truck operates beyond simply switching between a few modes; its hybrid system also involves a complex shifting process. Gear shifts occur during driving, enabling the engine and electric motor to maintain optimal efficiency at different speeds, thereby optimizing the vehicle's power output and fuel economy. However, the shifting process is not instantaneous and involves power interruption and torque control. Power interruption refers to a change in the power transmission path at the moment of shifting, resulting in a brief loss of power output. This can cause a sense of jerkiness for the driver and affect driving comfort. Torque control involves precise regulation of the engine and electric motor torque to achieve smooth shifts. Torque is appropriately reduced before the shift to minimize transmission shock, and then quickly restored after the shift to maintain the vehicle's power performance.

[0028] To further enhance vehicle comfort, mode switching during gear shifts has become an effective technical approach. By properly selecting the timing and method of mode switching, the torque output of the engine and electric motor can transition more smoothly, minimizing the impact of power interruptions on the driving experience. However, prolonged mode switching times can lead to a series of problems. When the mode switching time is too long, the power interruption period is also prolonged. During this period, the vehicle is unpowered, and the driver will noticeably experience a slowdown in power response, or even a brief pause. This not only reduces driving comfort but also potentially affects driving safety, especially when rapid acceleration or overtaking is required. Furthermore, excessively long mode switching times can lead to mismatched torque output between the engine and electric motor, further exacerbating power output fluctuations and causing noticeable vehicle jerking or jerkiness. The root cause of prolonged mode switching times and power interruptions lies in control system incoordination. This incoordination can cause delays or deviations in the execution of mode switching commands, resulting in prolonged mode switching times, exacerbated power interruptions, and ultimately, impacting vehicle drivability and comfort.

[0029] Based on this, the present application proposes a vehicle that utilizes the vehicle mode switching device provided herein, which is communicatively connected to a transmission, a clutch, a motor, and an engine. The method for implementing vehicle mode switching can determine the control process for mode switching during different shifting processes based on vehicle load and vehicle shift information, and determine the mode switching method based on the vehicle state, thereby optimizing vehicle comfort and the rapidity of mode switching, improving the efficiency of mode switching, and reducing the negative impact of excessive power interruptions.

[0030] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0031] To solve the problem of long mode switching time and uncoordinated control system, a vehicle mode switching method is proposed below. Figure 2 This is a flow chart of a method for switching vehicle modes provided by an exemplary embodiment of the present application. Figure 2 For example, first, when there is a need to switch the vehicle mode, obtain the vehicle load, vehicle shift information, vehicle current control mode and vehicle target control mode (see Figure 2The vehicle shift information may include the vehicle's shift phase, the vehicle's current gear position, and the vehicle's target gear position. When a mode switch is required at different shift phases, the vehicle load is used as a decision basis to control the hybrid system to quickly and efficiently complete the mode switch and the coordinated control of the shift. Then, based on the vehicle load, the vehicle's current control mode, and the vehicle's target control mode, a coordinated strategy for shifting and switching the vehicle's control mode is determined (see Figure 2 The coordinated strategy includes a neutral mode switching strategy and an in-gear mode switching strategy. Finally, the gear shift and vehicle control mode switching are controlled according to the coordinated strategy and the vehicle gear shift information (see Figure 2 S230). It is understandable that the present application can be applied to situations where gear shifting and mode switching occur simultaneously, or when a mode switching requirement occurs during a gear shift. Therefore, the vehicle control mode switching can be completed quickly during a gear shift, improving the coordination of the control system, thereby reducing the power interruption time and improving the drivability and comfort of the vehicle.

[0032] Combined with the following Figure 2 , a more detailed introduction to the vehicle mode switching method provided in the embodiment of the present application is given.

[0033] In S210 , when there is a demand for vehicle mode switching, vehicle load, vehicle shift information, vehicle current control mode, and vehicle target control mode are acquired.

[0034] In some embodiments, the vehicle's control modes are categorized as pure electric, engine, and hybrid. The electric motor alone drives the vehicle in pure electric mode, the engine alone drives the vehicle in engine mode, and both drive the vehicle in hybrid mode. The vehicle's current control mode and target control mode are each considered one of the vehicle's control modes.

