Gear shifting control method and device and vehicle

Abstract

The invention discloses a gear shifting control method and device and a vehicle. According to the scheme, the method comprises the steps that according to the current oil temperature value of a transmission, the auxiliary gear-shifting torque of a motor in the gear-shifting stage is determined; and after the rotating speed adjusting process of the motor is completed, the motor is controlled to output the auxiliary gear-shifting torque, and meanwhile the transmission is controlled to execute the engagement operation of the target gear. Therefore, the auxiliary gear-shifting torque is adaptively adjusted according to the oil temperature, friction resistance is counteracted through the auxiliary gear-shifting torque, rotation speed attenuation of the input shaft is effectively restrained, the actual rotation speed of the input shaft is made to be stable and close to the target rotation speed of the gear-shifting stage, gear-shifting smoothness and success rate are guaranteed, gear-shifting impact and abnormal sound are greatly weakened, and gear-shifting quality is improved. And the service life of the transmission can be prolonged.

Description

Technical Field

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

[0002] New energy vehicles, including pure electric vehicles (BEV) and hybrid electric vehicles (HEV), can use electric motors as the power source in their drive systems, and output power to the wheels through two-speed or multi-speed transmissions. Compared with traditional single-speed transmissions, multi-speed transmissions can broaden the efficient working range of the electric motor by adjusting the speed ratio, thereby improving the power and endurance of the vehicle.

[0003] During the gear shifting process, the system needs to go through two key stages: the speed regulation stage and the gear shifting stage. In the speed regulation stage, the motor actively adjusts the transmission input shaft speed to synchronize it with the output shaft speed of the target gear. In the gear shifting stage, the actuator drives the meshing sleeve to move axially and completes mechanical engagement with the synchronizer ring of the target gear to achieve power path switching. However, in the gear shifting stage, due to the deviation between the actual input shaft speed and the target speed, a mechanical shock will occur at the moment when the synchronizer meshing sleeve engages with the target gear, resulting in a harsh metal collision noise. Summary of the invention

[0004] In view of this, the present application is dedicated to providing a gear shift control method, device and vehicle, which can eliminate abnormal noise during the transmission shifting process.

[0005] According to a first aspect of the present application, a shift control method is provided, comprising:

[0006] Get the current oil temperature value of the transmission;

[0007] According to the current oil temperature value, determining the auxiliary gear-advancing torque of the motor in the gear-advancing stage; the motor is drivingly connected to the input shaft of the transmission; the auxiliary gear-advancing torque is used to reduce the speed difference between the target speed and the actual speed of the input shaft in the gear-advancing stage;

[0008] After the speed adjustment process for the electric motor is completed, the electric motor is controlled to output the auxiliary shift torque, and the transmission is controlled to perform an engagement operation of the target gear.

[0009] Optionally, determining the auxiliary gear-advancing torque of the motor in the gear-advancing stage according to the current oil temperature value includes:

[0010] The preset database is queried according to the current oil temperature value to obtain the auxiliary gear-advancing torque corresponding to the current oil temperature value; the preset database is used to record the corresponding relationship between the oil temperature parameter and the auxiliary gear-advancing torque.

[0011] Optionally, determining the auxiliary gearshift torque of the motor during the gearshift-in stage according to the current oil temperature value includes:

[0012] Determining the auxiliary gearshift torque of the motor during the gearshift-in stage according to the current oil temperature value and the target speed of the input shaft during the gearshift-in stage.

[0013] Optionally, controlling the motor to output the auxiliary gearshift torque includes:

[0014] Adjusting the output torque of the motor to the auxiliary gearshift torque based on a progressive adjustment method;

[0015] Controlling the motor to continuously output the auxiliary gearshift torque.

[0016] Optionally, after controlling the transmission to perform the engagement operation of the target gear, it further includes:

[0017] Adjusting the output torque of the motor from the auxiliary gearshift torque to zero based on a progressive adjustment method.

[0018] Optionally, the progressive adjustment method is a torque ramp control method; the torque ramp control method is used to change the output torque of the motor through a linear adjustment method.

[0019] Optionally, controlling the transmission to perform the engagement operation of the target gear includes:

[0020] While maintaining the continuous output of the auxiliary gearshift torque by the motor, controlling the transmission to perform the engagement operation.

[0021] Optionally, controlling the motor to output the auxiliary gearshift torque and controlling the transmission to perform the engagement operation of the target gear includes:

[0022] Adjusting the output torque of the motor with the auxiliary gearshift torque as the target;

[0023] Controlling the transmission to perform the engagement operation at any moment before or after the output torque of the motor reaches the auxiliary gearshift torque.

[0024] Optionally, determining the speed difference between the target speed and the actual speed;

[0025] If the speed difference is not greater than and does not exceed the first speed threshold, controlling the transmission to perform a smooth engagement operation;

[0026] If the speed difference is between the first speed threshold and the second speed threshold, controlling the transmission to perform a forced engagement operation; the second speed threshold is greater than the first speed threshold;

[0027] If the rotational speed difference is not less than and exceeds the second rotational speed threshold value, the rotational speed of the motor is adjusted with the target rotational speed as the target. After the rotational speed adjustment process for the motor is completed, the motor is controlled to output the auxiliary gear shifting torque again, and the transmission is controlled to perform the engagement operation of the target gear.

[0028] According to a second aspect of the present application, there is provided a shift control device, the device comprising:

[0029] An acquisition module, configured to acquire the current oil temperature value of the transmission;

[0030] A determination module, configured to determine the auxiliary gear shifting torque of the motor during the gear shifting stage according to the current oil temperature value; the motor is in transmission connection with the input shaft of the transmission; the auxiliary gear shifting torque is used to reduce the rotational speed difference between the target rotational speed and the actual rotational speed of the input shaft during the gear shifting stage;

[0031] A control module, configured to control the motor to output the auxiliary gear shifting torque and control the transmission to perform the engagement operation of the target gear after the rotational speed adjustment process for the motor is completed.

[0032] According to a third aspect of the present application, there is provided an electronic device, comprising: a processor; a memory for storing instructions executable by the processor; the processor is configured to execute the method described in any of the above embodiments.

[0033] According to a fourth aspect of the present application, there is provided a vehicle, comprising a transmission, a motor in transmission connection with the input shaft of the transmission, and an electronic device.

[0034] According to a fifth aspect of the present application, there is provided a computer-readable storage medium, the storage medium stores a computer program, and the computer program is configured to execute the method described in any of the above embodiments.

