Gear shifting control method and device of vehicle, vehicle and storage medium

Abstract

The invention provides a vehicle gear shifting control method and device, a vehicle and a storage medium, the method is applied to the field of vehicles, and the method comprises the steps that when a first drive axle of the vehicle completes gear shifting and a gear shifting request for a second drive axle of the vehicle is obtained, the second drive axle of the vehicle is shifted; driving parameters of the vehicle, motor parameters of the vehicle and gear shifting completion duration of the first drive axle are obtained; based on the running parameters of the vehicle, the motor parameters and the gear shifting completion duration, whether the preset gear shifting condition of the second drive axle is met or not is determined; the preset gear shifting condition is used for determining whether power provided by the first drive axle can meet the requirements of the vehicle or not when the second drive axle performs gear shifting; and under the condition that at least one of the driving parameters, the motor parameters and the gear shifting completion duration meets the preset gear shifting condition, the second drive axle is controlled to conduct gear shifting based on the gear shifting request. According to the method, after the first drive axle of the vehicle finishes gear shifting, the second drive axle is limited to shift gear immediately, so that vehicle power weakening or no power is avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a shifting control method, device, vehicle and storage medium for a vehicle in the field of vehicles. Background Art

[0002] During the shifting process of a vehicle, the shift fork of the transmission needs to disconnect from the original gear and then re-engage with the new gear, so that the power transmission of the vehicle will be interrupted. In a four-wheel drive vehicle, both the front axle transmission and the rear axle transmission are responsible for transmitting power. If the front axle transmission and the rear axle transmission of the vehicle shift simultaneously, the vehicle will suddenly lose power.

[0003] In the related art, to maintain the smoothness of vehicle shifting, when the front axle transmission shifts, the rear axle transmission cannot shift, and when the rear axle transmission shifts, the front axle transmission cannot shift. However, after the front axle transmission of the vehicle has completed shifting, the torque of the front axle transmission cannot provide power for the whole vehicle. At this time, if the rear axle transmission of the vehicle is immediately controlled to shift, the vehicle power will become weak or there will be no power. Summary of the Invention

[0004] The present application provides a shifting control method, device, vehicle and storage medium for a vehicle. The method can limit the second drive axle of the vehicle from shifting immediately after the first drive axle has completed shifting, so as to avoid the vehicle power from becoming weak or having no power.

[0005] In a first aspect, a shifting control method for a vehicle is provided. The method includes:

[0006] When the first drive axle of the vehicle has completed shifting and a shifting request for the second drive axle of the vehicle is obtained, obtain the driving parameters of the vehicle, the motor parameters of the vehicle, and the shifting completion duration of the first drive axle;

[0007] Based on the driving parameters of the vehicle, the motor parameters, and the shifting completion duration, determine whether the preset shifting condition of the second drive axle is satisfied; wherein the preset shifting condition is used to determine whether the power provided by the first drive axle can meet the requirements of the vehicle when the second drive axle shifts;

[0008] When at least one of the driving parameters, the motor parameters, and the shifting completion duration satisfies the preset shifting condition, control the second drive axle to shift based on the shifting request.

[0009] Through the above technical solution, when the first drive axle of the vehicle completes a gear shift and a gear shift request for the second drive axle of the vehicle is obtained, the driving parameters of the vehicle, the motor parameters of the vehicle, and the gear shift completion duration of the first drive axle are obtained. Since the torque of the first drive axle decreases during gear shifting, and even after the first drive axle completes gear shifting, the torque of the first drive axle still cannot meet the requirements of the vehicle. If the second drive axle is controlled to shift gears at this time, the vehicle will lose power. Therefore, based on the driving parameters of the vehicle, the motor parameters, and the gear shift completion duration, it is determined whether the preset gear shift condition of the second drive axle is met; the preset gear shift condition is used to determine whether the power provided by the first drive axle can meet the requirements of the vehicle when the second drive axle shifts gears; when at least one of the driving parameters, the motor parameters, and the gear shift completion duration meets the preset gear shift condition, based on the gear shift request, the second drive axle is controlled to shift gears. That is, when it is determined that the power provided by the first drive axle meets the requirements of the vehicle when the second drive axle shifts gears, the second drive axle is controlled to shift gears, thereby avoiding the problem that the vehicle loses power due to the second drive axle shifting gears immediately after the first drive axle of the vehicle shifts gears.

[0010] In combination with the first aspect, in some possible implementation manners, the driving parameter includes the vehicle speed, and the determining whether the preset gear shift condition of the second drive axle is met based on the driving parameters of the vehicle, the motor parameters, and the gear shift completion duration includes:

[0011] When the first drive axle of the vehicle completes a gear shift, it is determined whether the vehicle is in a stationary state based on the vehicle speed;

[0012] When the vehicle is in a stationary state, it is determined that the preset gear shift condition of the second drive axle is met;

[0013] When the vehicle is in a driving state, it is determined whether the preset gear shift condition of the second drive axle is met based on the motor parameters and the gear shift completion duration.

[0014] Through the above technical solution, the vehicle speed can determine whether the vehicle is in a stationary state. If the vehicle is in a stationary state, the vehicle has no power requirement. Therefore, even if the second drive axle is controlled to shift gears immediately after the first drive axle completes gear shifting, there will be no problem of the vehicle losing power. Therefore, when the vehicle is in a stationary state, it is determined that the preset gear shift condition of the second drive axle is met. When the vehicle is in a driving state, based on the motor parameters and the gear shift completion duration, it is re-determined whether the vehicle meets the preset gear shift condition of the second drive axle, so as to judge from multiple aspects whether to control the second drive axle to shift gears to solve the problem of the vehicle losing power during gear shifting.

[0015] In combination with the first aspect, in some possible implementation manners, determining whether the preset shifting condition of the second drive axle is satisfied based on the motor parameters and the shifting completion duration includes:

[0016] When the shifting of the first drive axle is completed and the shifting completion duration of the first drive axle is greater than or equal to a first preset duration, it is determined that the preset shifting condition of the vehicle is satisfied;

[0017] When the shifting completion duration of the first drive axle is less than the first preset duration, it is determined whether the preset shifting condition of the second drive axle is satisfied based on the motor parameters.

[0018] Through the above technical solution, that the first drive axle is completed and the shifting completion duration of the first drive axle is greater than or equal to the first preset duration indicates that the duration for the first drive axle to complete shifting is relatively long. In this case, the torque of the first drive axle can meet the requirements of the vehicle. Therefore, based on the shifting completion duration of the first drive axle, it can be determined whether the shifting request of the second drive axle of the vehicle is satisfied. That the shifting completion duration of the first drive axle is less than the first preset duration indicates that the duration for the first drive axle to complete shifting is relatively short. In this case, the torque of the first drive axle cannot meet the requirements of the vehicle. Therefore, it is necessary to determine whether the preset shifting condition of the second drive axle is satisfied based on the motor parameters.

[0019] In combination with the first aspect, in some possible implementation manners, the first drive axle includes a front axle, the second drive axle includes a rear axle, the motor parameters include first motor parameters and second motor parameters, and determining whether the preset shifting condition of the second drive axle is satisfied based on the motor parameters includes:

[0020] When the difference between the first allowable torque of the first motor parameters and the required torque of the vehicle is greater than or equal to a first preset torque, it is determined that the preset shifting condition of the vehicle is satisfied; wherein, the first motor parameters are the motor parameters of the front axle, and the first allowable torque is used to limit the maximum torque of the front axle wheel end of the front axle;

[0021] Or, when the second motor speed of the second motor parameters is greater than or equal to a first preset speed, it is determined that the preset shifting condition of the vehicle is satisfied; wherein, the second motor parameters are the motor parameters of the rear axle.

[0022] In combination with the first aspect, in some possible implementation manners, the method further includes:

[0023] When the first allowable torque is less than or equal to a second preset torque and the second motor speed is less than the first preset speed, it is determined that the preset shifting condition of the vehicle is not satisfied.

