Method, device and equipment for simulating gear shifting somatosensory in electric vehicle and medium

Abstract

The invention discloses a method, device and equipment for simulating gear shifting somatosensory in an electric vehicle and a medium. The method comprises the steps that if a virtual gear adjusting signal is received, a target virtual gear, an actual gear, driving information, wheel diameters and virtual transmission ratios corresponding to different virtual gears of the electric vehicle are obtained; if the actual gear is the forward gear, the current virtual gear is screened out from the multiple virtual gears; a first virtual transmission ratio corresponding to the current virtual gear and a second virtual transmission ratio corresponding to the target virtual gear are determined, and the jerking strength of gear shifting experience is determined according to the transmission ratio difference value of the first virtual transmission ratio and the second virtual transmission ratio and the driving information; according to the jerking strength, determining a target action range of the jerking somatosensory actuator; and according to the target action amplitude, controlling the jerking somatosensory actuator to execute a corresponding action within a set duration. According to the method, in the gear shifting process, the motion of the motion sensing actuator is controlled to be jerked, and the dynamic effect of the fuel vehicle during gear shifting is simulated.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, equipment, and medium for simulating the physical sensation of gear shifting in an electric vehicle. Background Art

[0002] Pure electric vehicles use a single-speed fixed transmission structure, which makes the power output linear and smooth, but lack the dynamic driving experience of traditional fuel vehicles during the shifting process, such as the push-back feeling, dragging feeling, frustration and engine vibration sound, resulting in a lack of dynamic driving experience.

[0003] In the existing technology, in order to enhance the driving dynamic experience of electric vehicles, many manufacturers simulate the dynamic driving sensation of gear shifting by regulating the motor torque. That is, according to the accelerator pedal opening, a virtual vibration signal is generated, and the intervention torque is determined based on the virtual vibration signal. During the virtual gear shift, the output torque of the motor is compensated by the intervention torque, so that the vehicle produces a short vibration effect, simulating the vibration feeling of gear shifting in a fuel vehicle.

[0004] However, this approach requires intervention in the powertrain, involving vehicle calibration and safety domains, which is costly and carries significant risks. Therefore, reproducing the dynamic driving experience of a fuel vehicle without interfering with the powertrain is a pressing technical challenge. Summary of the Invention

[0005] In view of the above problems, the present application is proposed to provide a method, device, equipment and medium for simulating the gear shifting sensation in an electric vehicle to solve the above problems. During the gear shifting process, the dynamic effect of the gear shifting of a fuel vehicle can be simulated by controlling the action of the jerking actuator, thereby improving the dynamic driving sensation of the electric vehicle.

[0006] In a first aspect, the present application provides a method for simulating a gear shift sensation in an electric vehicle, the method comprising:

[0007] If a virtual gear adjustment signal is received, the target virtual gear, actual gear and driving information of the electric vehicle, as well as virtual transmission ratios corresponding to different virtual gears are obtained;

[0008] If the actual gear is a forward gear, selecting a current virtual gear from a plurality of virtual gears;

[0009] determining a first virtual gear ratio corresponding to the current virtual gear position and a second virtual gear ratio corresponding to the target virtual gear position, and determining a jerk intensity of a gear shift experience based on a gear ratio difference between the first virtual gear ratio and the second virtual gear ratio and the driving information;

[0010] determining a target motion amplitude of a somatosensory actuator according to the jerking intensity, wherein the jerking intensity is positively correlated with the target motion amplitude;

[0011] According to the target action amplitude, the jerking motion actuator is controlled to perform a corresponding action within a set time period to simulate the dynamic effect of a fuel vehicle shifting gears.

[0012] Optionally, the driving information includes vehicle speed, and selecting the current virtual gear from the plurality of virtual gears includes:

[0013] Obtaining the wheel diameter of the electric vehicle;

[0014] determining, according to the vehicle speed, the wheel diameter, and the virtual transmission ratio, a virtual rotational speed of the virtual engine at the different virtual transmission ratios;

[0015] According to the virtual speed corresponding to the virtual transmission ratio and the preset virtual speed range corresponding to the virtual transmission ratio, a current virtual gear position is determined from a plurality of virtual gear positions.

[0016] Optionally, determining the current virtual gear position from a plurality of virtual gear positions according to the virtual speed corresponding to the virtual gear ratio and a preset virtual speed range corresponding to the virtual gear ratio includes:

[0017] Selecting a candidate virtual transmission ratio from a plurality of virtual transmission ratios; wherein a virtual speed corresponding to the candidate virtual transmission ratio is within a virtual speed interval corresponding to the candidate transmission ratio;

[0018] Determining a virtual gear position corresponding to each candidate virtual transmission ratio as a candidate virtual gear position;

[0019] The smallest virtual gear among all candidate virtual gears is determined as the current virtual gear.

[0020] Optionally, after obtaining the target virtual gear, actual gear, and driving information of the electric vehicle, as well as virtual transmission ratios corresponding to different virtual gears, the method further includes:

[0021] If the actual gear is the parking gear, the reverse gear or the idle gear, the jerking motion actuator is controlled to perform a cyclic action at a preset frequency and a first action amplitude.