[0035] The present application provides a shift control method, device and vehicle. The solution includes: determining the auxiliary gear shifting torque of the motor during the gear shifting stage according to the current oil temperature value of the transmission; after the rotational speed adjustment process for the motor is completed, controlling the motor to output the auxiliary gear shifting torque, and at the same time controlling the transmission to perform the engagement operation of the target gear. Thus, the auxiliary gear shifting torque is adaptively adjusted according to the oil temperature, and the auxiliary gear shifting torque is used to offset the frictional resistance, so as to effectively suppress the attenuation of the rotational speed of the input shaft, make the actual rotational speed of the input shaft stable and close to the target rotational speed during the gear shifting stage, thereby ensuring the smoothness and success rate of gear shifting, greatly reducing the shift shock and abnormal noise, and helping to extend the service life of the transmission. Description of the Drawings

[0036] Figure 1The figure shows a schematic diagram of an implementation environment provided by an embodiment of the present application.

[0037] Figure 2 The figure shows a schematic flow chart of a shift control method provided by an embodiment of the present application.

[0038] Figure 3 The figure shows a viscosity-temperature relationship curve of a lubricant provided by an embodiment of the present application.

[0039] Figure 4 The figure shows a schematic flow chart of a torque ramp control method provided by an embodiment of the present application.

[0040] Figure 5 The figure shows a schematic flow chart of a torque control method provided by an embodiment of the present application.

[0041] Figure 6 The figure shows a schematic flow chart of another shift control method provided by an embodiment of the present application.

[0042] Figure 7 The figure shows a block diagram of a shift control device provided by an embodiment of the present application.

[0043] Figure 8 The figure shows a block diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0045] Application Overview

[0046] During the testing process of hybrid and pure electric vehicles, the research team found that abnormal noises are likely to occur after the transmission shifts gears under low-temperature conditions, and there is also an uneven power connection phenomenon, resulting in a significant reduction in shift quality. In-depth analysis shows that although the motor has pre-adjusted the rotational speed to the same level as the output shaft of the transmission, there is still a rotational speed matching deviation when performing gear engagement.

[0047] Research reveals that the operation of zeroing the motor torque implemented in traditional shifting strategies to protect the transmission system causes the power input shaft to enter an inertial operating state. During this stage, the viscosity-temperature characteristics of the lubricant have a decisive impact on the rotational speed decay: at low temperatures, the viscosity of the lubricant increases exponentially, resulting in a sharp increase in the frictional resistance of the input shaft and a significant acceleration of the rotational speed decay rate; conversely, at high temperatures, the viscosity decreases, keeping the rotational speed relatively stable. This friction resistance that dynamically changes with temperature leads to a deviation between the actual rotational speed and the target value at the moment of gear engagement, becoming the core factor causing shifting shocks. To solve the above problems, in the embodiments of the present application, according to the current oil temperature value of the transmission, the auxiliary shifting torque of the motor during the gear engagement stage is dynamically selected; the motor is controlled to accurately output the auxiliary shifting torque to reduce the rotational speed difference between the target rotational speed and the actual rotational speed of the input shaft during the gear engagement stage; at the same time, the transmission is controlled to perform the engagement operation of the target gear. Thus, the auxiliary shifting torque is adaptively adjusted according to the oil temperature, and the auxiliary shifting torque is used to offset the frictional resistance, thereby quickly and effectively suppressing the rotational speed decay of the input shaft, making the actual rotational speed of the input shaft stable and close to the target rotational speed during the gear engagement stage, thus ensuring the smoothness and success rate of gear shifting, significantly reducing shifting shocks and abnormal noises, and helping to extend the service life of the transmission.

[0048] Exemplary System

[0049] Figure 1 The figure shows a schematic diagram of an implementation environment provided by an embodiment of the present application. This implementation environment is a P2.5 architecture implementation scheme for a hybrid vehicle, including a motor 110, an engine 120, a transmission 130, and a clutch 140. The output power of the motor 110 can be transmitted to the wheels through the transmission 130; the output power of the engine 120 is transmitted to the transmission 130 through the clutch 140; the transmission 130 can have two or more gears and can switch gears according to driving requirements to optimize power output and energy efficiency.

[0050] The shifting process of the transmission 130 may include the following steps:

[0051] 1. Torque reduction: Before shifting, it is first necessary to reduce the output torques of the engine and the motor 110 to avoid shocks and vibrations caused by sudden torque changes.

[0052] 2. Clutch disconnection: When the torque is reduced to an appropriate level, the clutch 140 is disconnected to separate the power of the engine 120 from the transmission 130.

[0053] 3. Gear disengagement: Through the operating mechanism of the transmission 130, the gear of the transmission 130 is moved from the current working gear to the neutral position.

[0054] 4. Speed regulation: After the gear is disengaged, the engine 120 and the motor 110 can respectively adjust the speed to a target speed suitable for the target gear.

[0055] 5. Shifting gears: When the speed of the motor 110 is adjusted to a suitable range, the gear position is shifted from neutral gear to a target gear position through the operating mechanism of the transmission 130 .

[0056] 6. Close the clutch: When the transmission 130 successfully enters the target gear and the engine speed is adjusted to the target speed, the clutch 140 is closed to smoothly transfer the power of the engine 120 to the transmission system.

[0057] 7. Restoration torque: When the clutch 140 is fully closed, the output torque of the engine 120 and the motor 110 is adjusted so that the vehicle continues to travel at the new gear and speed.

[0058] It should be noted that although this technical solution uses a hybrid vehicle equipped with a P2.5 configuration motor as an example, it does not constitute a limitation on the scope of application of the technical solution of this application. From the implementation level, the shift control method can be compatible with hybrid vehicles and pure electric drive systems of other topological architectures, and can be extended to industrial automation equipment, intelligent robots and other fields. Its core applicability condition is that the power transmission system must meet the following requirements: the output power of the motor is transmitted through the transmission, and the transmission has two or more operating gears with switchable transmission ratios.

[0059] After introducing the basic principles of the present application, various non-limiting embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0060] Exemplary Method

[0061] Figure 2 : is a flow chart of a shift control method provided by an embodiment of the present application. The shift control method can be used to control a target device including a motor and a transmission; the target device at least includes a motor and a transmission; the motor is drivingly connected to the input shaft of the transmission. The target device can be a new energy vehicle such as a hybrid vehicle, a pure electric vehicle, or a part of a vehicle that at least includes a motor and a transmission; the target device can also be industrial machinery, a robot, and other equipment, which is not specifically limited here. Figure 2 The method described is executed by a computing device at the target device, or a computing device that is in communication with the target device, but the embodiments of the present application are not limited thereto.

[0062] like Figure 2 As shown, the method includes the following contents:

[0063] Step S210: Obtain the current oil temperature value of the transmission.

[0064] In the embodiment of the present application, the electric motor may be the power source of the target device, and is coupled to a transmission via a transmission shaft or a gear set to output power.

[0065] For example, when the target device is a hybrid vehicle, the electric motor can be arranged as a P2 motor (integrated between the engine and the transmission), a P2.5 motor (integrated inside the transmission); in some cases, it can also be a P4 motor (independent motor for the rear-drive axle), as long as its power transmission path includes a transmission.