[0024] Through the above technical solution, the first motor parameter and the second motor parameter can determine whether the torque of the first drive axle can meet the requirements of the vehicle. Therefore, based on the first motor parameter and the second motor parameter, the preset shift condition of the vehicle can be determined.

[0025] Combined with the first aspect, in some possible implementation manners, the first drive axle includes a rear axle, the second drive axle includes a front axle, the motor parameter includes a first motor parameter and a second motor parameter, and determining whether the preset shift condition of the second drive axle is satisfied based on the motor parameter includes:

[0026] When the first motor speed of the first motor parameter is greater than or equal to a second preset speed, it is determined that the preset shift condition of the vehicle is satisfied; wherein, the first motor speed is the motor speed of the front axle;

[0027] Or, when the difference between the second allowable torque of the second motor parameter and the required torque of the vehicle is greater than or equal to a third preset torque, it is determined that the preset shift condition of the vehicle is satisfied; wherein, the second allowable torque is used to limit the maximum torque of the motor of the rear axle.

[0028] Combined with the first aspect, in some possible implementation manners, the method further includes:

[0029] When the second allowable torque is less than or equal to a fourth preset torque and the first motor speed is less than the second preset speed, it is determined that the preset shift condition of the vehicle is not satisfied.

[0030] Through the above technical solution, the first motor parameter and the second motor parameter can determine whether the torque of the first drive axle can meet the requirements of the vehicle. Therefore, based on the first motor parameter and the second motor parameter, the preset shift condition of the vehicle can be determined.

[0031] In a second aspect, a shift control device for a vehicle is provided, and the device includes:

[0032] An acquisition module, configured to acquire the driving parameters of the vehicle, the motor parameters of the vehicle, and the shift completion duration of the first drive axle when the first drive axle of the vehicle completes a shift and a shift request for the second drive axle of the vehicle is acquired;

[0033] A determination module, configured to determine whether the preset shift condition of the second drive axle is satisfied based on the driving parameters of the vehicle, the motor parameters, and the shift completion duration; wherein, the preset shift condition is used to determine whether the power provided by the first drive axle can meet the requirements of the vehicle when the second drive axle shifts gears;

[0034] A control module, configured to control the second drive axle to shift gears based on the shift request when at least one of the driving parameter, the motor parameter, and the shift completion duration meets the preset shift condition.

[0035] In a third aspect, a vehicle is provided, including a memory and a processor. The memory is configured to store executable program code, and the processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method performed by the shift control method of the vehicle described above.

[0036] In a fourth aspect, a computer program product is provided, including: computer program code, when the computer program code runs on a computer, causing the computer to execute the method performed by the shift control method of the vehicle described above.

[0037] In a fifth aspect, a computer-readable storage medium is provided, storing computer program code, when the computer program code runs on a computer, causing the computer to execute the method performed by the shift control method of the vehicle described above. Description of the Drawings

[0038] Figure 1 is a schematic diagram of the implementation environment of a shift control method for a vehicle provided by an embodiment of the present application;

[0039] Figure 2 is a schematic structural diagram of the drive composition architecture of a vehicle provided by an embodiment of the present application;

[0040] Figure 3 is a schematic flowchart of a shift control method for a vehicle provided by an embodiment of the present application;

[0041] Figure 4 is a schematic flowchart of another shift control method for a vehicle of an embodiment of the present application;

[0042] Figure 5 is a schematic structural diagram of a shift control device for a vehicle provided by an embodiment of the present application;

[0043] Figure 6 is a schematic structural diagram of a vehicle provided by an embodiment of the present application. Detailed Embodiments

[0044] The technical solutions in the present application will be clearly and elaborately described below in conjunction with the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may represent A or B. The "and / or" in the text is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0045] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0046] In a four-wheel drive vehicle, the drive axles of the vehicle include a front axle and a rear axle, and both the front axle transmission and the rear axle transmission are responsible for power transmission. Before shifting gears in a four-wheel drive vehicle, the vehicle control unit will control the motor to reduce torque, and the motor torque will gradually decrease. If the front axle transmission of the vehicle is in the process of shifting gears, the front axle transmission will disengage the gear, and the allowable torque of the front axle will be reduced to 0 Newton meters (Nm). Therefore, the front axle cannot provide power to the vehicle. After the front axle shifting is completed, at this time, the allowable torque of the front axle still cannot meet the power demand of the vehicle. Therefore, if the rear axle of the vehicle is controlled to shift gears at this time, the vehicle will lose power. For example, during the front axle shifting process, the allowable torque of the front axle is 0 Nm. After the front axle shifting is completed, the allowable torque begins to recover. Even when the allowable torque value of the front axle only reaches 30.3 Nm after the front axle shifting is completed, and at this time the required torque of the whole vehicle is 382.5 Nm, if the rear axle of the vehicle starts to shift gears at this time, then the allowable torque of the rear axle will also be reduced to 0 Nm, and then the torques of the front axle and the rear axle cannot meet the required torque of the whole vehicle, resulting in the vehicle losing power. Based on the above problems, the embodiments of the present application provide a method for controlling gear shifting of a vehicle, which can determine whether the power provided by the first drive axle can meet the requirements of the vehicle when the second drive axle shifts gears based on the driving parameters, the motor parameters, and the gear shifting completion duration of the vehicle; in the case of determining that the power provided by the first drive axle can meet the requirements of the vehicle when the second drive axle shifts gears, control the second drive axle to shift gears, thereby avoiding the problem that the vehicle loses power due to the second drive axle shifting immediately after the first drive axle of the vehicle shifts gears.

[0047] Figure 1 It is a schematic diagram of the implementation environment of a method for controlling gear shifting of a vehicle provided by an embodiment of the present application.

[0048] Exemplarily, as Figure 1 shown, the implementation environment includes a vehicle control unit 110 and a motor control unit 120.

[0049] The vehicle control unit 110 is an important control unit for the vehicle, which can obtain relevant data of the vehicle and control the vehicle to perform corresponding operations based on the relevant data. For example, the vehicle control unit 110 obtains the gear request of the vehicle and controls the vehicle to complete gear shifting. In some embodiments, the vehicle control unit 110 sends a torque request to the motor control unit 120 to provide power for the vehicle.

[0050] The motor control unit 120 is used to control the motor to output a specified torque and rotational speed. In some embodiments, the motor control unit 120 controls the rotation of the motor based on the torque request of the vehicle control unit 110 to coordinate the output torque of the motor.

[0051] Figure 2 It is a schematic structural diagram of a drive component architecture of a vehicle provided by an embodiment of the present application.

[0052] Exemplarily, as Figure 2 shown, the drive component architecture of the vehicle includes a front axle power system and a rear axle power system.

[0053] The front axle power system includes a front axle motor, a clutch, an engine, a front axle transmission, a left front wheel, a right front wheel, and a front differential. The front axle is jointly composed of a fuel engine and a front axle motor, and the power coupling and separation are realized through the clutch. The engine can drive the front axle alone or output power in parallel with the front axle motor (such as in an emergency acceleration scenario). The front axle motor is integrated between the engine and the transmission, and the front axle motor supports functions such as pure electric drive and energy recovery. The front axle transmission includes multiple gears, and the speed ratios corresponding to different gears are different. By changing the speed ratio, the power transmission and rotational speed of the front wheels of the vehicle can be controlled. That is, by different speed ratios, the efficiency of the engine or the motor at different vehicle speeds can be improved. For example, a large speed ratio is used at low speeds to increase torque, and a small speed ratio is used at high speeds to reduce rotational speed. The speed ratio is the transmission ratio of the gears of each gear inside the front axle transmission. The front differential is used to balance the rotational speed difference between the inner and outer wheels during turning. The power of the vehicle is distributed to the left and right front wheels through the front differential, allowing the rotational speed difference between the inner and outer wheels during turning. The left front wheel and the right front wheel are used to convert the power into the force for the vehicle to move forward or backward, and at the same time transmit the braking force during braking to decelerate or stop the vehicle.