[0022] Optionally, determining a target motion amplitude of a somatosensory actuator according to the jerking intensity includes:

[0023] If the jerking motion actuator is a seat cushion, a seat back, a seat lumbar airbag, or a seat belt, a first product of the jerking intensity and the maximum motion amplitude of the jerking motion actuator is used as a target motion amplitude of the jerking motion actuator;

[0024] If the jerking motion sensor is a steering wheel, calculating a second product of the jerking intensity and a preset vibration frequency, and taking the sum of the second product and a preset minimum frequency as the target motion amplitude of the steering wheel;

[0025] If the jerking motion sensing actuator is an air conditioner and the jerking intensity is not within the preset intensity range, the sum of the current air volume of the air conditioner and the preset air volume change value is determined as the target action amplitude of the air conditioner, or the preset wind direction of the air conditioner is determined as the target action amplitude of the air conditioner.

[0026] Optionally, the set duration includes a first duration, a second duration, and a third duration arranged in chronological order according to a start time, the sum of the first duration, the second duration, and the third duration is equal to the set duration, and controlling the frustration motion actuator to perform a corresponding action within the set duration according to the target action amplitude includes:

[0027] Calculating the product of the target motion amplitude and a preset weakening coefficient to obtain the motion weakening amplitude, wherein the weakening coefficient is less than 1;

[0028] controlling the setback motion sensor to perform a corresponding action within the first duration at the action weakening amplitude;

[0029] controlling the frustration motion sensing actuator to stop executing the action within the second time period;

[0030] The frustration motion sensing actuator is controlled to perform a corresponding action at the target action amplitude within the third time period.

[0031] Optionally, after receiving the virtual gear adjustment signal, the method further includes:

[0032] If the electric vehicle is in a turning state, the airbag on the turning side of the seat is controlled to inflate.

[0033] In a second aspect, the present application provides a device for simulating a gear shift sensation in an electric vehicle, the device comprising:

[0034] an acquisition module, configured to acquire a target virtual gear, an actual gear, and driving information of the electric vehicle, as well as virtual transmission ratios corresponding to different virtual gears, upon receiving a virtual gear adjustment signal;

[0035] a first determining module, configured to select a current virtual gear from a plurality of virtual gears if the actual gear is a forward gear;

[0036] a second determining module, configured to determine a first virtual gear ratio corresponding to the current virtual gear position and a second virtual gear ratio corresponding to the target virtual gear position, and determine a jerk intensity of a gear shift experience based on a gear ratio difference between the first virtual gear ratio and the second virtual gear ratio and the driving information;

[0037] a third determining module, configured to determine a target motion amplitude of a jerking motion actuator according to the jerking intensity, wherein the jerking intensity is positively correlated with the target motion amplitude;

[0038] The control module is used to control the jerking motion actuator to perform corresponding actions within a set time period according to the target action amplitude, so as to simulate the dynamic effect of a fuel vehicle shifting gears.

[0039] In a third aspect, the present application provides an electronic device comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the method described in the first aspect by executing the computer instructions.

[0040] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method described in the first aspect.

[0041] The technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0042] The embodiments of the present application provide a method, apparatus, device and medium for simulating the physical sensation of gear shifting in an electric vehicle. If a virtual gear adjustment signal is received, the target virtual gear, actual gear and driving information of the electric vehicle, as well as the virtual transmission ratios corresponding to different virtual gears are obtained, that is, when the electric vehicle needs to adjust the gear, some data related to gear shifting are obtained; if the actual gear is a forward gear, the current virtual gear is selected from multiple virtual gears, and when the vehicle can shift up or down, the current virtual gear of the electric vehicle is selected; the target virtual gear corresponding to the current virtual gear is determined. A virtual transmission ratio and a second virtual transmission ratio corresponding to a target virtual gear position are used to determine the intensity of the shift jerk based on the transmission ratio difference between the first and second virtual transmission ratios, as well as driving information. Specifically, the degree of jerkiness is determined based on the change in transmission ratio and driving conditions that affect the intensity of the jerk during the shift. Based on the jerk intensity, a target action amplitude for the jerk sensor actuator is determined, with the jerk intensity being positively correlated with the target action amplitude. Based on the target action amplitude, the jerk sensor actuator is controlled to perform a corresponding action within a set duration to simulate the dynamic effect of a fuel vehicle shifting. This method can simulate the dynamic effect of a fuel vehicle shifting by controlling the jerk sensor actuator to perform actions during the shifting process, thereby enhancing the dynamic driving experience of an electric vehicle.

[0043] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0045] Figure 1 This is a flow chart of a method for simulating gear shifting sensation in an electric vehicle provided by an embodiment of the present application;

[0046] Figure 2 This is a structural block diagram of a device for simulating the sensation of gear shifting in an electric vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings. It should be understood that the embodiments of the present disclosure and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, rather than limitations on the technical solutions of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0048] Figure 1 This is a flow chart of a method for simulating the feeling of gear shifting in an electric vehicle provided by an embodiment of the present application. Figure 1 As shown, the method includes:

[0049] Step S110: If a virtual gear adjustment signal is received, the target virtual gear, actual gear and driving information of the electric vehicle, as well as virtual transmission ratios corresponding to different virtual gears are obtained.

[0050] The driving information includes at least one of the accelerator pedal opening, the driving mode and the vehicle speed, and the virtual transmission ratio under different virtual gears.