[0066] In an embodiment of the present application, the transmission includes at least two gears for adapting to different working conditions and optimizing power output and economy.

[0067] In the embodiment of the present application, the transmission includes core components such as an input shaft, an output shaft, and a transmission mechanism. The input shaft is used to receive the torque input of the motor and transmit the power to the transmission mechanism.

[0068] In the embodiment of the present application, the current oil temperature value can be obtained by real-time monitoring by a temperature sensor or by estimation based on a thermodynamic model; the current oil temperature value is used to represent the viscous resistance characteristics of the oil inside the transmission.

[0069] Step S220: determining the auxiliary shift torque of the motor in the shift phase according to the current oil temperature value; the motor is drivingly connected to the input shaft of the transmission; the auxiliary shift torque is used to reduce the speed difference between the target speed and the actual speed of the input shaft in the shift phase.

[0070] In the embodiment of the present application, the gear shifting stage is the process of shifting the gear from neutral to the target gear by the operating mechanism of the transmission after the speed of the motor is adjusted to a suitable range. When the transmission is in the target gear, the transmission outputs power to the outside.

[0071] In the embodiment of the present application, the target speed can be calculated based on the output shaft speed of the transmission and the transmission ratio of the target gear.

[0072] In the embodiment of the present application, the actual rotational speed is the real-time rotational speed of the output shaft of the transmission; in some cases, it can be acquired in real time by an input shaft rotational speed sensor.

[0073] In an embodiment of the present application, the auxiliary shift torque is the target torque output by the motor during the shift phase, which can be regarded as the compensation torque required to maintain the input shaft speed of the transmission at the target speed; it is used to reduce the speed difference between the target speed and the actual speed of the input shaft during the shift phase.

[0074] In the embodiments of the present application, the auxiliary gearshift torque can be calculated in various ways. For example, the oil temperature parameter is input into a neural network model to obtain a predicted value of the auxiliary gearshift torque; the predicted value of the auxiliary gearshift torque is obtained according to the oil temperature parameter through a calculation model; or an empirical value obtained through a preset oil temperature-torque mapping table.

[0075] Figure 3 The following shows a viscosity-temperature relationship curve of the lubricant provided by an embodiment of the present application. As Figure 3 shown, the research team found that as the temperature decreases, the viscosity of the lubricant increases non-linearly, and the frictional resistance received by the transmission input shaft increases significantly, resulting in the rotational speed decay rate of the input shaft. The current oil temperature value of the transmission (the current temperature of the lubricating oil) is a decisive factor affecting the frictional resistance received by the transmission input shaft, and there is a clear physical correlation mechanism between the rotational speed decay characteristics of the transmission input shaft and the temperature environment.

[0076] Based on this physical property, a non-linear dynamic compensation mechanism needs to be implemented for the auxiliary gearshift torque; under low-temperature working conditions, the viscosity coefficient of the lubricant can increase exponentially as the temperature decreases, resulting in a non-linear jump in the frictional resistance of the input shaft, and then triggering a rapid step-by-step decay of the rotational speed. The auxiliary gearshift torque of the motor increases with the increase of the frictional resistance, that is, it can increase non-linearly as the temperature decreases. Under higher temperature conditions, the viscosity coefficient of the lubricant shows an approximately linear weakening trend and the change gradient decreases significantly, and the auxiliary gearshift torque can be set to a smaller value; when the temperature reaches the critical threshold, a zero compensation strategy can be implemented, that is, in some cases, the auxiliary gearshift torque can be set to zero. This can effectively balance the torque requirements in different temperature ranges, avoiding redundant energy output in high-temperature working conditions and accurately adapting to the dynamic compensation requirements in low-temperature environments.

[0077] Step S230: After the speed regulation process for the motor is completed, control the motor to output the auxiliary gearshift torque, and control the transmission to perform the engagement operation of the target gear.

[0078] In the embodiments of the present application, the transmission includes multiple switchable gears (such as forward high / low speed gears, reverse gears, neutral gears), and the power transmission direction control and speed range adjustment are realized through structures such as gear sets. Among them, the target gear refers to the working state in which the transmission completes the power transmission path configuration, and its typical forms include forward drive gears (such as high / low speed) and reverse operation gears (such as reverse gears), etc., generally not including positions such as neutral gears. This is because if the transmission is in a power interruption state and does not output power externally, generally there is no need to perform the engagement operation of the target gear.

[0079] In the embodiments of the present application, the engagement operation refers to the mechanical action of switching the transmission from the neutral gear to the target gear.

[0080] In the embodiments of the present application, the torque compensation operation (controlling the motor to output the auxiliary gearshift torque) and the engagement operation can adopt two timing logics: 1) Parallel control mode - the torque compensation and the engagement action are started synchronously; 2) Sequential control mode - after the output torque of the motor is stabilized at the auxiliary gearshift torque, the engagement operation is triggered. The selection of the two modes depends on the system design requirements, and the key is to ensure that the rotational speed difference does not exceed the preset threshold.

[0081] In the embodiments of the present application, according to the current oil temperature value of the transmission, the auxiliary gearshift torque of the motor in the gearshift stage is determined, and an adaptive torque compensation mechanism based on the oil temperature is constructed. This mechanism can offset the frictional resistance received by the input shaft of the transmission under different temperature conditions, effectively suppress the attenuation of the input shaft rotational speed, and make the actual rotational speed of the input shaft stable and close to the target rotational speed in the gearshift stage; thus, effectively suppressing the attenuation phenomenon of the input shaft rotational speed within a wide temperature range, and ensuring that the actual rotational speed of the transmission input shaft is close to the target rotational speed.

[0082] The shift control method provided by the embodiments of the present application in the hybrid / electric vehicle application scenario can reduce the rotational speed difference between the actual rotational speed and the target rotational speed of the transmission input shaft, eliminate abnormal noise and power disturbance phenomena during the shifting process, make the meshing of the internal gears of the transmission smoother, achieve seamless gear shifting even in low-temperature environments, and improve the shifting smoothness of the vehicle in low-temperature environments; at the same time, successfully avoid the problem of gear shifting failure caused by too large a rotational speed difference, and significantly improve the one-time success rate of vehicle shifting. Thereby, significantly improving the driving quality of the vehicle in low-temperature environments and bringing a better driving experience to users.

[0083] In addition, also benefiting from the effective control of the rotational speed difference, during the shifting process, the impact on the transmission is greatly reduced, thereby reducing the wear of key components such as gears in the transmission, effectively extending the service life of the transmission. At the same time, due to the reduced wear of the transmission, the deterioration rate of the transmission oil is reduced, and the replacement frequency of the lubricant can also be reduced accordingly, further reducing the vehicle's maintenance cost and resource consumption.