[0054] The rear axle power system includes a rear axle motor, a rear axle transmission, a left rear wheel, a right rear wheel, and a rear differential. The rear axle is completely driven by the rear axle motor and is equipped with an independent rear axle transmission and rear differential. The rear axle motor is used to respond to the driving demand and achieve rapid torque distribution. The rear axle transmission is used for the power transmission and rotational speed of the rear wheels of the vehicle. The rear differential is used to balance the rotational speed difference between the inner and outer wheels during turning. The left rear wheel and the right rear wheel convert the power into the force for the vehicle to move forward or backward, and at the same time transmit the braking force during braking to decelerate or stop the vehicle.

[0055] Figure 3 It is a schematic flowchart of a shift control method for a vehicle provided by an embodiment of the present application.

[0056] Exemplarily, as Figure 3 shown, taking the vehicle controller as the execution subject as an example, a shift control method for a vehicle of the present application will be described. The method 300 includes the following steps 301-step 303.

[0057] Step 301, when the first drive axle of the vehicle completes a shift and a shift request for the second drive axle of the vehicle is obtained, obtain the driving parameters of the vehicle, the motor parameters of the vehicle, and the shift completion duration of the first drive axle.

[0058] Among them, the first drive axle is the drive axle that completes the shift first. The second drive axle is the drive axle ready to shift. In practical applications, the first drive axle and the second drive axle are two different drive axles. For example, if the first drive axle is the front axle, the second drive axle is the rear axle. If the first drive axle is the rear axle, the second drive axle is the front axle. The first drive axle completing the shift and obtaining a shift request for the second drive axle of the vehicle includes two situations. For example, the front axle completes the shift and a shift request for the rear axle is obtained. The rear axle completes the shift and a shift request for the front axle is obtained.

[0059] The driving parameters are used to describe the state of the vehicle during driving, and the driving parameters include the transmission gear of the vehicle. The motor parameters include the first motor parameters and the second motor parameters. The first motor parameters are the motor parameters of the front axle, and the second motor parameters are the motor parameters of the rear axle. The first motor parameters are used to represent the power output of the front axle power system. The second motor parameters are used to represent the power output of the rear axle power system. The shift completion duration of the first drive axle is used to indicate the duration after the drive axle completes the shift.

[0060] Step 302, based on the driving parameters of the vehicle, the motor parameters, and the shift completion duration, determine whether the preset shift condition of the second drive axle is satisfied.

[0061] Among them, the preset shift condition is used to determine whether the power provided by the first drive axle when the second drive axle shifts can meet the requirements of the vehicle.

[0062] It should be understood that when the first drive axle of the vehicle is in the gear shifting process, the allowable torque of the first drive axle will decrease to 0 Nm at a preset rate, so the first drive axle cannot provide power to the vehicle. After the gear shifting of the first drive axle is completed, at this time, the allowable torque of the first drive axle will increase at a preset rate. If the gear shifting completion time of the first drive axle is short and the required torque of the whole vehicle is large, even if the allowable torque of the first drive axle increases, this allowable torque still cannot reach the required torque of the whole vehicle. Therefore, if the second drive axle of the vehicle is controlled to shift gears at this time, the vehicle will lose power. To avoid the above problems, based on the driving parameters of the vehicle, the motor parameters and the gear shifting completion time, it is determined whether the preset gear shifting conditions of the second drive axle are met. That is, before the second drive axle shifts gears, a judgment condition is added to avoid the vehicle having no power.

[0063] Step 303, when at least one of the driving parameters, the motor parameters and the gear shifting completion time meets the preset gear shifting conditions, based on the gear shifting request, control the second drive axle to shift gears.

[0064] Among them, since the driving parameters include the transmission gear position, and the required power is different when the vehicle is in different gear positions, it is possible to judge whether the preset gear shifting conditions of the second drive axle are met based on the driving parameters. Since the motor parameters can determine whether the power provided by the first drive axle can meet the requirements of the vehicle, it is possible to judge whether the preset gear shifting conditions of the second drive axle are met based on the motor parameters. Since the gear shifting completion time is used to represent the gear shifting completion time of the first drive axle, then when the gear shifting completion time of the first drive axle is long, it is determined that the preset gear shifting conditions of the vehicle are met. That is, it is possible to judge whether the preset gear shifting conditions of the second drive axle are met based on the gear shifting completion time. The gear shifting request is used to control the second drive axle to shift gears.

[0065] An embodiment of the present application provides a shift control method for a vehicle. The method can obtain the driving parameters of the vehicle, the motor parameters of the vehicle, and the shift completion duration of the first drive axle when the first drive axle of the vehicle completes a shift and a shift request for the second drive axle of the vehicle is obtained. Since the torque of the first drive axle decreases during shifting, and even after the first drive axle completes shifting, the torque of the first drive axle still cannot meet the requirements of the vehicle. If the second drive axle is controlled to shift at this time, the vehicle will lose power. Therefore, based on the driving parameters of the vehicle, the motor parameters, and the shift completion duration, it is determined whether the preset shift condition for the second drive axle is satisfied; the preset shift condition is used to determine whether the power provided by the first drive axle when the second drive axle shifts can meet the requirements of the vehicle; when at least one of the driving parameters, the motor parameters, and the shift completion duration satisfies the preset shift condition, based on the shift request, the second drive axle is controlled to shift. That is, when it is determined that the power provided by the first drive axle when the second drive axle shifts can meet the requirements of the vehicle, the second drive axle is controlled to shift, thereby avoiding the problem that the vehicle loses power due to the second drive axle shifting immediately after the first drive axle of the vehicle shifts.

[0066] Figure 4 It is a schematic flowchart of another shift control method for a vehicle according to an embodiment of the present application.

[0067] It should be noted that the above steps 301-303 are a simple description of a shift control method for a vehicle provided by an embodiment of the present application. Below, some examples will be combined to provide a more detailed description of a shift control method for a vehicle provided by an embodiment of the present application. See Figure 4 Taking the vehicle controller as the execution subject as an example, the method includes the following steps 401-step 404.

[0068] Step 401, when the first drive axle of the vehicle completes a shift and a shift request for the second drive axle of the vehicle is obtained, obtain the driving parameters of the vehicle, the motor parameters of the vehicle, and the shift completion duration of the first drive axle.

[0069] Among them, the first drive axle is the front axle or the rear axle, and the second drive axle is the rear axle or the front axle.

[0070] In some embodiments, when the first drive axle is the front axle and the second drive axle is the rear axle, after the front axle completes a shift and a shift request for the rear axle of the vehicle is obtained.

[0071] In some embodiments, when the first drive axle is the rear axle and the second drive axle is the front axle, after the rear axle completes a shift, a shift request for the front axle of the vehicle is obtained.

[0072] The content of obtaining the driving parameters of the vehicle, the motor parameters of the vehicle, and the gear shifting completion duration of the first drive axle will be described below.

[0073] Among them, the driving parameters include the transmission gear position; the motor parameters include the first motor parameters and the second motor parameters; the first motor parameters include the first allowable torque and the first motor speed; the second motor parameters include the second allowable torque and the second motor speed; the gear shifting completion duration of the first drive axle includes the front axle gear shifting completion duration and the rear axle gear shifting completion duration.

[0074] In some embodiments, the transmission gear position of the vehicle is obtained based on a transmission sensor.

[0075] The transmission sensor includes a Hall effect sensor and a magnetic element. When the shift lever is toggled, the shift lever drives the magnetic element to move, and the magnetic element approaches or moves away from the Hall effect sensor. The position of the magnetic element relative to the Hall effect sensor changes, thereby changing the magnetic field strength, and the Hall sensor outputs different voltage signals, so as to identify the transmission gear position of the vehicle.