[0051] In an embodiment of the present application, the virtual gear adjustment signal includes a shift up / down signal or a forced downshift (Kickdown) signal. The electric vehicle is provided with a shift paddle for shifting up / down. When the shift paddle is moved, the shift up / down signal is triggered, and the position to which the paddle is moved is the target virtual gear. When the current virtual gear of the electric vehicle is greater than the gear threshold, and the current opening of the accelerator pedal is less than the opening threshold, and within a certain period of time, the accelerator pedal increases from the current opening to above the set opening, the forced downshift signal is triggered, and the opening threshold is less than the set opening. For example, the opening threshold is 20%, and the set opening is 90%.

[0052] Kickdown occurs when the driver depresses the accelerator pedal deeply at a low opening, meaning when the driver wants to accelerate quickly. The vehicle automatically shifts down one or two gears to assist acceleration and increase speed. Drivers can utilize this feature by depressing the accelerator pedal deeply to downshift whenever accelerating. This action is called a kickdown.

[0053] The method for determining the current virtual gear position will be described in detail below and will not be repeated here. Driving modes include Sport mode, Comfort mode, and Economy mode. In different modes, the driver's requirements for vehicle power performance vary.

[0054] In the embodiment of the present application, actual gears include forward gear, reverse gear, park gear, and idle gear. Acceleration upshifting or downshifting is only involved when the actual gear is forward gear. However, the forward gear of an electric vehicle is not subdivided into finer gears. Therefore, the forward gear is subdivided by virtual gears. For example, the virtual gears include gears 1-6, and the gear threshold is gear 2. Then, based on the characteristics of a fuel vehicle, the vehicle transmission ratio varies in different gears. Therefore, a virtual transmission ratio is preset for each virtual gear. The size of the virtual transmission ratio can be determined based on the characteristics of the fuel vehicle and the model of the electric vehicle.

[0055] Step S120: If the actual gear is a forward gear, determine a current virtual gear from a plurality of virtual gears.

[0056] In the embodiment of the present application, when the actual gear is the forward gear, the virtual gear that the electric vehicle is currently in, that is, the current virtual gear, is determined.

[0057] Step S130: Determine a first virtual transmission ratio corresponding to the current virtual gear and a second virtual transmission ratio corresponding to the target virtual gear, and determine the jerking intensity of the gear shifting experience based on the transmission ratio difference between the first virtual transmission ratio and the second virtual transmission ratio and the driving information.

[0058] In the embodiments of the present application, the gear ratio difference, vehicle speed, accelerator pedal position, and driving mode all influence the shift jerk. Therefore, the shift jerk intensity can be determined based on the gear ratio difference and driving information. For example, at a vehicle speed of 70 kph and the current virtual gear position of 1st, the corresponding virtual gear ratio is 4.5. The driver shifts the upshift paddle to request an upshift. The target virtual gear position is the current virtual gear position + 1st gear = 2nd gear. The corresponding virtual gear ratio of 2nd gear is 3.0. The gear ratio difference ΔG = 4.5 - 3.0 = 1.5. After the shift is completed, the current virtual gear position + 1st gear becomes 2nd gear, the same as the target virtual gear position. The shift time can be pre-calibrated, for example, 500ms or 600ms.

[0059] Different scores can be assigned to different driving information, and then the gear ratio difference and the scores corresponding to the driving information can be weighted and summed to obtain the shift jerk intensity J. The value of J ranges from 0.0 to 1.0 and is used to represent the intensity of the shift jerk.

[0060] In this embodiment of the present application, the user-selected jerking sensitivity can also be obtained by performing a weighted summation of the gear ratio difference, the score corresponding to the driving information, and the jerking sensitivity to obtain the jerking intensity J of the shifting experience. The jerking sensitivity is the user-defined sensitivity requirement for jerking intensity.

[0061] Step S140: determining a target movement amplitude of the jerking motion actuator according to the jerking intensity, wherein the jerking intensity is positively correlated with the target movement amplitude.

[0062] Among them, the jerk sensing actuator includes at least one of a seat cushion, a seat back, a seat lumbar airbag, a seat belt, a steering wheel and an air conditioner.

[0063] In the embodiment of the present application, different jerking intensities correspond to different target motion amplitudes. The stronger the jerking intensity, the stronger the desired jerking feeling, and the larger the target motion amplitude of the jerking motion sensing actuator.

[0064] Step S150: According to the target action amplitude, the jerking motion actuator is controlled to perform a corresponding action within a set time period to simulate the dynamic effect of a fuel vehicle shifting gears.

[0065] In this embodiment, the jerk sensor is controlled to operate during the gear shift, based on the driver's desired jerk sensation, to simulate the dynamic effect of a gasoline vehicle shifting. After the shift is complete, the jerk sensor is restored. The set duration is the duration of the gear shift action (shift time).

[0066] The seat cushion's action is to adjust the cushion height, the seat back's action is to adjust the backrest's inclination, the seat lumbar airbag's action is to adjust the airbag's expansion, the seat belt's action is to adjust the tightening force, the steering wheel's action is to adjust the vibration frequency, and the air conditioner's action is to adjust the air volume and / or air direction. This method can simulate the dynamic effects of shifting in a fuel vehicle during gear shifting by controlling at least one of the following: the seat cushion's height, the seat back's inclination, the seat lumbar airbag's expansion, the seat belt's tightening force, the steering wheel's vibration frequency, and the air volume or direction of the air conditioner, thereby enhancing the dynamic driving experience of an electric vehicle.