[0035] In some embodiments, in pure electric control mode, Figure 3 This is a flow chart of a pure electric mode shift control process provided by an exemplary embodiment of the present application. The vehicle shift control process is as follows: Figure 3 The shifting process is as follows: First, the motor clears the torque (see Figure 3 Then, the gearbox engaging actuator performs the gear-off action (see S31). Figure 3 Then, when the actual gear position of the transmission is neutral, the motor adjusts the speed of the transmission input shaft to the target speed according to the current vehicle speed, that is, the motor speed is adjusted (see Figure 3 Finally, the transmission actuator performs the gear shifting (see Figure 3 S34) action is performed to complete the gear shift and end.

[0036] In some embodiments, when a mode switch request is made during a gear shift, the vehicle's gear shift phase is obtained. If the vehicle's gear shift phase is during the torque clearing and gear disengagement process, and the vehicle load is less than a preset load, the coordinated strategy is determined to be a neutral mode switch strategy. For example, a low battery SOC, a pure electric mode failure, or a high power demand may trigger a hybrid mode switch request. This request may occur at any time during the gear shift process. Different mode switch selection control methods are selected based on the different stages of the request. For example, when the vehicle load resistance is small, if the mode switch request occurs during the torque clearing and gear disengagement process, the neutral mode switch strategy is directly adopted. If the vehicle load resistance is large, the gear shift is performed first, the engine is started synchronously, the transmission and battery continue to execute the gear shift process, and the engine speed is adjusted to prepare to close the clutch to complete the mode switch. This ensures that the gear shift and mode switch are completed in the shortest time.

[0037] In some embodiments, the vehicle load calculation process may use Formula 1:

[0038] Formula 1;

[0039] In formula 1, Indicates air resistance (wind resistance). When a vehicle is traveling at high speed, air resistance is proportional to the square of the speed. Air resistance is the main resistance in high-speed sections. It represents the air resistance coefficient (dimensionless), which reflects the influence of the vehicle shape on the air resistance. The smaller the coefficient, the less air resistance the vehicle encounters when driving. Indicates the air density in kilograms per cubic meter (kg / m³). Air density depends on environmental conditions such as altitude, temperature, and humidity. represents the vehicle's frontal area (m²), i.e. the vehicle's positive projection area, Indicates vehicle speed (m / s). Indicates the slope resistance (gravity component). The slope resistance is the gravity component that the vehicle needs to overcome when going uphill. It is a negative value when going downhill. The slope refers to the slope of the road the vehicle is traveling on, which can be divided into uphill and downhill. When the vehicle is moving forward, the power required by the vehicle increases when going uphill, and the power required by the vehicle decreases when going downhill. Indicates the gross vehicle mass (kg). The gross vehicle mass refers to the curb weight of the vehicle when empty and the mass of the cargo loaded. represents the acceleration due to gravity (m / s²), usually taken as 9.81 m / s². Indicates the road slope angle (in radians). Indicates rolling resistance, which is the resistance caused by tire deformation, road friction, etc., and increases slightly with speed. It represents the constant part of the rolling resistance coefficient. It is dimensionless and mainly related to the material, structure and road conditions of the tire. It reflects the rolling resistance between the tire and the road when the vehicle is stationary or traveling at low speed. It represents the speed-related rolling resistance coefficient in seconds per meter (s / m). It takes into account the effect of speed on rolling resistance. As the speed increases, the rolling resistance will change. Represents the slope correction term (approximately equal to 1 when the slope is small). Indicates acceleration resistance (inertia force). Acceleration resistance is the inertia force that the vehicle needs to overcome when accelerating. It is a negative value when decelerating. δ It represents the rotational mass conversion factor, dimensionless. When a vehicle accelerates or decelerates, in addition to the translational mass, rotating parts (such as wheels, transmission system, etc.) also generate inertial forces. δ Used to equate the inertial effects of rotating mass to the inertial effects of translating mass. Indicates the vehicle acceleration (m / s²).

[0040] In S220 , a coordinated strategy for shifting gears and switching vehicle control modes is determined based on the vehicle load, the current vehicle control mode, and the target vehicle control mode.