[0076] Among them, the transmission gear position includes a driving gear position and a non-driving gear position. For example, the driving gear position includes a forward gear (D) and a reverse gear (R). The non-driving gear position includes a parking gear (P) and a neutral gear (N).

[0077] In some embodiments, the first allowable torque and the second allowable torque are obtained based on a torque sensor.

[0078] Among them, the first allowable torque is used to limit the maximum torque of the front axle wheel end of the front axle. That is, the first allowable torque is the maximum torque allowed to be output by the front axle wheel end of the front axle. The second allowable torque is used to limit the maximum torque of the rear axle motor. That is, the second allowable torque is the maximum torque allowed to be output by the rear axle motor.

[0079] In some embodiments, the first motor speed and the second motor speed are obtained based on a speed sensor.

[0080] The speed sensor is used to measure the speed of the motor. When the gear of the motor passes by the speed sensor, a periodic magnetic field change will be generated, which will be detected by the speed sensor and converted into an electrical signal. The electrical signal corresponds to a pulse, and the speed of the motor is calculated by counting the number of pulses. The first motor speed is the speed of the front axle motor. The second motor speed is the speed of the rear axle motor.

[0081] In practical applications, if the vehicle is in a high-load working condition (such as climbing a slope or towing a trailer), if the torque is not reduced during vehicle gear shifting, it will cause the transmission system to be overloaded and easily damage the drive axle. To ensure a smooth gear-shifting process of the vehicle and avoid damage to the drive axle, when receiving a gear-shifting request of the first drive axle, the vehicle controller triggers a torque reduction request, reduces the first allowable torque of the first drive axle to a second preset torque at a first preset rate, or reduces the second allowable torque to a fourth preset torque at a second preset rate. After the first drive axle completes gear shifting, the vehicle controller triggers a torque increase request, and then the vehicle controller increases the first allowable torque at the first preset rate, or increases the second allowable torque at the second preset rate.

[0082] Among them, the first preset rate and the second preset rate are rates automatically determined by the vehicle controller, and the embodiments of the present application do not limit the first preset rate. The second preset torque is a torque automatically determined by the vehicle controller, and the embodiments of the present application do not limit the second preset torque. For example, the second preset torque can be 3 Nm. The fourth preset torque is a torque automatically determined by the vehicle controller. The embodiments of the present application do not limit the preset torque. For example, the fourth preset torque can be 0 Nm.

[0083] Step 402: Based on the driving parameters of the vehicle, the motor parameters, and the gear-shifting completion duration, determine whether the preset gear-shifting condition of the second drive axle is satisfied.

[0084] Among them, the preset gear-shifting condition is used to determine whether the power provided by the first drive axle can meet the vehicle's requirements when the second drive axle performs gear shifting. The driving parameters include the transmission gear of the vehicle.

[0085] It should be understood that after the first drive axle completes gear shifting, since the first allowable torque increases at the first preset rate and the second allowable torque increases at the second preset rate, it takes some time for the torque provided by the first drive axle to increase to the required torque of the vehicle. If the second drive axle is controlled to shift gears at this time, the torque provided by the second drive axle will also decrease at the first preset rate or the second preset rate, then the power provided by the first drive axle and the second drive axle cannot meet the vehicle's requirements. In this case, it is necessary to determine whether the preset gear-shifting condition of the second drive axle is satisfied based on the driving parameters, the motor parameters, and the gear-shifting completion duration.

[0086] It should also be understood that in practical applications, it is impossible to determine whether the vehicle is in a stationary state only through the vehicle's transmission, so the vehicle speed needs to be added to determine whether the vehicle is in a stationary state.

[0087] In a possible implementation, when the first drive axle of the vehicle completes a gear shift, it is determined whether the vehicle is in a stationary state based on the transmission gear position and the vehicle speed; when the vehicle is in a stationary state, it is determined that the preset gear shift condition of the second drive axle is met; when the vehicle is in a driving state, it is determined whether the preset gear shift condition of the second drive axle is met based on the motor parameters and the gear shift completion duration.

[0088] It should be understood that if the vehicle is in a stationary state, there is no power output from the vehicle. Then, even if the second drive axle shifts gears immediately after the first drive axle completes the gear shift, it will not cause power loss of the vehicle. Therefore, when the vehicle is in a stationary state, it is determined that the preset gear shift condition of the second drive axle is met.

[0089] In this implementation, the transmission gear position can determine whether the vehicle is in a stationary state. If the vehicle is in a stationary state, there is no power demand from the vehicle. Therefore, even if the second drive axle is controlled to shift gears immediately after the first drive axle completes the gear shift, there will be no problem of the vehicle losing power. Therefore, when the vehicle is in a stationary state, it is determined that the preset gear shift condition of the second drive axle is met. When the vehicle is in a driving state, based on the motor parameters and the gear shift completion duration, it is re-determined whether the vehicle meets the preset gear shift condition of the second drive axle, so as to comprehensively determine whether to control the second drive axle to shift gears to solve the problem of power loss during vehicle gear shifting.

[0090] To illustrate the above implementation in more detail, the above implementation will be described in several parts below.

[0091] The first part: The content of determining whether the vehicle is in a stationary state based on the transmission gear position and the vehicle speed when the first drive axle of the vehicle completes a gear shift will be described below.

[0092] In some embodiments, when the first drive axle of the vehicle completes a gear shift, when the transmission gear position is in the parking gear, it is determined that the vehicle is in a stationary state.

[0093] Among them, the preset vehicle speed is automatically determined by the vehicle control unit, and the present application embodiment does not limit the second preset torque. For example, the preset vehicle speed is 0 kilometers per hour (KPH).

[0094] In some embodiments, when the first drive axle of the vehicle completes a gear shift, when the transmission gear position is in the neutral gear, forward gear or reverse gear and the vehicle speed of the vehicle is less than or equal to the preset vehicle speed, it is determined that the vehicle is in a stationary state.

[0095] In some embodiments, when the transmission gear position is in the forward gear or reverse gear and the vehicle speed of the vehicle is greater than the preset vehicle speed, it is determined that the vehicle is in a driving state.

[0096] In the second part, an explanation is given on determining that the preset shifting condition of the second drive axle is satisfied when the vehicle is in a stationary state.

[0097] In some embodiments, when the vehicle is in a stationary state, it is determined that the power of the vehicle will not be lost. That is, when the vehicle is in the parking gear or neutral gear, it is determined that the preset shifting condition of the second drive axle is satisfied.

[0098] In the third part, an explanation is given on determining whether the preset shifting condition of the second drive axle is satisfied based on the motor parameters and the shifting completion duration when the vehicle is in a driving state.

[0099] It should be understood that when the vehicle is in a driving state and it is determined that the vehicle needs power output, if the second drive axle shifts gears immediately after the first drive axle completes shifting, it will cause the power of the vehicle to be lost. Therefore, based on the motor parameters and the shifting completion duration, it is determined whether the preset shifting condition of the second drive axle is satisfied.

[0100] In some embodiments, when the first drive axle completes shifting and the shifting completion duration of the first drive axle is greater than or equal to the first preset duration, it is determined that the preset shifting condition of the vehicle is satisfied.

[0101] Among them, the first preset duration is a duration automatically determined by the vehicle control unit. The embodiments of the present application do not limit the first preset duration. For example, the first preset duration can be 2 seconds (s).

[0102] Optionally, the first preset duration can also be determined by a correspondence table between the throttle pedal opening of the vehicle and the vehicle speed.

[0103] Table 1 is a schematic relationship table of different throttle pedal openings, vehicle speeds, and corresponding first preset durations in the embodiments of the present application.