[0067] Optionally, step S120 includes:

[0068] The first step is to obtain the wheel diameter of the electric vehicle.

[0069] In the embodiment of the present application, the diameter of the wheel can be obtained from the design information of the electric vehicle.

[0070] The second step is to determine the virtual speed of the virtual engine at different virtual transmission ratios based on the vehicle speed, wheel diameter and virtual transmission ratio.

[0071] In the embodiment of the present application, the wheel diameter and the virtual transmission ratio are direct factors affecting the virtual transmission performance. Therefore, when the actual gear is the forward gear, the current virtual gear of the electric vehicle, that is, the current virtual gear, can be determined based on the vehicle speed, wheel diameter and virtual transmission ratio.

[0072] In the embodiment of the present application, when the actual gear is the forward gear or the reverse gear, the virtual speed can be calculated according to formula (1):

[0073]

[0074] Among them, N engspd represents the virtual speed in forward or reverse gear, V represents vehicle speed, π represents wheel diameter, G represents the virtual gear ratio, and D is a random number used to represent random external disturbances. A virtual speed is calculated for each virtual gear ratio.

[0075] The third step is to determine the current virtual gear position from the multiple virtual gear positions according to the virtual speed corresponding to the virtual transmission ratio and the preset virtual speed range corresponding to the virtual transmission ratio.

[0076] In an embodiment of the present application, the first correspondence between the virtual transmission ratio and the virtual speed, the second correspondence between the virtual transmission ratio and the virtual speed range, and the third correspondence between the virtual transmission ratio and the virtual gear position can obtain a fourth correspondence between the virtual speed, the virtual transmission ratio, the virtual speed range and the virtual gear position. According to the fourth correspondence, the current virtual gear position of the electric vehicle is determined.

[0077] For example, the correspondence between the virtual transmission ratio, the virtual speed range, and the virtual gear position may be as shown in Table 1:

[0078] Table 1

[0079]

[0080] Optionally, the second step includes:

[0081] A candidate virtual transmission ratio is selected from a plurality of virtual transmission ratios; wherein the virtual speed corresponding to the candidate virtual transmission ratio is within the virtual speed range corresponding to the candidate transmission ratio; the virtual gear corresponding to each candidate virtual transmission ratio is determined as the candidate virtual gear; and the smallest virtual gear among all the candidate virtual gears is determined as the current virtual gear.

[0082] In an embodiment of the present application, in the fourth corresponding relationship, each virtual transmission ratio corresponds to a virtual speed, and it is determined whether the virtual speed is within the corresponding virtual speed range. If it is, the corresponding virtual transmission ratio is determined as a candidate virtual transmission ratio. At this time, there may be multiple candidate virtual transmission ratios, and the multiple candidate virtual transmission ratios correspond to a candidate virtual gear respectively. The smallest virtual gear among all the candidate virtual gears is determined as the current virtual gear, so that the user can have a better dynamic experience of upshifting.

[0083] For example, if the vehicle speed is 70 kph and the tire diameter is 60 cm, then according to formula (1) and the virtual transmission ratios in Table 1, the virtual speed of the virtual engine under each virtual transmission ratio is calculated as shown in Table 2:

[0084] Table 2

[0085]

[0086] As shown in Table 2, the candidate virtual transmission ratios of the calculated virtual speed in the corresponding virtual speed range are 4.5 and 3.0, and the corresponding candidate virtual gears are 1st gear and 2nd gear, so the current virtual gear is determined to be the smallest 1st gear.

[0087] In an embodiment of the present application, after determining the current virtual gear position, if the virtual speed increases to the upper limit of the corresponding virtual speed range and lasts for a certain period of time, a first reminder message is issued to remind the driver that an upshift operation is possible; if the virtual speed decreases to the lower limit of the corresponding virtual speed range and lasts for a certain period of time, a second reminder message is issued to remind the driver that a downshift operation is possible. The first reminder message and the second reminder message can be at least one of a voice broadcast message, an adjustment of the air conditioning air volume, or a slight vibration of the steering wheel. For example, the voice broadcast message can be a fixed sound or text message, the air conditioning air volume adjustment can be to increase the air volume by one level and continue blowing for 300ms, and the vibration frequency of the steering wheel can be 5Hz. The certain period of time can be 3s.

[0088] Optionally, step S140 includes:

[0089] If the jerking motion actuator is a seat cushion, seat back, seat lumbar airbag or seat belt, the first product of the jerking intensity and the maximum motion amplitude of the jerking motion actuator is used as the target motion amplitude of the jerking motion actuator;

[0090] If the jerking somatosensory actuator is a steering wheel, the second product of the jerking intensity and the preset vibration frequency is calculated, and the sum of the second product and the preset minimum frequency is used as the target movement amplitude of the steering wheel;

[0091] If the jerking motion sensing actuator is an air conditioner and the jerking intensity is not within the preset intensity range, the sum of the current air volume of the air conditioner and the preset air volume change value is determined as the target action amplitude of the air conditioner, or the preset wind direction of the air conditioner is determined as the target action amplitude of the air conditioner.