[0041] The coordinated strategies for shifting gears and switching vehicle control modes include: neutral mode switching strategy and in-gear mode switching strategy. Among them, the neutral mode switching strategy means that the mode is switched when the actual gear of the transmission is neutral. When the mode is switched in neutral, that is, the clutch is closed after the gear is disengaged, and the motor and engine jointly drive the vehicle. When the gear is disengaged and the clutch is closed, the motor and engine can be regarded as one. There is no need to switch to hybrid mode during driving, thereby reducing the impact caused by the engine intervention during the clutch closing process and improving comfort. The in-gear mode switching strategy means that the neutral mode switching strategy cannot be used in cases where the load resistance is large. At this time, the in-gear mode switching strategy needs to be executed, and gear shifting is prioritized to ensure the normal output of the motor torque and the vehicle's power. At the same time, the engine is started in advance to adjust the speed, and the clutch is closed to near the slip point. After waiting for the gear shift to be completed, the mode switch is completed quickly.

[0042] In some embodiments, during a shift, the transmission is actually in neutral, interrupting the powertrain's torque transfer. If the engine is started by reverse motoring at this point, the mode switch will complete without impacting the vehicle. Therefore, when the vehicle's current control mode is pure electric, the target control mode is hybrid, and the vehicle load is less than a preset load, the coordinated strategy is determined to be the neutral mode switch strategy. The neutral mode switch strategy is activated, and after the transmission is disengaged, the engine is reversed by closing the clutch. After the engine starts, the motor is used to adjust the speed and engage a gear, completing the mode switch.

[0043] In other embodiments, when the vehicle load is greater than or equal to a preset load, the coordinated strategy for shifting and switching vehicle control modes is determined to be an in-gear mode switching strategy based on the vehicle's current control mode and the vehicle's target control mode. While mode switching can be completed during a shift, if the vehicle is subjected to high load resistance (e.g., when climbing a slope or when the vehicle itself is heavily loaded), performing a mode switch will result in a prolonged power interruption, resulting in poor driving comfort. Furthermore, the vehicle may experience backward roll while climbing a slope, compromising driving safety. Therefore, in-gear mode switching is necessary for situations with high load resistance. In the in-gear mode, to improve synchronization efficiency, the engine can be started using the starter before torque clearing. During torque clearing and gear shifting, the engine continuously adjusts speed to the target speed. Simultaneously, the motor also adjusts speed synchronously to the target speed. After engine speed adjustment and gear engagement are complete, the clutch is engaged to directly complete the mode switch. Prioritizing shifting to ensure power performance ensures that power performance is maintained. When power performance is maintained, the mode switch is quickly completed, ensuring driving safety and efficient mode switching, thus achieving coordinated shifting and mode switching.

[0044] To further increase the efficiency of mode switching, after the engine is successfully started, the clutch can be controlled to close close to the slip point. When the speed regulation of the engine and motor is completed, the clutch is directly closed to complete the gear shift and mode switching.

[0045] As a possible implementation, when the vehicle's current control mode is pure electric, the target control mode is hybrid, and the vehicle load is greater than or equal to a preset load, the coordinated strategy is determined to be an in-gear mode switching strategy. Alternatively, when the vehicle's current control mode is hybrid, the target control mode is hybrid, and the vehicle load is greater than or equal to a preset load, the coordinated strategy is determined to be an in-gear mode switching strategy. Mode switching can occur during the transition from electric to hybrid or hybrid to hybrid operation. Therefore, the engine can be started with the starter, and after starting, the speed can be adjusted in advance to prevent the engine from lagging behind the motor.

[0046] In S230 , the gear shifting and the vehicle control mode switching are controlled according to the cooperative strategy and the vehicle gear shifting information.

[0047] As a possible implementation method of controlling gear shifting and vehicle control mode switching based on the neutral mode switching strategy and vehicle gear shifting information, when the actual gear position of the transmission is neutral, the clutch is controlled to close; when the clutch is closed, the motor is controlled to reverse and start the engine; after the engine starts, the motor is controlled to adjust the speed and shift into gear.

[0048] Figure 4 This is a flowchart of a neutral mode switching strategy provided by an exemplary embodiment of the present application. Figure 4For example, when switching modes in neutral, first perform torque clearing (see Figure 4 S41), then remove the block (see Figure 4 S42), confirm whether there is a need for mode switching (see Figure 4 S43), if present, close the clutch (see Figure 4 S44), then the motor pulls the engine backward (see Figure 4 S45), then adjust the motor speed (see Figure 4 S46), shift gears (see Figure 4 If there is no mode switching requirement, S46 and S47 are directly executed, that is, pure electric mode shift control.