[0104] Table 1

[0105] y\x 0 10 20 30 40 50 80 100 0 2 2 2 2 2 2 2 2 20 2 2 2 2 2 2 2 2 40 2 2 2 2 2 2 2 2 80 1.5 1.5 1.5 1.5 2 2 2 2 100 1.5 1.5 1.5 1.5 2 2 2 2 120 1.5 1.5 1.5 1.5 1.5 1.5 1.5 1.5 160 1 1 1 1 1 1 1 1 180 1 1 1 1 1 1 1 1

[0106] Exemplarily, as shown in Table 1, the y-direction represents the vehicle speed, and the x-direction represents the throttle pedal opening. Different first preset durations can be determined based on the vehicle speed and the throttle pedal opening. Different vehicle speeds correspond to different gear ratios of the transmission. The lower the vehicle speed, the lower the gear of the vehicle, the larger the gear ratio, and the greater the wheel-end torque required for the low gear, so the required torque of the whole vehicle is greater. The smaller the throttle pedal opening, the smaller the required torque of the whole vehicle. Among them, the required torque of the whole vehicle is the wheel-end torque required by the front axle or the wheel-end torque required by the rear axle. That is to say, at the same vehicle speed, the smaller the throttle pedal opening, the smaller the required torque of the whole vehicle. After the gear shift is completed, it takes a shorter time for the first allowable torque (the second allowable torque of the rear axle motor) of the front axle to rise to the required torque of the vehicle. At the same vehicle speed, the larger the throttle pedal opening, the greater the required torque of the whole vehicle. That is to say, after the gear shift is completed, it takes a longer time for the first allowable torque (the second allowable torque of the rear axle motor) of the front axle to rise to the required torque of the vehicle. When the throttle pedal opening is the same, the lower the vehicle speed, the lower the gear of the whole vehicle, the greater the required torque of the whole vehicle, and after the gear shift is completed, it takes a longer time for the first allowable torque (the second allowable torque of the rear axle motor) of the front axle to rise to the required torque of the vehicle. When the throttle pedal opening is the same, the higher the vehicle speed, the higher the gear of the whole vehicle, the smaller the required torque of the whole vehicle, and after the gear shift is completed, it takes a shorter time for the first allowable torque (the second allowable torque of the rear axle motor) of the front axle to rise to the required torque of the vehicle.

[0107] It can be seen from Table 1 that when the vehicle speed of the vehicle is between 0 and 40 KPH, regardless of the throttle pedal opening, the vehicle is in a low speed. In this case, the required torque of the whole vehicle is relatively large. That is to say, it takes a longer time (2S) for the first allowable torque or the second allowable torque to rise to the required torque of the vehicle. When the vehicle speed of the vehicle is between 80 and 100 KPH, different throttle pedal openings will result in different required torques of the vehicle. In this case, the larger the throttle pedal opening, the greater the required torque of the whole vehicle. That is to say, it takes a longer time for the first allowable torque or the second allowable torque to meet the required torque of the vehicle. When the vehicle speed of the vehicle is between 120 and 180 KPH, the vehicle speed is very fast, so the vehicle is in a high gear, the gear ratio of the vehicle is small, and the required torque of the whole vehicle is relatively small. In this case, it takes a shorter time (1.5S or 1S) for the first allowable torque or the second allowable torque to rise to the required torque of the vehicle.

[0108] Optionally, the first preset duration can also be determined by a correspondence table between the brake pedal opening of the vehicle and the vehicle speed.

[0109] Table 2 is a schematic relationship table of different brake pedal opening degrees, vehicle speeds, and corresponding first preset durations in the embodiments of the present application.

[0110] Table 2

[0111] y\x 0 10 20 30 40 50 80 100 0 2 2 2 2 2 2 2 2 20 2 2 2 2 2 2 2 2 40 2 2 2 2 2 2 2 2 80 1.5 1.5 1.5 1.5 2 2 2 2 100 1.5 1.5 1.5 1.5 2 2 2 2 120 1.5 1.5 1.5 1.5 1.5 1.5 1.5 1.5 160 1 1 1 1 1 1 1 1 180 1 1 1 1 1 1 1 1

[0112] Exemplarily, as shown in Table 2, the y-direction represents the vehicle speed, and the x-direction represents the brake pedal opening degree. Based on the vehicle speed and the brake pedal opening degree, different first preset durations can be determined. The brake pedal affects the downshift of the vehicle. The larger the brake pedal opening degree, the faster the downshift. Different vehicle speeds correspond to different gear ratios of the transmission. The lower the vehicle speed, the lower the overall gear of the vehicle, the larger the gear ratio, the larger the wheel-end torque corresponding to the low gear, and the greater the wheel-end torque required for the entire vehicle, that is, the greater the required torque of the entire vehicle. The wheel-end torque corresponding to the high gear is smaller. If the vehicle speed is relatively high and a downshift is required at this time, the motor needs a higher speed to match the new low gear, then the required torque of the entire vehicle becomes larger. The smaller the brake pedal opening degree, the smaller the required torque of the entire vehicle. At the same vehicle speed, the smaller the brake pedal opening degree, the smaller the required torque of the entire vehicle. After the gearshift is completed, it takes a shorter time for the first allowable torque of the front axle (the second allowable torque of the rear axle motor) to rise to the required torque of the vehicle. At the same vehicle speed, the larger the brake pedal opening degree, the greater the required torque of the entire vehicle. That is, after the gearshift is completed, it takes a longer time for the first allowable torque of the front axle (the second allowable torque of the rear axle motor) to rise to the required torque of the vehicle. When the brake pedal opening degree is the same, the smaller the vehicle speed, the lower the overall gear of the vehicle. At the low gear, the required torque of the entire vehicle is larger. After the gearshift is completed, to ensure that there is no power loss in the vehicle, the first allowable torque of the front axle and the second allowable torque of the rear axle motor need to be increased to the required torque corresponding to this low gear. Since the required torque corresponding to the low gear is larger, it takes a very long time for the first allowable torque of the front axle (the second allowable torque of the rear axle motor) to rise to the required torque of the vehicle. When the throttle pedal opening degree is the same, the larger the vehicle speed, the higher the overall gear of the vehicle. The required torque of the higher gear is smaller. After the gearshift is completed, it takes a shorter time for the first allowable torque of the front axle (the second allowable torque of the rear axle motor) to rise to the required torque of the vehicle (the required torque is the wheel-end torque required for the vehicle).

[0113] As can be seen from Table 2, when the vehicle speed is between 0 - 40 KPH, the vehicle is at a low speed. Regardless of the opening degree of the brake pedal, the vehicle is in a low gear, and the overall vehicle demand torque is very large. That is to say, it takes a relatively long time (2S) for the first allowable torque or the second allowable torque to rise to the vehicle's demand torque. When the vehicle speed is between 80 - 100 KPH, different brake pedal opening degrees will result in different demand torques for the vehicle. In this case, the larger the brake pedal opening degree, the greater the overall vehicle demand torque. That is to say, it takes a relatively long time for the first allowable torque or the second allowable torque to meet the vehicle's demand torque. When the vehicle speed is between 120 - 180 KPH, the vehicle speed is very fast. Then the vehicle is in a high gear, the vehicle's speed ratio is small, and the overall vehicle demand torque is small. In this case, it takes a relatively short time (1.5S or 1S) for the first allowable torque or the second allowable torque to rise to the vehicle's demand torque.

[0114] It should be understood that the shift completion duration of the first drive axle being greater than or equal to the first preset duration indicates that the shift completion duration of the first drive axle is relatively long. At this time, the first allowable torque or the second allowable torque of the first drive axle has risen to the vehicle's demand torque at the first preset rate or the second preset rate. That is to say, the power provided by the first drive axle can meet the vehicle's demand.

[0115] In some embodiments, when the shift completion duration of the first drive axle is less than the first preset duration, it is determined whether the preset shift condition of the second drive axle is met based on the motor parameters.