[0092] In the embodiment of the present application, the target motion amplitude of each somatosensory actuator can be calculated according to the following Table 3:

[0093] Table 3

[0094]

[0095]

[0096] Among them, H max Indicates the maximum movement range of the seat cushion, that is, the maximum rear lift height; θ max Indicates the maximum range of motion of the seat back, that is, the maximum forward tilt angle; L pmax Indicates the maximum movement range of the seat waist airbag, that is, the maximum expansion amount; F max Indicates the maximum range of motion of the seat belt, that is, the maximum tightening force; f max and f min Represent the maximum vibration frequency and minimum vibration frequency of the steering wheel, f max -fmin Indicates the preset vibration frequency; ±ΔF an Indicates the preset air volume change value; Body (Chest) or Face (Face) indicates the preset air direction. During upshifts and downshifts, the jerk intensity can be ignored. That is, regardless of the jerk intensity, Dir is set to Body during upshifts and Face during downshifts.

[0097] Optionally, the set duration includes a first duration, a second duration, and a third duration arranged in chronological order of the start time, and the sum of the first duration, the second duration, and the third duration is equal to the set duration. For example, if the set duration is 600ms, the first duration is 0-200ms, the second duration is 200-500ms, and the third duration is 500-600ms, that is, the first duration, the second duration, and the third duration are the first 200ms, the middle 300ms, and the last 100ms, respectively.

[0098] Step S150 includes:

[0099] Calculate the product of the target action amplitude and the preset weakening coefficient to obtain the action weakening amplitude, wherein the weakening coefficient is less than 1; control the somatosensory actuator to perform the corresponding action with the action weakening amplitude within a first time length; control the somatosensory actuator to stop performing the action within a second time length; control the somatosensory actuator to perform the corresponding action with the target action amplitude within a third time length.

[0100] This means that in forward gear, the process of shifting up or down is divided into three stages, with the first, second, and third durations respectively. The first stage controls the actuator to operate at a reduced amplitude, the second stage stops all movement, and the third stage controls the actuator to operate at the target amplitude. All three stages are completed within the set durations, and after completion, the actuator's movement is restored within 1-2 seconds, returning to its pre-shift state.

[0101] In the embodiment of the present application, the corresponding motion of the jerking actuator can be set differently when the virtual gear adjustment signal is a gear shift up / down signal and a forced downshift signal. For example, when the virtual gear adjustment signal is a gear shift up / down signal, the set duration is divided into three sections, and different motion amplitudes are controlled for each section; when the virtual gear adjustment signal is a forced downshift signal, the motion amplitude is the same throughout the set duration and can be the target motion amplitude. For example, when the virtual gear adjustment signal is a forced downshift signal, during the gear shift up / down process, the seat cushion is controlled to instantly rise H s , the backrest quickly tilts forward θ b , waist airbag burst charge L p , Seat belt emergency retraction Fb , the vibration frequency of the steering wheel is f vib The air conditioning increases its airflow by ΔFan and blows toward the chest, while the headrest speakers play backfire / popping sounds. After a downshift, the headrest speakers play a corresponding sound wave based on the virtual revs. Within 1-2 seconds of a kickdown, the seatbelt actuators return to their pre-kickdown state.

[0102] Optionally, after step S110, the method further includes:

[0103] If the actual gear is the parking gear, the reverse gear or the idle gear, the jerking motion actuator is controlled to perform a cyclic action at a preset frequency and a first action amplitude.

[0104] In an embodiment of the present application, the frequency and first action amplitude of the jerking motion actuator in the parking gear or idle gear can be pre-calibrated. When the electric vehicle enters the parking gear or idle gear, the jerking motion actuator is controlled to perform cyclic action at the preset frequency and first action amplitude to simulate the mechanical dynamic effect of the engine during parking or idling.

[0105] For example, in Park, Idle, or Reverse, the seat cushion's first movement amplitude is 1mm height at a frequency of f1; the seat lumbar airbag's first movement amplitude is 2mm expansion at a frequency of f2; the steering wheel's first movement amplitude is a vibration frequency of f3; the seat belt's first movement amplitude is a 1N tightening force at a frequency of f4; and the air conditioner's first movement amplitude is a first air volume at a frequency of f5. When the electric vehicle is in Park, the seat lumbar airbag is controlled to inflate, increasing the expansion by 2mm, and then deflate, decreasing the expansion by 2mm, repeating the inflation and deflation cycle at a frequency of f1. Similarly, the seat cushion's height can be controlled to increase by 1mm and then decrease by 1mm, raising and lowering the seat cushion at a frequency of f2. The steering wheel can also be controlled to vibrate at a frequency of f3; the seat belt can be controlled to retract and extend at a frequency of f4, with a force of ±1N; and the air conditioner can be controlled to switch on and off at a frequency of f5, with the air volume controlled to be the smaller first air volume when on. Alternatively, the air conditioner can operate at a constant first air volume.

[0106] In the embodiment of the present application, when the actual gear is the parking gear or the idle gear, the virtual speed is calculated according to the following formula (2):

[0107] N engspd '=K1×α+D' formula (2);

[0108] Among them, N engspd' represents the virtual speed in parking gear or idle gear; K1 is a constant; α represents the accelerator pedal opening; D' is a random number used to represent external random disturbances.