[0084] In the traditional shift control strategy, the operation of forcibly setting the motor torque to zero to protect the power system essentially belongs to a safety protection mechanism for the power system; if the target gear engagement operation is synchronously performed during the motor speed regulation process, it may cause a stepwise mutation in the motor output torque, and there is a risk of forming a transient mechanical impact, which essentially violates the original design intention of protecting the power system. In contrast, the solution proposed in the embodiments of the present application to control the motor to output the auxiliary gearshift torque and perform the engagement operation at the same time suppresses the attenuation of the input shaft rotational speed on the premise of avoiding the risk of torque mutation.

[0085] In the embodiments of the present application, according to the current oil temperature value of the transmission, the auxiliary gearshift torque of the motor in the gearshift stage can be determined; the core of this adaptive torque compensation mechanism based on oil temperature is to directly convert the oil temperature parameter into a torque control instruction, with a simpler step and having an advantage of dynamic response, ensuring that the frictional resistance received by the input shaft of the transmission is quickly offset.

[0086] Based on Figure 2 the method in, the embodiments of this specification also provide some specific implementation schemes of this method, which will be described below.

[0087] Optionally, determining the auxiliary gearshift torque of the motor in the gearshift stage according to the current oil temperature value includes:

[0088] Querying a preset database according to the current oil temperature value to obtain the auxiliary gearshift torque corresponding to the current oil temperature value; the preset database is used to record the corresponding relationship between the oil temperature parameter and the auxiliary gearshift torque.

[0089] In the embodiments of the present application, the preset database is used to record the corresponding relationship between the oil temperature parameter and the auxiliary gearshift torque. The preset database can be obtained through experimental data, simulation analysis or historical operation data.

[0090] In the embodiments of the present application, the current oil temperature value is the main factor affecting the attenuation of the input shaft speed; it directly affects the damping coefficient of the frictional torque of the transmission system by changing the viscosity characteristics of the lubricant, and then dominates the dynamic response characteristics of the speed attenuation; therefore, the preset database can only record the corresponding relationship between the oil temperature parameter and the auxiliary gearshift torque. For example, in the preset database, the first row of data can cover discrete temperature nodes within the working temperature range of the transmission; the second row of data can be the auxiliary gearshift torque corresponding to the discrete temperature nodes. The discrete temperature nodes can be set at equal intervals. In some cases, encrypted node arrangements can be adopted in the critical temperature region where the frictional resistance mutates to avoid the risk of magnitude jumps existing in the traditional look-up table method and ensure the accuracy of the auxiliary gearshift torque within the entire temperature range.

[0091] Of course, the secondary factors affecting the attenuation of the input shaft speed also include: input shaft speed, normal temperature dynamic viscosity of the lubricant, speed difference between the target speed and the actual speed of the input shaft, etc.; the preset database can record the corresponding relationship between the oil temperature parameter, each secondary factor and the auxiliary gearshift torque. The preset database can be a tensor-type multi-dimensional calibration table, and each dimension of this tensor corresponds to independent variables such as input shaft speed and normal temperature dynamic viscosity of the lubricant; for example, the preset database is a two-dimensional tensor (i.e., matrix) corresponding to the current oil temperature value and the input shaft speed. The horizontal axis and the vertical axis of the preset database are temperature and input shaft speed respectively, and the calibration values in the table correspond to the current oil temperature value and the input shaft speed.

[0092] In an embodiment of the present application, the preset database may include a calibration table for recording the correspondence between oil temperature parameters and auxiliary shift-in torque.

[0093] In an embodiment of the present application, based on the look-up table method, querying the auxiliary shift-in torque corresponding to the current oil temperature value from the preset database can quickly and relatively accurately determine a suitable auxiliary shift-in torque for the motor during the shift-in stage, avoid control delay caused by real-time complex calculations, and ensure the robustness and adaptability of torque compensation through parameter pre-calibration.

[0094] When the application scenario is shifting gears of an electric vehicle, the pre-calibrated database can be directly queried, and the auxiliary shift-in torque can be quickly located through matrix indexing, avoiding control delay caused by real-time solving of complex dynamic equations. The motor can instantaneously obtain an adapted auxiliary shift-in torque through the look-up table method based on parameters such as the current oil temperature value during the shift-in stage, significantly improving the shifting speed.

[0095] In addition, before the motor outputs the auxiliary shift-in torque, the rotational speeds of the motor and the transmission input shaft rapidly decay under the action of frictional resistance, and the auxiliary shift-in torque can only offset the frictional resistance. Once the time to determine the auxiliary shift-in torque is too long, the rotational speed difference also rapidly increases. Therefore, quickly determining the auxiliary shift-in torque based on the look-up table method helps to reduce the rotational speed difference between the target rotational speed and the actual rotational speed of the input shaft during the shift-in stage, and helps to further improve the smoothness and success rate of gear shifting and suppress shift shock and abnormal noise.

[0096] Optionally, determining the auxiliary shift-in torque of the motor during the shift-in stage according to the current oil temperature value includes:

[0097] Querying from the first database the reference shift-in torque corresponding to the current oil temperature value; the first database is used for recording the mapping relationship between oil temperature parameters and auxiliary shift-in torque;

[0098] Querying from the second database the correction parameter corresponding to the target rotational speed or the actual rotational speed; the second database is used for recording the mapping relationship between rotational speed and correction parameter;

[0099] Correcting the reference shift-in torque according to the correction parameter to obtain the auxiliary shift-in torque.

[0100] In an embodiment of the present application, the first database can be constructed based on experimental calibration data, and its mapping relationship is obtained through joint calibration of the temperature gradient experiment and frictional resistance characteristics at the reference rotational speed, covering the reference torque values corresponding to discrete temperature nodes within the working temperature range of the transmission. The reference shift-in torque value of each temperature node has been verified through dynamic balance tests under steady-state conditions to ensure its matching with the viscosity-temperature characteristics of the lubricating medium.

[0101] In the embodiment of the present application, the reference shift torque can be used as the basic value for temperature compensation, representing the static compensation requirement needed to completely offset the frictional resistance at a specific oil temperature. This value is obtained through bench tests under constant rotational speed conditions (reference rotational speed), and its numerical characteristics have a positive correlation and non-linear relationship with the viscosity of the lubricating medium, ensuring that the frictional resistance and the compensation torque reach instantaneous equilibrium at any temperature node.

[0102] In the embodiment of the present application, the second database can also be constructed based on experimental calibration data and can cover discrete rotational speed nodes within the rotational speed range of the input shaft. This correction parameter can dynamically adjust the compensation intensity according to the deviation between the real-time rotational speed and the reference rotational speed.