[0116] It should be understood that the shift completion duration of the first drive axle being less than the first preset duration indicates that the shift completion duration of the first drive axle is relatively short. At this time, although the first allowable torque or the second allowable torque of the first drive axle rises at the first preset rate or the second preset rate, due to the short rising time, the torque provided by the first drive axle cannot meet the vehicle's demand torque. That is to say, the power provided by the first drive axle cannot meet the vehicle's demand. In this case, it is determined whether the preset shift condition of the second drive axle is met based on the motor parameters.

[0117] Taking the first drive axle as the front axle and the second drive axle as the rear axle as an example below, the content of determining whether the preset shift condition of the second drive axle is met based on the motor parameters will be described.

[0118] In a possible implementation manner, when the difference between the first allowable torque of the first motor parameter and the vehicle's demand torque is greater than or equal to the first preset torque, it is determined that the preset shift condition of the vehicle is met.

[0119] Among them, the first motor parameter is the motor parameter of the front axle, and the first allowable torque is used to limit the maximum torque of the front axle wheel end of the front axle.

[0120] The first preset torque is the torque automatically determined by the vehicle controller. The embodiments of the present application do not limit the first preset torque.

[0121] It can be understood that to ensure the smooth gear shifting process of the vehicle and avoid damage to the drive axle, when receiving the gear shifting request of the first drive axle, the vehicle controller triggers a torque reduction request, reduces the first allowable torque to the second preset torque at the first preset rate. After the first drive axle completes gear shifting, the vehicle controller triggers a torque increase request and increases the first allowable torque at the first preset rate. If the difference between the first allowable torque and the required torque of the vehicle is greater than or equal to the first preset torque, it means that the first allowable torque has increased and the first allowable torque can meet the required torque of the vehicle. That is, it is determined that the preset gear shifting condition of the vehicle is satisfied.

[0122] In this implementation manner, through the first allowable torque, it can be quickly determined whether the power provided by the front axle can meet the required torque of the vehicle, so as to determine the gear shifting timing of the rear axle to avoid the vehicle losing power.

[0123] Optionally, before performing the above steps, the following steps can also be performed.

[0124] In a possible implementation manner, when the first allowable torque is greater than or equal to the second preset torque, it is determined that the front axle gear shifting is completed. In the case where the front axle gear shifting is completed, it is determined whether the difference between the first allowable torque of the first motor parameter and the required torque of the vehicle is greater than or equal to the first preset torque.

[0125] It should be understood that if the first allowable torque is greater than or equal to the second preset torque, it means that the vehicle controller increases the first allowable torque at the first preset rate, so that it can be determined that the front axle gear shifting is completed.

[0126] In this implementation manner, through the first allowable torque, it can be conveniently determined whether the front axle has completed gear shifting.

[0127] In a possible implementation manner, when the second motor speed of the second motor parameter is greater than or equal to the first preset speed, it is determined that the preset gear shifting condition of the vehicle is satisfied.

[0128] Among them, the second motor parameter is the motor parameter of the rear axle. The first preset speed is the maximum speed corresponding to the current gear of the rear axle motor.

[0129] In some embodiments, when the second motor speed of the second motor parameter is greater than or equal to the first preset speed, it is determined that the rear axle motor is overspeed.

[0130] For example, when the rear axle is in the first gear, the maximum speed corresponding to the first gear is 1500 revolutions per minute. If the speed of the second motor is 2500 revolutions per minute, it means that the speed of the rear axle motor is too fast. That is to say, there is a risk of overspeed for the rear axle motor.

[0131] It can be understood that different gears correspond to different motor speeds, so the first preset speed is also different. In practical applications, if the motor speed is greater than the maximum speed corresponding to the current gear, the gear needs to be switched in time, otherwise the rear axle transmission will be damaged. Therefore, when the speed of the second motor is greater than or equal to the first preset speed, it is determined that the rear axle needs to switch gears. That is to say, the preset gear shifting condition of the vehicle is satisfied.

[0132] In this implementation manner, based on the speed of the second motor, it is determined whether there is overspeed in the rear axle motor, so as to adjust the gear of the rear axle in time and avoid damage to the rear axle transmission.

[0133] In a possible implementation manner, when the first allowable torque is less than or equal to the second preset torque and the speed of the second motor is less than the first preset speed, it is determined that the preset gear shifting condition of the vehicle is not satisfied.

[0134] It should be understood that the first allowable torque being less than or equal to the second preset torque means that after the front axle shifts gears, the power provided by the front axle cannot meet the required torque of the whole vehicle. For example, if the first allowable torque is 0 Nm, it means that the first allowable torque cannot meet the requirements of the whole vehicle. The speed of the second motor being less than the first preset speed means that there is no risk of overspeed for the rear axle motor. In this case, it is determined that the preset gear shifting condition of the vehicle is not satisfied.

[0135] In this implementation manner, based on the first allowable torque and the speed of the second motor, it is determined whether the preset gear shifting condition of the vehicle is satisfied, so as to solve the problem of no power for the whole vehicle during the gear shifting process.

[0136] Taking the first drive axle as the rear axle and the second drive axle as the front axle as an example, the content of determining whether the preset gear shifting condition of the second drive axle is satisfied based on the motor parameters and the gear shifting completion duration is described below.

[0137] Among them, the motor parameters include the first motor speed of the first motor parameter and the second allowable torque of the second motor parameter.

[0138] In a possible implementation manner, when the first motor speed of the first motor parameter is greater than or equal to the second preset speed, it is determined that the preset gear shifting condition of the vehicle is satisfied.

[0139] Among them, the first motor speed is the speed of the motor of the front axle. The second preset speed is the maximum speed corresponding to the current gear of the front axle motor.

[0140] In some embodiments, when the rotational speed of the first motor is greater than or equal to a second preset rotational speed, a forced upshift request for the front axle is determined.

[0141] For example, when the front axle is in the first gear, the maximum rotational speed corresponding to the first gear is 1500 revolutions per minute. If the rotational speed of the first motor is 2500 revolutions per minute, it means that the front axle needs to shift to the second gear. That is, a forced upshift request for the front axle is generated.

[0142] It can be understood that the rotational speeds of the motor corresponding to different gears are different, so the second preset rotational speed is also different. In practical applications, if the rotational speed of the motor is greater than the maximum rotational speed corresponding to the current gear, the gear needs to be switched in a timely manner. Otherwise, the front axle transmission will be damaged. Therefore, when the rotational speed of the first motor is greater than or equal to the second preset rotational speed, it is determined that the front axle needs to switch gears. That is, the preset gearshift condition of the vehicle is satisfied.

[0143] In this implementation manner, based on the rotational speed of the first motor, it is determined whether the front axle motor generates a forced upshift request, so as to adjust the gear of the front axle in a timely manner and avoid damage to the transmission of the front axle.

[0144] In a possible implementation manner, when the difference between the second allowable torque of the second motor parameter and the required torque of the vehicle is greater than or equal to a third preset torque, it is determined that the preset gearshift condition of the vehicle is satisfied.

[0145] Wherein, the second motor parameter is the motor parameter of the rear axle, and the second allowable torque is used to limit the maximum torque of the motor of the rear axle.

[0146] The third preset torque is a torque automatically determined by the vehicle controller. The embodiments of the present application do not limit the third preset torque.

[0147] It can be understood that to ensure the smoothness of the gearshift process of the vehicle and avoid damage to the drive axle, when a gearshift request for the first drive axle is received, the vehicle controller triggers a torque reduction request and reduces the second allowable torque to a fourth preset torque at a second preset rate. After the first drive axle completes the gearshift, the vehicle controller triggers a torque increase request and increases the second allowable torque at the second preset rate. If the difference between the second allowable torque and the required torque of the vehicle is greater than or equal to the third preset torque, it means that the second allowable torque has increased and the second allowable torque can meet the required torque of the vehicle. That is, it is determined that the preset gearshift condition of the vehicle is satisfied.

[0148] In this implementation manner, through the second allowable torque, it can be quickly determined whether the power provided by the rear axle can meet the required torque of the vehicle, so as to determine the gearshift timing of the front axle and avoid the vehicle losing power.