[0109] Next, a sound wave is matched to the preset virtual speed in parking or idle gear, or the virtual speed in forward or reverse gear, and the sound wave is played through the headrest speakers in the car to simulate the sound of the engine.

[0110] Optionally, after receiving the virtual gear adjustment signal, the method further includes:

[0111] If the electric vehicle is in a turning state, the airbag on the turning side of the seat is controlled to inflate.

[0112] In an embodiment of the present application, airbags can also be installed on the left and right sides of the seat. The lateral acceleration is used to determine whether the vehicle is turning left or right. When turning left or right, the airbag on the same side is inflated to resist centrifugal force and provide support for the driver.

[0113] In an embodiment of the present application, the pitch angle of the electric vehicle can also be obtained. If the pitch angle is greater than a preset angle threshold, the target movement amplitude of the jerking motion actuator is determined based on the pitch angle, and the jerking motion actuator is controlled to operate at the target movement amplitude. For example, if the pitch angle is greater than the preset angle threshold, the seat back tilt angle and seat cushion height are adjusted to reduce the driver's pitch feeling. After the action is completed, the jerking motion actuator is controlled to return to its original position within 1-2 seconds.

[0114] In an embodiment of the present application, the front camera of the electric vehicle can also be used to identify the road conditions on which the vehicle is traveling, including bumpy road conditions or bumpy road conditions, and when the electric vehicle is traveling on bumpy road conditions or bumpy road conditions and no gear shifting operations are performed, the seat lumbar airbags are controlled to perform periodic inflation and deflation in a matrix manner to remind the driver that the road conditions are bad.

[0115] In the embodiment of the present application, if the electric vehicle is equipped with a fragrance system, it can be linked in the following situations:

[0116] When the actual gear is idle or reverse, the fragrance system is controlled to release a light fragrance to create a luxurious and tranquil feeling;

[0117] When the actual gear is forward and the Kickdown signal is received, the fragrance system is controlled to release refreshing scents such as citrus and mint;

[0118] When the electric vehicle is traveling at a high speed (combined with the vehicle driver monitoring system or navigation data to determine whether it is traveling at a high speed), the fragrance system is controlled to release anti-fatigue fragrance at a fixed time.

[0119] In an embodiment of the present application, in order to give the driver an exclusive dynamic experience without disturbing other passengers in the car, the jerk sensing actuators include the driver's seat cushion, seat back, seat lumbar airbag and seat belt, and the seat cushions, seat back, seat lumbar airbag and seat belts of other passengers do not serve as jerk sensing actuators.

[0120] Based on the same application concept, an embodiment of the present invention further provides a device for simulating the feeling of gear shifting in an electric vehicle. Figure 2 This is a structural block diagram of a device for simulating gear shifting sensation in an electric vehicle provided by an embodiment of the present application. Figure 2 As shown, the apparatus 200 includes an acquisition module 201 , a first determination module 202 , a second determination module 203 , a third determination module 204 and a control module 205 .

[0121] An acquisition module 201 is configured to acquire a target virtual gear, an actual gear, and driving information of the electric vehicle, as well as virtual transmission ratios corresponding to different virtual gears, upon receiving a virtual gear adjustment signal;

[0122] A first determining module 202 is configured to select a current virtual gear from a plurality of virtual gears if the actual gear is a forward gear;

[0123] a second determining module 203 for determining a first virtual transmission ratio corresponding to the current virtual gear and a second virtual transmission ratio corresponding to the target virtual gear, and determining a shifting jerking intensity based on a transmission ratio difference between the first virtual transmission ratio and the second virtual transmission ratio and driving information;

[0124] The third determining module 204 is configured to determine a target motion amplitude of the jerking motion actuator according to the jerking intensity, wherein the jerking intensity is positively correlated with the target motion amplitude;

[0125] The control module 205 is used to control the jerking motion actuator to perform corresponding actions within a set time period according to the target action amplitude, so as to simulate the dynamic effect of a fuel vehicle shifting gears.

[0126] Optionally, the first determining module 202 includes:

[0127] an acquiring unit, configured to acquire a wheel diameter of the electric vehicle;

[0128] a first determining unit, configured to determine a virtual rotational speed of the virtual engine at different virtual transmission ratios according to the vehicle speed, the wheel diameter, and the virtual transmission ratio;

[0129] The second determining unit is configured to determine a current virtual gear position from a plurality of virtual gear positions according to a virtual speed corresponding to the virtual gear ratio and a virtual speed range corresponding to a preset virtual gear ratio.

[0130] Optionally, the second determining unit is further configured to:

[0131] Selecting a candidate virtual transmission ratio from a plurality of virtual transmission ratios; wherein the virtual speed corresponding to the candidate virtual transmission ratio is within the virtual speed range corresponding to the candidate transmission ratio;

[0132] Determining a virtual gear position corresponding to each candidate virtual transmission ratio as a candidate virtual gear position;

[0133] The smallest virtual gear among all candidate virtual gears is determined as the current virtual gear.

[0134] Optionally, the apparatus 200 further includes:

[0135] If the actual gear is the parking gear, the reverse gear or the idle gear, the jerking motion actuator is controlled to perform a cyclic action at a preset frequency and a first action amplitude.