[0049] Vehicle shift information includes current gear information and target gear information. As a possible implementation method for controlling shifting and vehicle control mode switching based on the in-gear mode switching strategy and vehicle shift information, shifting is performed based on the current gear information and the target gear information. The shifting process includes torque clearing, gear shifting, motor speed regulation, and gear engagement. Before torque clearing, the starter is controlled to start the engine. During torque clearing and gear shifting, the engine speed and motor speed are adjusted based on the target speed. The target speed is calculated based on the vehicle speed and target gear information, for example, by inversely calculating the target speed from the vehicle speed and the target gear. When the engine speed and motor speed meet preset conditions, the clutch is controlled to close. In other words, starting the engine through the starter in advance can increase speed regulation efficiency. Then, during torque clearing and gear shifting, the engine speed is continuously adjusted to approach the target speed, and the motor speed is simultaneously adjusted to approach the target speed. Completing speed regulation in advance can accelerate clutch engagement, thereby closing the clutch when the engine and motor speeds are synchronized.

[0050] As a possible implementation, the clutch is controlled to engage when the engine speed and motor speed meet a predetermined condition: when the difference between the engine speed and the motor speed is less than or equal to a first predetermined difference, the difference between the engine speed and the target speed is less than or equal to a second predetermined difference, and the difference between the motor speed and the target speed is less than or equal to a third predetermined difference. The first, second, and third predetermined differences may be the same or different.

[0051] For example, if the target gear is 6th gear, which requires 3000 rpm, the engine is started by the starter before shifting at 2800 rpm, and the engine speed and motor speed are adjusted synchronously with 3000 rpm as the target. The engine speed is adjusted during the torque clearing and gear shifting stages, and then the motor is also adjusted with 3000 rpm as the target. When the engine speed regulation and motor speed regulation are completed and the gear is engaged, the clutch is closed to complete the online mode switching strategy.

[0052] Figure 5 This is a flow chart of an in-gear mode switching strategy provided by an exemplary embodiment of the present application. Figure 5 For example, at the beginning, the shifting process includes clearing the torque (see Figure 5 S51), unblock (see Figure 5 S52), motor speed control (see Figure 5 S53) and gear shifting (see Figure 5 Before executing S51-S54, confirm whether there is a need for mode switching (see Figure 5 If present, start the generator before S51 (see Figure 5 S56), the engine started successfully (see Figure 5 S57), the clutch is close to the slip point (see Figure 5 Then, during the process of S51, S52 and S53, the engine speed is continuously adjusted with the target speed as the target (see Figure 5 S59) until the engine speed regulation is completed (see Figure 5 S60) and the gear is engaged (see Figure 5 After S54), close the clutch (see Figure 5 S61), the shift mode is switched (see Figure 5 If there is no need to switch modes, the process ends immediately and the pure electric mode shift control is adopted.

[0053] Figure 6 FIG. 1 is a structural diagram of a vehicle mode switching device provided by an exemplary embodiment of the present application. Figure 4 As shown, the vehicle mode switching device 6 includes: an acquisition module 601, which is used to obtain the vehicle load, vehicle shifting information, vehicle current control mode and vehicle target control mode when there is a vehicle mode switching demand; a determination module 602, which is used to determine the coordinated strategy of shifting and vehicle control mode switching based on the vehicle load, vehicle current control mode and vehicle target control mode; wherein the coordinated strategy includes a neutral mode switching strategy and an in-gear mode switching strategy; and a control module 603, which is used to control the shifting and vehicle control mode switching based on the coordinated strategy and vehicle shifting information.

[0054] As a possible implementation method, the vehicle shifting information includes the current gear information and the target gear information, and the control module 603 can be configured to: shift gears according to the current gear information and the target gear information; wherein, the shifting process includes torque clearing, gear disengagement, motor speed regulation and gear engagement; before torque clearing, controlling the starter to start the engine; during torque clearing and gear disengagement, adjusting the engine speed and motor speed based on the target speed; wherein, the target speed is calculated based on the vehicle speed and the target gear information; when the engine speed and motor speed meet the preset conditions, controlling the clutch to close.

[0055] As a possible implementation method, the control module 603 can be configured as follows: when the difference between the engine speed and the motor speed is less than or equal to the first preset difference, and the difference between the engine speed and the target speed is less than or equal to the second preset difference, and the difference between the motor speed and the target speed is less than or equal to the third preset difference, the clutch is controlled to close.