[0149] Optionally, before performing the above steps, the following steps may also be performed.

[0150] In a possible implementation, when the second allowable torque is greater than or equal to the fourth preset torque, it is determined that the rear axle shift is completed. In the case where the rear axle shift is completed, it is determined whether the difference between the second allowable torque and the required torque of the vehicle is greater than or equal to the third preset torque.

[0151] It should be understood that when the second allowable torque is greater than or equal to the fourth preset torque, it means that the vehicle controller increases the second allowable torque at the second preset rate, so that it can be determined that the rear axle shift is completed.

[0152] In this implementation, it is possible to conveniently determine whether the rear axle has completed a shift through the second allowable torque.

[0153] In a possible implementation, when the second allowable torque is less than or equal to the fourth preset torque and the first motor speed is less than the second preset speed, it is determined that the preset shift condition of the vehicle is not satisfied.

[0154] It should be understood that when the second allowable torque is less than or equal to the fourth preset torque, it means that the power provided by the rear axle after the rear axle shift cannot meet the required torque of the whole vehicle. For example, if the second allowable torque is 0 Nm, it means that the second allowable torque cannot meet the requirements of the whole vehicle. The first motor speed being less than the second preset speed means that there is no forced upshift request for the front axle. In this case, it is determined that the preset shift condition of the vehicle is not satisfied.

[0155] In this implementation, based on the second allowable torque and the first motor speed, it is determined whether the preset shift condition of the vehicle is satisfied, so as to solve the problem of no power for the whole vehicle during the shifting process.

[0156] Step 403, when at least one of the driving parameter, the motor parameter, and the shift completion duration satisfies the preset shift condition, based on the shift request, control the second drive axle to shift gears.

[0157] In some embodiments, when the vehicle is in a stationary state, it is determined that the shift request flag of the first drive axle is activated.

[0158] In some embodiments, when the first drive axle shift is completed and the shift completion duration of the first drive axle is greater than or equal to the first preset duration, it is determined that the shift request flag of the first drive axle is activated.

[0159] In some embodiments, when the difference between the first allowable torque and the required torque of the vehicle is greater than or equal to the first preset torque, it is determined that the shift request flag of the first drive axle is activated.

[0160] In some embodiments, when the rotational speed of the second motor is greater than or equal to the first preset rotational speed, it is determined that the shift request flag of the first drive axle is activated.

[0161] For example, the shift request flag of the front axle is activated; or the shift request flag of the rear axle is activated.

[0162] In some embodiments, when the first drive axle is the front axle and the second drive axle is the rear axle, based on the shift request, control the rear axle to reduce the torque at the second preset rate and disconnect the power transmission between the rear axle motor and the rear wheels.

[0163] In some embodiments, when the first drive axle is the rear axle and the second drive axle is the front axle, based on the shift request, control the front axle to reduce the torque at the first preset rate and disconnect the power transmission between the front axle motor and the front wheels.

[0164] Step 404, when the driving parameters, the motor parameters, and the shift completion duration do not meet the preset shift conditions, control the vehicle not to respond to the shift request.

[0165] In some embodiments, when the vehicle is in a driving state, the first drive axle has completed shifting, the shift completion duration of the first drive axle is less than the first preset duration, the first allowable torque is less than or equal to the second preset torque, and the rotational speed of the second motor is less than the first preset rotational speed, it is determined that the shift request flag of the first drive axle is suppressed.

[0166] For example, the shift request flag of the front axle is suppressed.

[0167] In some embodiments, when the vehicle is in a driving state, the first drive axle has completed shifting, the shift completion duration of the first drive axle is less than the first preset duration, the second allowable torque is less than or equal to the fourth preset torque, and the rotational speed of the first motor is less than the second preset rotational speed, it is determined that the shift request flag of the first drive axle is suppressed.

[0168] For example, the shift request flag of the rear axle is suppressed.

[0169] In this case, when it is determined that the power provided by the first drive axle when the second drive axle shifts cannot meet the requirements of the vehicle, suppress the shift request, thereby avoiding the problem that after the first drive axle of the vehicle shifts, the second drive axle shifts immediately, resulting in the vehicle losing power.

[0170] An embodiment of the present application provides a shift control method for a vehicle. Through the above method, the driving parameters of the vehicle, the motor parameters of the vehicle, and the shift completion duration of the first drive axle can be obtained. Since the torque of the first drive axle decreases during shifting, and even after the first drive axle completes shifting, the torque of the first drive axle still cannot meet the vehicle's requirements. If the second drive axle is controlled to shift at this time, the vehicle will lose power. Therefore, based on the driving parameters of the vehicle, the motor parameters, and the shift completion duration, it is determined whether the preset shift condition of the second drive axle is satisfied. When at least one of the driving parameters, the motor parameters, and the shift completion duration satisfies the preset shift condition, based on the shift request, the second drive axle is controlled to shift. When the driving parameters, the motor parameters, and the shift completion duration do not satisfy the preset shift condition, the vehicle is controlled not to respond to the shift request. That is, when it is determined that the power provided by the first drive axle when the second drive axle shifts can meet the vehicle's requirements, the second drive axle is controlled to shift. When it is determined that the power provided by the first drive axle when the second drive axle shifts cannot meet the vehicle's requirements, the shift request is suppressed, thereby avoiding the problem that the vehicle loses power due to the second drive axle shifting immediately after the first drive axle of the vehicle shifts.

[0171] Figure 5 It is a schematic structural diagram of a shift control device for a vehicle provided by an embodiment of the present application.

[0172] Exemplarily, as Figure 5 shown, the device 500 includes:

[0173] An acquisition module 501, configured to acquire the driving parameters of the vehicle, the motor parameters of the vehicle, and the shift completion duration of the first drive axle when the first drive axle of the vehicle completes shifting and a shift request for the second drive axle of the vehicle is acquired;

[0174] A determination module 502, configured to determine whether the preset shift condition of the second drive axle is satisfied based on the driving parameters of the vehicle, the motor parameters, and the shift completion duration; wherein, the preset shift condition is used to determine whether the power provided by the first drive axle when the second drive axle shifts can meet the vehicle's requirements;

[0175] A control module 503, configured to, when at least one of the driving parameters, the motor parameters, and the shift completion duration satisfies the preset shift condition, control the second drive axle to shift based on the shift request.

[0176] In a possible implementation manner, the device 500 further includes:

[0177] A determination module 502, configured to determine whether the vehicle is in a stationary state based on the vehicle speed when a gear shift of a first drive axle of the vehicle is completed;

[0178] A determination module 502, configured to determine that a preset gear shift condition of the second drive axle is satisfied when the vehicle is in a stationary state;

[0179] A determination module 502, configured to determine whether a preset gear shift condition of the second drive axle is satisfied based on the motor parameter and the gear shift completion duration when the vehicle is in a driving state.

[0180] In a possible implementation manner, the device 500 further includes:

[0181] A determination module 502, configured to determine that a preset gear shift condition of the vehicle is satisfied when the gear shift of the first drive axle is completed and the gear shift completion duration of the first drive axle is greater than or equal to a first preset duration;

[0182] A determination module 502, configured to determine whether a preset gear shift condition of the second drive axle is satisfied based on the motor parameter when the gear shift completion duration of the first drive axle is less than the first preset duration.

[0183] In a possible implementation manner, the device 500 further includes:

[0184] A determination module 502, configured to determine that a preset gear shift condition of the vehicle is satisfied when a difference between a first allowable torque of the first motor parameter and a required torque of the vehicle is greater than or equal to a first preset torque; wherein, the first motor parameter is a motor parameter of the front axle, and the first allowable torque is used to limit a maximum torque of a front axle wheel end of the front axle;

[0185] A determination module 502, configured to determine that a preset gear shift condition of the vehicle is satisfied when a second motor speed of the second motor parameter is greater than or equal to a first preset speed; wherein, the second motor parameter is a motor parameter of the rear axle.