[0136] Optionally, the third determining module 204 is further configured to:

[0137] If the jerking motion actuator is a seat cushion, seat back, seat lumbar airbag or seat belt, the first product of the jerking intensity and the maximum motion amplitude of the jerking motion actuator is used as the target motion amplitude of the jerking motion actuator;

[0138] If the jerking somatosensory actuator is a steering wheel, the second product of the jerking intensity and the preset vibration frequency is calculated, and the sum of the second product and the preset minimum frequency is used as the target movement amplitude of the steering wheel;

[0139] If the jerking motion sensing actuator is an air conditioner and the jerking intensity is not within the preset intensity range, the sum of the current air volume of the air conditioner and the preset air volume change value is determined as the target action amplitude of the air conditioner, or the preset wind direction of the air conditioner is determined as the target action amplitude of the air conditioner.

[0140] Optionally, the set duration includes a first duration, a second duration, and a third duration arranged in chronological order according to the start time, and the sum of the first duration, the second duration, and the third duration is equal to the set duration. The control module 201 is further configured to:

[0141] Calculating the product of the target motion amplitude and a preset weakening coefficient to obtain the motion weakening amplitude, wherein the weakening coefficient is less than 1;

[0142] Controlling the setback motion actuator to perform a corresponding action with a weakened action amplitude within a first duration;

[0143] Control the somatosensory actuator to stop executing the action within the second time period;

[0144] The frustration motion actuator is controlled to perform a corresponding action at a target action amplitude within a third time period.

[0145] Optionally, the apparatus 200 further includes a second control module, configured to:

[0146] If the electric vehicle is in a turning state, the airbag on the turning side of the seat is controlled to inflate.

[0147] It can be understood that the device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0148] An embodiment of the present invention further provides an electronic device, which may include a processor and a memory, wherein the processor and the memory may be communicatively connected to each other via a bus or other means.

[0149] The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application, or may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other chips, or a combination of the above types of chips.

[0150] The memory may include a large capacity memory for data or instructions. By way of example and not limitation, the memory may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory may include removable or non-removable (or fixed) media. Where appropriate, the memory may be internal or external to the electronic device. In certain embodiments, the memory may be a non-volatile solid-state memory.

[0151] In one embodiment, the memory may be a read-only memory (ROM). In one embodiment, the ROM may be a mask-programmable ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0152] The processor reads and executes computer program instructions stored in the memory to implement any one of the methods for simulating the shifting sensation in an electric vehicle in the above embodiments.

[0153] In one example, the electronic device may further include a communication interface and a bus. The processor, memory, and communication interface are connected via the bus and communicate with each other. The communication interface is primarily used to enable communication between the various modules, devices, units, and / or devices in the embodiments of this application. Where appropriate, the bus may include one or more buses.

[0154] In addition, in conjunction with the method for simulating the shifting sensation in an electric vehicle in the above-mentioned embodiments, embodiments of the present invention may provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when executed by a processor, the computer program instructions implement any of the methods for simulating the shifting sensation in an electric vehicle in the above-mentioned embodiments.

[0155] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD). The storage medium can also include a combination of the above-mentioned types of memory.

[0156] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0157] The embodiments of the present application provide a method, apparatus, device and medium for simulating the physical sensation of gear shifting in an electric vehicle. If a virtual gear adjustment signal is received, the target virtual gear, actual gear and driving information of the electric vehicle, as well as the virtual transmission ratios corresponding to different virtual gears are obtained, that is, when the electric vehicle needs to adjust the gear, some data related to gear shifting are obtained; if the actual gear is a forward gear, the current virtual gear is selected from multiple virtual gears, and when the vehicle can shift up or down, the current virtual gear of the electric vehicle is selected; the target virtual gear corresponding to the current virtual gear is determined. A virtual transmission ratio and a second virtual transmission ratio corresponding to a target virtual gear position are used to determine the intensity of the shift jerk based on the transmission ratio difference between the first and second virtual transmission ratios, as well as driving information. Specifically, the degree of jerkiness is determined based on the change in transmission ratio and driving conditions that affect the intensity of the jerk during the shift. Based on the jerk intensity, a target action amplitude for the jerk sensor actuator is determined, with the jerk intensity being positively correlated with the target action amplitude. Based on the target action amplitude, the jerk sensor actuator is controlled to perform a corresponding action within a set duration to simulate the dynamic effect of a fuel vehicle shifting. This method can simulate the dynamic effect of a fuel vehicle shifting by controlling the jerk sensor actuator to perform actions during the shifting process, thereby enhancing the dynamic driving experience of an electric vehicle.

[0158] In the description provided herein, numerous specific details are described. However, it is understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0159] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the claims below, inventive aspects lie in less than all the features of the individual embodiments disclosed above. Accordingly, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of the invention.