[0103] In the embodiment of the present application, the correction parameter can be used as the adjustment variable for dynamic compensation to eliminate the frictional force fluctuation caused by rotational speed fluctuation. Specifically, the deviation between the target rotational speed or the actual rotational speed and the reference rotational speed can be converted into a dimensionless correction coefficient (such as a percentage) or a torque adjustment value to ensure effective correction of the reference shift torque under various rotational speed conditions. The numerical sign of the correction parameter strictly corresponds to the direction of the rotational speed deviation: when the actual rotational speed is higher than the target value, positive compensation is strengthened, and vice versa, negative compensation is implemented for suppression.

[0104] Specifically, the correction of the reference shift torque according to the correction parameter can be expressed as the mathematical relation T = T0×(1 + K); where T is the auxiliary shift torque, T0 is the reference shift torque output by the first database, and K can be the correction coefficient output by the second database.

[0105] In the embodiment of the present application, the first database and the second database can be preset calibration tables.

[0106] In the embodiment of the present application, the reference shift torque corresponding to the current oil temperature value is queried from the first database; the correction parameter corresponding to the target rotational speed or the actual rotational speed is queried from the second database; the reference shift torque is corrected according to the correction parameter to obtain the auxiliary shift torque. This process fully considers the influence of the two key parameters of oil temperature and rotational speed on the motor shifting performance. Since the formulation of the first database and the second database are both based on rigorous experimental data and engineering experience, the accuracy and reliability of the data can be ensured within a wide range of oil temperatures and rotational speeds. The method of first obtaining the basic data by looking up the table and then performing targeted correction has the advantages of simplicity, high accuracy, and good real-time performance. At the same time, the calculation process is concise, the calculation amount is small, which can effectively reduce the system burden, ensure the fast response and efficient operation of the control system, thereby significantly improving the overall performance and stability of the motor shift control and better meeting the diverse working condition requirements in practical applications.

[0107] Optionally, determining the auxiliary gear - shifting torque of the motor during the gear - shifting stage according to the current oil temperature value includes:

[0108] Determining the auxiliary gear - shifting torque of the motor during the gear - shifting stage according to the current oil temperature value and the target speed of the input shaft during the gear - shifting stage.

[0109] In practical applications, in addition to the current oil temperature value, the dynamic parameter that affects the attenuation of the input shaft speed is also the target speed of the input shaft during the gear - shifting stage.

[0110] In the embodiment of the present application, determining the auxiliary gear - shifting torque of the motor during the gear - shifting stage according to the current oil temperature value and the target speed of the input shaft during the gear - shifting stage may include: querying the basic output torque corresponding to the current oil temperature value from a preset database, and then correcting the basic output torque according to the target speed to obtain the auxiliary gear - shifting torque.

[0111] In the embodiment of the present application, determining the auxiliary gear - shifting torque of the motor during the gear - shifting stage according to the current oil temperature value and the target speed of the input shaft during the gear - shifting stage may include: querying the auxiliary gear - shifting torque corresponding to the current oil temperature value and the target speed from a preset database; the preset database is used to record the corresponding relationship between the oil temperature parameter, the target speed, and the auxiliary gear - shifting torque. Specifically, the preset database is an oil temperature - speed bivariate calibration matrix.

[0112] In the embodiment of the present application, determining the auxiliary gear - shifting torque of the motor during the gear - shifting stage according to the current oil temperature value and the target speed of the input shaft during the gear - shifting stage, by combining these two key parameters, helps to further improve the accuracy of the auxiliary gear - shifting torque, further reduce the speed difference of the input shaft during the gear - shifting stage, and improve the smoothness of gear - shifting.

[0113] Optionally, controlling the motor to output the auxiliary gear - shifting torque includes:

[0114] Adjusting the output torque of the motor to the auxiliary gear - shifting torque based on a progressive adjustment method;

[0115] Controlling the motor to continuously output the auxiliary gear - shifting torque.

[0116] In practical applications, a speed regulation stage needs to be experienced before the gear shifting stage. Generally, in this stage, the rotational speed of the input shaft is dynamically adjusted through a rotational speed control mode, continuously monitoring and comparing the rotational speed difference between the actual rotational speed and the target rotational speed of the input shaft. When it is detected that the rotational speed difference is reduced to within a preset threshold range, the rotational speed control mode will be automatically exited, marking the completion of the speed regulation stage and officially entering the gear shifting stage. During this transition process, the output torque of the motor first performs a zeroing operation to cut off the power transmission path, and then, based on a progressive adjustment method, smoothly transitions the output torque of the motor to the auxiliary gear shifting torque. During this transition process, the output torque of the motor can also be directly adjusted from the current output torque to the auxiliary gear shifting torque, skipping the zeroing operation of the output torque of the motor.

[0117] In an embodiment of the present application, the progressive adjustment method is used to smoothly adjust the output torque of the motor.

[0118] In an embodiment of the present application, after the rotational speed adjustment process for the motor is completed, the output torque of the motor is smoothly adjusted to the auxiliary gear shifting torque, and then the motor is controlled to continuously output the auxiliary gear shifting torque until the transmission is switched to the target gear. Thus, by adjusting the output torque of the motor, torque mutation is avoided from causing damage to the motor, which helps to extend the service life of key components such as the transmission and the motor, and improve the reliability and durability of the entire power system.

[0119] Optionally, after controlling the transmission to perform the engagement operation of the target gear, it further includes:

[0120] Based on the progressive adjustment method, the output torque of the motor is adjusted from the auxiliary gear shifting torque to zero.

[0121] In an embodiment of the present application, the progressive adjustment method is used to smoothly adjust the output torque of the motor.

[0122] In an embodiment of the present application, after controlling the transmission to perform the engagement operation of the target gear, the torque output by the motor will be output outward through the transmission. At this time, the motor torque will be smoothly unloaded to avoid the transmission from outputting unexpected power outward.

[0123] Figure 5 The following shows a schematic flowchart of another gear shifting control method provided by an embodiment of the present application. As Figure 5 shown, after the speed regulation stage ends, the motor will exit the rotational speed control mode. If the motor exits the rotational speed control mode and the target gear is not the neutral gear, the motor is controlled to output the auxiliary gear shifting torque, and the flag bit of the auxiliary gear shifting torque is increased. When the current gear is the target gear, it marks the completion of the gear shifting process of the transmission. After the gear shifting is completed, the output torque of the motor is adjusted from the auxiliary gear shifting torque to zero.

[0124] In the embodiment of the present application, based on the progressive adjustment method, adjusting the output torque of the motor from the auxiliary gear shifting torque to zero can effectively prevent the auxiliary gear shifting torque from interfering with the power system and ensure the stable operation of the entire power system. When the motor is the P2.5 motor in a hybrid vehicle, through the progressive adjustment method, it is possible to effectively prevent the rotational speed difference between the engine speed and the input shaft speed from being too large, avoid impacts and damages to the mechanical system caused by the excessive rotational speed difference, thereby improving the reliability and service life of the power system. In addition, this smooth adjustment method also helps to optimize the gear shifting performance of the vehicle, improve the comfort and stability of driving, so that there is no power interruption or jerks during the gear shifting process of the vehicle, providing a more stable and comfortable driving experience for drivers and passengers.