[0186] In a possible implementation manner, the device 500 further includes:

[0187] A determination module 502, configured to determine that a preset gear shift condition of the vehicle is not satisfied when the first allowable torque is less than or equal to a second preset torque and the second motor speed is less than the first preset speed.

[0188] In a possible implementation manner, the device 500 further includes:

[0189] A determination module 502, configured to determine that a preset shift condition of the vehicle is met when a first motor speed of the first motor parameter is greater than or equal to a second preset speed; wherein, the first motor speed is the motor speed of the front axle.

[0190] A determination module 502, configured to determine that a preset shift condition of the vehicle is met when a difference between a second allowable torque of the second motor parameter and a required torque of the vehicle is greater than or equal to a third preset torque; wherein, the second allowable torque is used to limit a maximum torque of the motor of the rear axle.

[0191] In a possible implementation manner, the apparatus 500 further includes:

[0192] A determination module 502, configured to determine that the preset shift condition of the vehicle is not met when the second allowable torque is less than or equal to a fourth preset torque and the first motor speed is less than the second preset speed.

[0193] Figure 6 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

[0194] Exemplarily, as Figure 6 shown, the vehicle 600 includes: a memory 601 and a processor 602, wherein, an executable program code 603 is stored in the memory 601, and the processor 602 is configured to call and execute the executable program code 603 to execute a shift control method for a vehicle.

[0195] In addition, an embodiment of the present application further protects an apparatus, the apparatus may include a memory and a processor, wherein, an executable program code is stored in the memory, and the processor is configured to call and execute the executable program code to execute a shift control method for a vehicle provided by an embodiment of the present application.

[0196] In this embodiment, the apparatus may be divided into functional modules according to the method example above. For example, each functional module may correspond, or two or more functions may be integrated into one processing module. The above integrated modules may be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0197] In the case of dividing each functional module according to each corresponding function, the apparatus may further include a shift module, an adjustment torque module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be cited to the function description of the corresponding functional module, and will not be elaborated here.

[0198] It should be understood that the device provided in this embodiment is used to execute the above-mentioned shift control method for a vehicle, so the same effects as those of the above implementation method can be achieved.

[0199] In the case of adopting an integrated unit, the device may include a processing module and a storage module. Among them, when the device is applied to a vehicle, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute relevant program codes, etc.

[0200] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logic blocks, modules and circuits shown in combination with the disclosure of the present application. The processor can also be a combination that realizes computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0201] In addition, the device provided in the embodiment of the present application can specifically be a chip, a component or a module. The chip may include a processor and a memory connected thereto; wherein, the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute the above-mentioned shift control method for a vehicle provided in the above embodiment.

[0202] This embodiment also provides a computer-readable storage medium, in which computer program code is stored. When the computer program code runs on a computer, the computer is enabled to execute the above-mentioned relevant method steps to implement the above-mentioned shift control method for a vehicle provided in the above embodiment.

[0203] This embodiment also provides a computer program product. When the computer program product runs on a computer, the computer is enabled to execute the above-mentioned relevant steps to implement the above-mentioned shift control method for a vehicle provided in the above embodiment.

[0204] Among them, the device, the computer-readable storage medium, the computer program product or the chip provided in this embodiment are all used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be elaborated here.

[0205] Through the description of the above embodiments, those skilled in the art can understand that for the convenience and brevity of description, only the above-mentioned division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0206] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical or other forms.

[0207] The above content is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle shift control method, characterized in that: The method comprises: When a first drive axle of a vehicle completes a gear shift and a gear shift request for a second drive axle of the vehicle is obtained, obtaining driving parameters of the vehicle, motor parameters of the vehicle, and a gear shift completion time of the first drive axle; Based on the driving parameters of the vehicle, the motor parameters and the shift completion time, determining whether a preset shift condition of the second drive axle is met; wherein the preset shift condition is used to determine whether the power provided by the first drive axle can meet the needs of the vehicle when the second drive axle shifts gears; When at least one of the driving parameter, the motor parameter, and the shift completion time satisfies the preset shift condition, the second drive axle is controlled to shift gears based on the shift request.

2. The method according to claim 1, characterized in that The driving parameter includes the vehicle speed, and determining whether a preset shift condition of the second drive axle is met based on the driving parameter of the vehicle, the motor parameter, and the shift completion time includes: When the first drive axle of the vehicle completes the gear shift, determining whether the vehicle is in a stationary state based on the vehicle speed; When the vehicle is in a stationary state, determining that a preset shift condition of the second drive axle is satisfied; When the vehicle is in a driving state, it is determined whether a preset shift condition of the second drive axle is met based on the motor parameters and the shift completion time.

3. The method according to claim 2, characterized in that The determining whether a preset shift condition of the second drive axle is met based on the motor parameter and the shift completion time includes: When the first drive axle is shifted and the shift completion time of the first drive axle is greater than or equal to a first preset time, determining that a preset shift condition of the vehicle is satisfied; In a case where the first drive axle shift completion time is less than a first preset time, it is determined whether a preset shift condition of the second drive axle is met based on the motor parameters.

4. The method according to claim 3, characterized in that The first drive axle includes a front axle, the second drive axle includes a rear axle, the motor parameters include first motor parameters and second motor parameters, and determining whether a preset shift condition of the second drive axle is met based on the motor parameters includes: When the difference between the first allowable torque of the first motor parameter and the required torque of the vehicle is greater than or equal to the first preset torque, determining that the preset shift condition of the vehicle is met; wherein the first motor parameter is the motor parameter of the front axle, and the first allowable torque is used to limit the maximum torque of the front axle wheel end of the front axle; Alternatively, when the second motor speed of the second motor parameter is greater than or equal to the first preset speed, it is determined that the preset shift condition of the vehicle is met; wherein, the second motor parameter is the motor parameter of the rear axle; and the first preset speed is the maximum speed corresponding to the current gear position of the rear axle motor of the vehicle.

5. The method according to claim 4, characterized in that The method further comprises: In a case where the first allowable torque is less than or equal to a second preset torque and the second motor speed is less than a first preset speed, it is determined that a preset shift condition of the vehicle is not satisfied.

6. The method according to claim 3, characterized in that The first drive axle includes a rear axle, the second drive axle includes a front axle, the motor parameters include first motor parameters and second motor parameters, and determining whether a preset shift condition of the second drive axle is met based on the motor parameters includes: When the first motor speed of the first motor parameter is greater than or equal to the second preset speed, determining that the preset shift condition of the vehicle is met; wherein the first motor speed is the motor speed of the front axle; and the second preset speed is the maximum speed corresponding to the current gear position of the front axle motor of the vehicle; Alternatively, when the difference between the second allowable torque of the second motor parameter and the required torque of the vehicle is greater than or equal to a third preset torque, it is determined that the preset shift condition of the vehicle is met; wherein the second allowable torque is used to limit the maximum torque of the motor of the rear axle.

7. The method according to claim 6, characterized in that The method further comprises: In a case where the second allowable torque is less than or equal to a fourth preset torque and the first motor speed is less than a second preset speed, it is determined that a preset shift condition of the vehicle is not satisfied.

8. A vehicle shift control device, characterized in that: The device comprises: an acquisition module, configured to acquire the driving parameters of the vehicle, the motor parameters of the vehicle, and the shift completion time of the first drive axle when the first drive axle of the vehicle completes the shift and obtains a shift request for the second drive axle of the vehicle; A determination module, configured to determine whether a preset shift condition of the second drive axle is met based on the driving parameters of the vehicle, the motor parameters, and the shift completion time; wherein the preset shift condition is used to determine whether the power provided by the first drive axle can meet the needs of the vehicle when the second drive axle shifts gears; A control module is used to control the second drive axle to shift gears based on the shift request when at least one parameter among the driving parameter, the motor parameter and the shift completion time meets the preset shift condition.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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