[0160] It should be noted that the above embodiments illustrate rather than limit the invention, and that a person skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The present invention may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

Claims

1. A method for simulating the feeling of gear shifting in an electric vehicle, characterized in that: The method comprises: If a virtual gear adjustment signal is received, the target virtual gear, actual gear and driving information of the electric vehicle, as well as virtual transmission ratios corresponding to different virtual gears are obtained; If the actual gear is a forward gear, selecting a current virtual gear from a plurality of virtual gears; determining a first virtual gear ratio corresponding to the current virtual gear position and a second virtual gear ratio corresponding to the target virtual gear position, and determining a jerk intensity of a gear shift experience based on a gear ratio difference between the first virtual gear ratio and the second virtual gear ratio and the driving information; determining a target motion amplitude of a somatosensory actuator according to the jerking intensity, wherein the jerking intensity is positively correlated with the target motion amplitude; According to the target action amplitude, the jerking motion actuator is controlled to perform a corresponding action within a set time period to simulate the dynamic effect of a fuel vehicle shifting gears.

2. The method for simulating gear shifting sensation in an electric vehicle according to claim 1, characterized in that: The driving information includes vehicle speed, and selecting a current virtual gear from a plurality of virtual gears includes: Obtaining the wheel diameter of the electric vehicle; determining, according to the vehicle speed, the wheel diameter, and the virtual transmission ratio, a virtual rotational speed of the virtual engine at the different virtual transmission ratios; According to the virtual speed corresponding to the virtual transmission ratio and the preset virtual speed range corresponding to the virtual transmission ratio, a current virtual gear position is determined from a plurality of virtual gear positions.

3. The method for simulating gear shifting sensation in an electric vehicle according to claim 2, characterized in that: The determining of the current virtual gear position from a plurality of virtual gear positions according to the virtual speed corresponding to the virtual gear ratio and the preset virtual speed range corresponding to the virtual gear ratio includes: Selecting a candidate virtual transmission ratio from a plurality of virtual transmission ratios; wherein a virtual speed corresponding to the candidate virtual transmission ratio is within a virtual speed interval corresponding to the candidate transmission ratio; Determining a virtual gear position corresponding to each candidate virtual transmission ratio as a candidate virtual gear position; The smallest virtual gear among all candidate virtual gears is determined as the current virtual gear.

4. The method for simulating gear shifting sensation in an electric vehicle according to claim 1, characterized in that: After obtaining the target virtual gear, actual gear, and driving information of the electric vehicle, as well as virtual transmission ratios corresponding to different virtual gears, the method further includes: If the actual gear is the parking gear, the reverse gear or the idle gear, the jerking motion actuator is controlled to perform a cyclic action at a preset frequency and a first action amplitude.

5. The method for simulating gear shifting sensation in an electric vehicle according to claim 1, characterized in that: Determining a target motion amplitude of the jerking motion actuator according to the jerking intensity includes: If the jerking motion actuator is a seat cushion, a seat back, a seat lumbar airbag, or a seat belt, a first product of the jerking intensity and the maximum motion amplitude of the jerking motion actuator is used as a target motion amplitude of the jerking motion actuator; If the jerking motion sensor is a steering wheel, calculating a second product of the jerking intensity and a preset vibration frequency, and taking the sum of the second product and a preset minimum frequency as the target motion amplitude of the steering wheel; If the jerking motion sensing actuator is an air conditioner and the jerking intensity is not within the preset intensity range, the sum of the current air volume of the air conditioner and the preset air volume change value is determined as the target action amplitude of the air conditioner, or the preset wind direction of the air conditioner is determined as the target action amplitude of the air conditioner.

6. The method for simulating gear shifting sensation in an electric vehicle according to claim 1, characterized in that: The set duration includes a first duration, a second duration, and a third duration arranged in chronological order according to a start time, the sum of the first duration, the second duration, and the third duration being equal to the set duration, and controlling the frustration motion actuator to perform a corresponding action within the set duration according to the target action amplitude includes: Calculating the product of the target motion amplitude and a preset weakening coefficient to obtain the motion weakening amplitude, wherein the weakening coefficient is less than 1; controlling the setback motion sensor to perform a corresponding action within the first duration at the action weakening amplitude; controlling the frustration motion sensing actuator to stop executing the action within the second time period; The frustration motion sensing actuator is controlled to perform a corresponding action at the target action amplitude within the third time period.

7. The method for simulating gear shifting sensation in an electric vehicle according to claim 1, characterized in that: After receiving the virtual gear adjustment signal, the method further includes: If the electric vehicle is in a turning state, the airbag on the turning side of the seat is controlled to inflate.

8. A device for simulating the feeling of gear shifting in an electric vehicle, characterized in that: The device comprises: an acquisition module, configured to acquire a target virtual gear, an actual gear, and driving information of the electric vehicle, as well as virtual transmission ratios corresponding to different virtual gears, upon receiving a virtual gear adjustment signal; a first determining module, configured to select a current virtual gear from a plurality of virtual gears if the actual gear is a forward gear; a second determining module, configured to determine a first virtual gear ratio corresponding to the current virtual gear position and a second virtual gear ratio corresponding to the target virtual gear position, and determine a jerk intensity of a gear shift experience based on a gear ratio difference between the first virtual gear ratio and the second virtual gear ratio and the driving information; a third determining module, configured to determine a target motion amplitude of a jerking motion actuator according to the jerking intensity, wherein the jerking intensity is positively correlated with the target motion amplitude; The control module is used to control the jerking motion actuator to perform corresponding actions within a set time period according to the target action amplitude, so as to simulate the dynamic effect of a fuel vehicle shifting gears.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method according to any one of claims 1 to 7.

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