[0125] Optionally, the progressive adjustment method is a torque ramp control method; the torque ramp control method is used to change the output torque of the motor through a linear adjustment method.

[0126] In the embodiment of the present application, the torque ramp control method (Torque Ramp) is used to control the linear change of the output torque of the motor.

[0127] Figure 4 The figure shows a schematic flow diagram of the torque ramp control method provided by an embodiment of the present application.

[0128] As Figure 4As shown in the figure, the output torque of the motor is smoothly adjusted from zero to the auxiliary gear engagement torque as follows: If the motor exits the speed control mode and the target gear is not the neutral gear, the calculation process of the motor output torque is started. From the first database, the reference gear engagement torque corresponding to the current oil temperature value is queried; from the second database, the correction parameter corresponding to the target speed or the actual speed is queried; the reference gear engagement torque is corrected according to the correction parameter to obtain the auxiliary gear engagement torque. Calculate the ratio of the time step (e.g., 10 ms) to the auxiliary gear engagement increase time t2 to obtain the increased value of the weight coefficient; calculate the sum of the increased value of the weight coefficient and the weight coefficient k(n - 1) at the previous moment to obtain the operation intermediate result at the current moment. Input the operation intermediate result into the max(0, ·) function module to force the larger value of this value and 0, excluding negative value interference, to ensure that the weight coefficient is not lower than 0. Input the value after the lower limit constraint into the min(1, ·) function module to force the smaller value of this value and 1, preventing the weight from exceeding the limit, to ensure that the coefficient is not higher than 1. Through the two functions of max(0, ·) and min(1, ·), ensure that the weight coefficient k(n) at the current moment ∈ [0, 1]. Calculate the product of the weight coefficient and the auxiliary gear engagement torque to obtain the output torque of the motor at the current moment. Thus, the weight coefficient increases linearly according to the time step, so that the output torque gradually increases from zero to the auxiliary gear engagement torque, and the torque smooth loading is completed in t2 seconds.

[0129] Similarly, the output torque of the motor is smoothly adjusted from the auxiliary gear engagement torque to zero as follows: If the current gear is the target gear, the calculation process of the motor output torque is started. Calculate the ratio of the time step to the auxiliary gear engagement exit time t1 to obtain the decreased value of the weight coefficient; calculate the difference between the weight coefficient k(n - 1) at the previous moment and the decreased value to obtain the operation intermediate result of the weight coefficient at the current moment. Input the operation intermediate result into the max(0, ·) function module to force the larger value of this value and 0, excluding negative value interference, to ensure that the weight coefficient is not lower than 0. Input the value after the lower limit constraint into the min(1, ·) function module to force the smaller value of this value and 1, preventing the weight from exceeding the limit, to ensure that the coefficient is not higher than 1. Through the two functions of max(0, ·) and min(1, ·), ensure that the weight coefficient k(n) at the current moment ∈ [0, 1]. Calculate the product of the weight coefficient and the auxiliary gear engagement torque to obtain the output torque of the motor at the current moment. Thus, the weight coefficient decreases linearly according to the time step, so that the output torque gradually decreases from the auxiliary gear engagement torque to zero, and the torque smooth unloading is completed in t1 seconds.

[0130] Optionally, the controlling the transmission to perform the engagement operation of the target gear includes:

[0131] While maintaining the motor continuously outputting the auxiliary gear engagement torque, controlling the transmission to perform the engagement operation.

[0132] In the embodiment of the present application, based on the progressive adjustment method, the output torque of the motor is adjusted to the auxiliary gear engagement torque, and then the motor is controlled to continuously output the auxiliary gear engagement torque; while maintaining the continuous output of the auxiliary gear engagement torque by the motor, the transmission is controlled to perform the engagement operation, so that the power transmission is smoother. By reducing the rotational speed difference between the target rotational speed and the actual rotational speed of the input shaft during the gear engagement stage, the smoothness during the gear shifting process is improved, and at the same time, the cooperative working performance of the entire power system is enhanced.

[0133] Optionally, controlling the motor to output the auxiliary gear engagement torque and controlling the transmission to perform the engagement operation of the target gear includes:

[0134] Taking the auxiliary gear engagement torque as the target, adjusting the output torque of the motor;

[0135] At any moment before or after the output torque of the motor reaches the auxiliary gear engagement torque, controlling the transmission to perform the engagement operation.

[0136] In the embodiment of the present application, at any moment before or after the output torque of the motor reaches the auxiliary gear engagement torque, controlling the transmission to perform the engagement operation; decoupling the torque adjustment and the engagement operation, and realizing the parallel execution of the adjustment process of the motor output torque and the mechanical process of the engagement operation in the time dimension. Thus, the timing constraint of the traditional sequential control strategy is broken through, and the trigger timing of the engagement operation only depends on the rotational speed difference between the actual rotational speed and the target rotational speed of the input shaft. When the rotational speed difference is appropriate, the engagement instruction is immediately started without waiting for the torque adjustment process to be completed. On the one hand, by injecting real-time torque to continuously compensate for the frictional resistance, the abnormal attenuation of the input shaft rotational speed is effectively suppressed; on the other hand, the best timing of the engagement operation can be determined only according to the rotational speed difference threshold, reducing the time consumed during the gear engagement stage and reducing the power interruption time, thereby significantly improving the efficiency and smoothness of the gear shifting process.

[0137] Optionally, controlling the transmission to perform the engagement operation of the target gear includes:

[0138] Determining the rotational speed difference between the target rotational speed and the actual rotational speed;

[0139] If the rotational speed difference does not exceed the first rotational speed threshold, controlling the transmission to perform a smooth engagement operation;

[0140] If the rotational speed difference is between the first rotational speed threshold and the second rotational speed threshold, controlling the transmission to perform a forced engagement operation; the second rotational speed threshold is greater than the first rotational speed threshold;

[0141] If the rotational speed difference exceeds the second rotational speed threshold, the rotational speed of the motor is adjusted with the target rotational speed as the target. After the rotational speed adjustment process for the motor is completed, the motor is again controlled to output the auxiliary gear-up torque, and the transmission is controlled to perform the engagement operation of the target gear.

[0142] In an embodiment of the present application, the first rotational speed threshold may be a preset reference value, which is used to determine whether the deviation between the actual rotational speed of the input shaft and the target rotational speed is within a relatively small range. When the rotational speed difference does not exceed this threshold, it indicates that a relatively gentle and smooth engagement operation can be performed under the current working conditions.

[0143] In an embodiment of the present application, the smooth engagement operation is an engagement operation performed when the rotational speed difference is small.