[0056] As a possible implementation, the control module 603 may be configured to: when the actual gear position of the transmission is neutral, control the clutch to close; when the clutch is closed, control the motor to reverse and start the engine; after the engine starts, control the motor to adjust the speed and shift into gear.

[0057] As a possible implementation, the determination module 602 may be configured to: when the vehicle load is less than a preset load, determine that the coordinated strategy for shifting and switching the vehicle control mode is a neutral mode switching strategy based on the vehicle's current control mode and the vehicle's target control mode.

[0058] As a possible implementation, the determination module 602 may be configured to determine that the collaborative strategy is a neutral mode switching strategy when the vehicle's current control mode is a pure electric control mode, the vehicle's target control mode is a hybrid power control mode, and the vehicle load is less than a preset load.

[0059] As a possible implementation, the determination module 602 may be configured to: when the vehicle load is greater than or equal to a preset load, determine that the coordinated strategy for shifting and switching the vehicle control mode is an in-gear mode switching strategy based on the vehicle's current control mode and the vehicle's target control mode.

[0060] As a possible implementation method, the determination module 602 can be configured as follows: when the vehicle's current control mode is a pure electric control mode, and the vehicle's target control mode is a hybrid power control mode, and the vehicle load is greater than or equal to a preset load, the collaborative strategy is determined to be an in-gear mode switching strategy; or when the vehicle's current control mode is a hybrid power control mode, and the vehicle's target control mode is a hybrid power control mode, and the vehicle load is greater than or equal to a preset load, the collaborative strategy is determined to be an in-gear mode switching strategy.

[0061] The methods described herein may be implemented in whole or in part via software, hardware, firmware, or any combination thereof. When implemented using software, they may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions that, when loaded and executed on a computer, fully or partially execute the processes or functions described herein. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, a core network device, an OAM, or other programmable device.

[0062] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0063] The computer program or instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired or wireless method. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both volatile and non-volatile types of storage media.

[0064] In addition, an embodiment of the present application may also be a storage medium having a computer program stored thereon, and the computer program is used by a processor to execute the steps of a vehicle mode switching method described in any of the above embodiments of this specification:

[0065] For the sake of simplicity, the aforementioned method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0066] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similarities between the various embodiments can be referred to in conjunction with each other. For device embodiments, since they are generally similar to method embodiments, their description is relatively simple, and for relevant details, reference can be made to the description of the method embodiments.

[0067] The steps in the methods of the various embodiments of the present application can be adjusted in order, combined, or deleted according to actual needs, and the technical features recorded in the various embodiments can be replaced or combined. The devices in the various embodiments of the present application can be combined, divided, or deleted according to actual needs.

[0068] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0069] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, software executed by a processor, or a combination of the two. The software may be stored in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0070] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0071] The above description of the disclosed embodiments will enable those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is to be construed in the widest manner consistent with the principles and novel features disclosed herein.

Claims

1. A method for switching vehicle modes, characterized in that: include: When there is a need to switch vehicle modes, obtain vehicle load, vehicle shift information, vehicle current control mode, and vehicle target control mode; Determining a coordinated strategy for shifting and switching the vehicle control mode according to the vehicle load, the current vehicle control mode, and the target vehicle control mode; wherein the coordinated strategy includes a neutral mode switching strategy and an in-gear mode switching strategy; When the vehicle load is less than a preset load, determining, according to the current vehicle control mode and the target vehicle control mode, that the coordinated strategy for shifting and switching the vehicle control mode is a neutral mode switching strategy; When the vehicle load is greater than or equal to a preset load, determining, based on the current vehicle control mode and the target vehicle control mode, that the coordinated strategy for shifting gears and switching vehicle control modes is an in-gear mode switching strategy; controlling gear shifting and vehicle control mode switching according to the coordination strategy and the vehicle gear shifting information; The vehicle shift information includes current gear information and target gear information. Controlling shifting and vehicle control mode switching according to the in-gear mode switching strategy and the vehicle shift information includes: shifting according to the current gear information and the target gear information; wherein the shifting process includes torque clearing, gear disengagement, motor speed regulation, and gear engagement; before torque clearing, controlling the starter to start the engine; during torque clearing and gear disengagement, adjusting the engine speed and motor speed based on the target speed; wherein the target speed is calculated based on the vehicle speed and the target gear information; when the engine speed and motor speed meet preset conditions and the gear engagement is completed, controlling the clutch to close to complete the shifting and vehicle control mode switching; According to the neutral mode switching strategy and the vehicle shifting information, the gear shifting and vehicle control mode switching are controlled, including: when the actual gear position of the transmission is neutral, controlling the clutch to close; when the clutch is closed, controlling the motor to reverse and start the engine; after the engine is started, controlling the motor to adjust the speed and shift into gear to complete the gear shifting and vehicle control mode switching.