[0144] In an embodiment of the present application, the second rotational speed threshold may be another preset value greater than the first rotational speed threshold, which is used to define a relatively large deviation range between the actual rotational speed of the input shaft and the target rotational speed. When the rotational speed difference is between the first rotational speed threshold and the second rotational speed threshold, it indicates that the gear shift operation needs to be prioritized under the current working conditions. Therefore, a forced engagement operation will be performed to ensure that the gear shift can still be reliably completed within a certain rotational speed difference range, and to avoid gear shift delay or power interruption caused by waiting for further rotational speed adjustment.

[0145] In an embodiment of the present application, the forced engagement operation refers to an engagement operation performed when the rotational speed difference is large, such as completing the synchronization and engagement actions at a relatively fast speed and with a relatively large engagement force; in some cases, the forced engagement operation may be set to be the same as the smooth engagement operation. In another embodiment, it may include a dynamic torque compensation mechanism; the auxiliary gear-up torque is corrected according to the rotational speed difference between the target rotational speed and the actual rotational speed; the motor is controlled to continuously output the corrected auxiliary gear-up torque to reduce the deceleration difference; and then the transmission is controlled to perform the engagement operation.

[0146] The forced engagement operation can quickly overcome the rotational speed deviation under the condition of a relatively large rotational speed difference, realize the rapid gear shift, ensure the continuity of power transmission, and contribute to ensuring the power performance and driving safety of the vehicle.

[0147] In an embodiment of the present application, the adjustment of the rotational speed of the motor with the target rotational speed as the target may refer to returning the motor to the speed regulation stage and re-precisely adjusting the rotational speed to make the actual rotational speed of the input shaft as close as possible to the target rotational speed, so as to create more suitable conditions for the subsequent engagement operation.

[0148] Figure 6 The figure shows a schematic flowchart of another gear shift control method provided by an embodiment of the present application. As Figure 6As shown, the gear shifting process of the transmission may include steps such as reducing torque, disconnecting the clutch, disengaging the gear, adjusting the speed, shifting, closing the clutch, and restoring the torque. After the speed adjustment stage is over, the motor will exit the speed control mode. If the motor exits the speed control mode and the target gear is not neutral, the motor is controlled to output the auxiliary shift torque and the flag of the auxiliary shift torque is increased. Then the speed difference between the target speed and the actual speed is determined, and the subsequent operation is determined according to the speed difference: when the speed difference is small, a smooth engagement operation is performed; when the speed difference is medium, a forced engagement operation is performed; when the speed difference is too large, the motor is retracted to the deceleration stage and the speed is re-adjusted. When the current gear is the target gear, it indicates that the shifting process of the transmission is completed. After the shift is completed, the output torque of the motor is adjusted from the auxiliary shift torque to zero, and the steps of closing the clutch and restoring the torque are continued.

[0149] In the embodiment of the present application, after determining the speed difference between the target speed and the actual speed, the subsequent operation is determined according to the speed difference: when the speed difference is small, a smooth engagement operation is performed, which can minimize the impact of gear shifting, ensure the stability of vehicle driving and the comfort of passengers, and reduce the wear of mechanical parts and extend their service life; when the speed difference is medium, a forced engagement operation is performed, which ensures that the gear shift can be completed reliably and quickly within a certain range, avoiding gear shift delays or power interruptions caused by waiting for further speed adjustment, and ensuring the power performance and driving safety of the vehicle; when the speed difference is too large, the motor is retracted to the deceleration stage and the speed is re-adjusted, which can create more suitable conditions for subsequent engagement operations and ensure the reliability and stability of the gear shift process. By accurately judging the speed difference to determine different engagement operation modes, the gear shift process can be made more intelligent and adaptive, and effectively cope with various complex working conditions.

[0150] Exemplary Device

[0151] The device embodiments of the present application can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0152] Figure 7 FIG. 1 is a block diagram of a shift control device provided by an embodiment of the present application. The device can be applied to a target device including a motor and a transmission; the motor is drivingly connected to the input shaft of the transmission. Figure 7 As shown, the device 700 includes:

[0153] An acquisition module 710 is used to acquire a current oil temperature value of the transmission;

[0154] A determination module 720 is configured to determine an auxiliary gear - shifting torque of the motor during the gear - shifting - in stage according to the current oil temperature value; the motor is drivingly connected to the input shaft of the transmission; the auxiliary gear - shifting torque is used to reduce the rotational speed difference between the target rotational speed and the actual rotational speed of the input shaft during the gear - shifting - in stage.

[0155] A control module 730 is configured to, after the rotational speed adjustment process for the motor is completed, control the motor to output the auxiliary gear - shifting torque and control the transmission to perform the engagement operation of the target gear.

[0156] Optionally, the determination module 720 is configured to query a preset database according to the current oil temperature value to obtain the auxiliary gear - shifting torque corresponding to the current oil temperature value; the preset database is used to record the corresponding relationship between the oil temperature parameter and the auxiliary gear - shifting torque.

[0157] Optionally, the determination module 720 is configured to:

[0158] Query from a first database to obtain a reference gear - shifting torque corresponding to the current oil temperature value; the first database is used to record the mapping relationship between the oil temperature parameter and the auxiliary gear - shifting torque;

[0159] Query from a second database to obtain a correction parameter corresponding to the target rotational speed or the actual rotational speed; the second database is used to record the mapping relationship between the rotational speed and the correction parameter;

[0160] Correct the reference gear - shifting torque according to the correction parameter to obtain the auxiliary gear - shifting torque.

[0161] Optionally, the determination module 720 is configured to determine the auxiliary gear - shifting torque of the motor during the gear - shifting - in stage according to the current oil temperature value and the target rotational speed of the input shaft during the gear - shifting - in stage.

[0162] Optionally, the control module 730 is configured to:

[0163] Adjust the output torque of the motor to the auxiliary gear - shifting torque based on a progressive adjustment method;

[0164] Control the motor to continuously output the auxiliary gear - shifting torque.

[0165] Optionally, the control module 730 is further configured to adjust the output torque of the motor from the auxiliary gear - shifting torque to zero based on a progressive adjustment method.

[0166] Optionally, the progressive adjustment method is a torque ramp control method; the torque ramp control method is used to change the output torque of the motor through a linear adjustment method.

[0167] Optionally, the control module 730 is further configured to control the transmission to perform the engagement operation while maintaining the motor to continuously output the auxiliary gearshift torque.

[0168] Optionally, the control module 730 is further configured to:

[0169] Adjust the output torque of the motor with the auxiliary gearshift torque as the target;

[0170] Control the transmission to perform the engagement operation at any moment before or after the output torque of the motor reaches the auxiliary gearshift torque.