2. The vehicle mode switching method according to claim 1, characterized in that: The engine speed and the motor speed meet preset conditions, including: The difference between the engine speed and the motor speed is less than or equal to a first preset difference, the difference between the engine speed and the target speed is less than or equal to a second preset difference, and the difference between the motor speed and the target speed is less than or equal to a third preset difference.

3. The vehicle mode switching method according to claim 1, characterized in that: When the vehicle load is less than a preset load, determining, based on the current vehicle control mode and the target vehicle control mode, that the coordinated strategy for shifting and switching the vehicle control mode is a neutral mode switching strategy includes: When the current control mode of the vehicle is the pure electric control mode, the target control mode of the vehicle is the hybrid power control mode, and the vehicle load is less than a preset load, the coordinated strategy is determined to be a neutral mode switching strategy.

4. The vehicle mode switching method according to claim 1, characterized in that: When the vehicle load is greater than or equal to a preset load, determining, based on the current vehicle control mode and the target vehicle control mode, that the coordinated strategy for shifting gears and switching the vehicle control mode is an in-gear mode switching strategy includes: When the current control mode of the vehicle is the pure electric control mode, the target control mode of the vehicle is the hybrid power control mode, and the vehicle load is greater than or equal to a preset load, determining that the collaborative strategy is the in-gear mode switching strategy; or When the current control mode of the vehicle is the hybrid power control mode, the target control mode of the vehicle is the hybrid power control mode, and the vehicle load is greater than or equal to a preset load, the coordinated strategy is determined to be an in-gear mode switching strategy.

5. A vehicle mode switching device, characterized in that: include: An acquisition module, used to acquire vehicle load, vehicle shift information, vehicle current control mode, and vehicle target control mode when there is a need to switch vehicle mode; a determination module, configured to determine a coordinated strategy for shifting and switching the vehicle control mode according to the vehicle load, the current vehicle control mode, and the target vehicle control mode; wherein the coordinated strategy includes a neutral mode switching strategy and an in-gear mode switching strategy; The determination module is configured to: when the vehicle load is less than a preset load, determine, based on the vehicle current control mode and the vehicle target control mode, that the coordinated strategy for shifting and switching the vehicle control mode is a neutral mode switching strategy; The determination module is configured to: when the vehicle load is greater than or equal to a preset load, determine, based on the vehicle current control mode and the vehicle target control mode, that the coordinated strategy for shifting and switching the vehicle control mode is an in-gear mode switching strategy; a control module, configured to control gear shifting and vehicle control mode switching according to the coordination strategy and the vehicle gear shifting information; The control module is configured such that the vehicle shift information includes current gear information and target gear information, and controls the shifting and vehicle control mode switching according to the in-gear mode switching strategy and the vehicle shift information, including: shifting according to the current gear information and the target gear information; wherein the shifting process includes torque clearing, gear disengagement, motor speed regulation, and gear engagement; before torque clearing, controlling the starter to start the engine; during torque clearing and gear disengagement, adjusting the engine speed and motor speed based on the target speed; wherein the target speed is calculated based on the vehicle speed and the target gear information; and when the engine speed and motor speed meet preset conditions and the gear engagement is completed, controlling the clutch to close to complete the shifting and vehicle control mode switching; The control module is configured to control gear shifting and vehicle control mode switching according to the neutral mode switching strategy and the vehicle gear shifting information, including: when the actual gear position of the transmission is neutral, controlling the clutch to close; when the clutch is closed, controlling the motor to reverse and start the engine; when the engine is started, controlling the motor to adjust the speed and shift into gear to complete the gear shifting and vehicle control mode switching.

6. A vehicle, characterized in that: include: transmissions, clutches, motors, and engines; The vehicle mode switching device according to claim 5 is communicatively connected to the transmission, the clutch, the motor, and the engine.

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