[0171] Optionally, the control module 730 is further configured to:

[0172] Determine the rotational speed difference between the target rotational speed and the actual rotational speed;

[0173] If the rotational speed difference does not exceed the first rotational speed threshold, control the transmission to perform a smooth engagement operation;

[0174] If the rotational speed difference is between the first rotational speed threshold and the second rotational speed threshold, control the transmission to perform a forced engagement operation; the second rotational speed threshold is greater than the first rotational speed threshold;

[0175] If the rotational speed difference exceeds the second rotational speed threshold, adjust the rotational speed of the motor with the target rotational speed as the target, and after the rotational speed adjustment process for the motor is completed, control the motor to output the auxiliary gearshift torque again, and control the transmission to perform the engagement operation of the target gear.

[0176] Exemplary electronic device

[0177] Next, refer to Figure 8 to describe the electronic device according to an embodiment of the present application. Figure 8 The block diagram of the electronic device according to an embodiment of the present application is illustrated.

[0178] As Figure 8 shown, the electronic device 800 includes one or more processors 810 and a memory 820.

[0179] The processor 810 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 800 to perform desired functions.

[0180] The memory 820 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage media, and the processor 810 may run the program instructions to implement the shift control method of various embodiments of the present application described above and / or other desired functions. Various contents such as category correspondence relationships may also be stored in the computer-readable storage media.

[0181] In one example, the electronic device 800 may further include: an input device 830 and an output device 840, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0182] In addition, the input device 830 may further include, for example, a keyboard, a mouse, etc. The output device 840 may output various information to the outside. The output device 840 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0183] Of course, for simplicity, Figure 8 only some of the components related to the present application in the electronic device 800 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 800 may further include any other appropriate components.

[0184] Exemplary Vehicle

[0185] In addition to the above methods and devices, an embodiment of the present application may also be a vehicle, including a vehicle body and the electronic device.

[0186] Exemplary computer program products and computer-readable storage media

[0187] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions that, when run by a processor, cause the processor to execute the steps in the shift control method according to various embodiments of the present application described in the "Exemplary Method" section above of this specification.

[0188] The computer program product may be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The programming code may be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone 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.

[0189] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are run by a processor, the processor is caused to execute the steps in the shift control method according to various embodiments of the present application described in the "Exemplary Method" section of the present specification.

[0190] The computer-readable storage medium may employ any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0191] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for the purposes of illustration and facilitating understanding, and are not limitations. The above details do not limit the present application to necessarily adopt the above specific details for implementation.

[0192] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "comprising," "including," "having," etc. are open-ended terms, meaning "including but not limited to," and can be used interchangeably with each other. The words "or" and "and" used herein refer to the phrase "and / or" and can be used interchangeably with it, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with it.

[0193] It should also be noted that in the devices, equipment, and methods of this application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of this application.

[0194] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be very apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0195] It should be understood that the qualifiers "first," "second," "third," "fourth," "fifth," and "sixth" used in the description of the embodiments of this application are only used to more clearly elaborate the technical solutions and cannot be used to limit the protection scope of this application.

[0196] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A shift control method, characterized in that, Including: Obtaining the current oil temperature value of the transmission; Determining the auxiliary gear - shifting torque of the motor during the gear - shifting stage according to the current oil temperature value; the motor is in transmission connection with the input shaft of the transmission; the auxiliary gear - shifting torque is used to reduce the rotational speed difference between the target rotational speed and the actual rotational speed of the input shaft during the gear - shifting stage; After the rotational speed adjustment process for the motor is completed, controlling the motor to output the auxiliary gear - shifting torque and controlling the transmission to perform the engagement operation of the target gear.

2. The method according to claim 1, wherein The determining the auxiliary gear - shifting torque of the motor during the gear - shifting stage according to the current oil temperature value includes: Querying a preset database according to the current oil temperature value to obtain the auxiliary gear - shifting torque corresponding to the current oil temperature value; the preset database is used to record the corresponding relationship between the oil temperature parameter and the auxiliary gear - shifting torque.

3. The method according to claim 1, characterized in that, The determining the auxiliary gear - shifting torque of the motor during the gear - shifting stage according to the current oil temperature value includes: Determining the auxiliary gear - shifting torque of the motor during the gear - shifting stage according to the current oil temperature value and the target rotational speed of the input shaft during the gear - shifting stage.

4. The method according to claim 3, wherein The determining the auxiliary gear - shifting torque of the motor during the gear - shifting stage according to the current oil temperature value includes: Querying from a first database to obtain the reference gear - shifting torque corresponding to the current oil temperature value; the first database is used to record the mapping relationship between the oil temperature parameter and the auxiliary gear - shifting torque; Querying from a second database to obtain the correction parameter corresponding to the target rotational speed or the actual rotational speed; the second database is used to record the mapping relationship between the rotational speed and the correction parameter; Correcting the reference gear - shifting torque according to the correction parameter to obtain the auxiliary gear - shifting torque.

5. The method according to claim 1, wherein The controlling the motor to output the auxiliary gear - shifting torque includes: Based on a progressive adjustment method, adjusting the output torque of the motor to the auxiliary gear - shifting torque; Controlling the motor to continuously output the auxiliary gear - shifting torque.

6. The method according to claim 1, wherein After the controlling the transmission to perform the engagement operation of the target gear, further including: Based on a progressive adjustment method, adjusting the output torque of the motor from the auxiliary gear - shifting torque to zero.

7. The method according to any one of claims 5 or 6, characterized in that, The progressive adjustment method is a torque ramp control method; the torque ramp control method is used to change the output torque of the motor through a linear adjustment method.

8. The method according to claim 1, characterized in that The controlling the transmission to perform the engagement operation of the target gear includes: While maintaining the continuous output of the auxiliary gear - shifting torque by the motor, controlling the transmission to perform the engagement operation; Or, Taking the auxiliary gear - shifting torque as the target, adjusting the output torque of the motor; At any moment before or after the output torque of the motor reaches the auxiliary gear - shifting torque, controlling the transmission to perform the engagement operation.

9. The method according to claim 1, characterized in that The controlling the transmission to perform the engagement operation of the target gear includes: Determining the rotational speed difference between the target rotational speed and the actual rotational speed; If the rotational speed difference does not exceed the first rotational speed threshold, controlling the transmission to perform a smooth engagement operation; If the rotational speed difference is between the first rotational speed threshold and the second rotational speed threshold, controlling the transmission to perform a forced engagement operation; the second rotational speed threshold is greater than the first rotational speed threshold; If the rotational speed difference exceeds the second rotational speed threshold, the rotational speed of the motor is adjusted with the target rotational speed as the target. After the rotational speed adjustment process for the motor is completed, the motor is controlled again to output the auxiliary gear shifting torque, and the transmission is controlled to perform the engagement operation of the target gear.

10. An electronic device, characterized in that, Comprising: a processor; a memory for storing executable instructions of the processor; The processor is configured to execute the method according to any one of claims 1 to 9 above.

11. A vehicle, characterized in that, Comprising a transmission, a motor drivingly connected to the input shaft of the transmission, and an electronic device according to claim 10.

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