Gear shifting control method and device, electronic equipment and medium

Abstract

The invention discloses a gear shifting control method and device, electronic equipment and a medium, relates to the field of electric drive axle control, and considers that the rotating speed of an output shaft of a vehicle with double electric drive axles in the gear shifting process is in positive correlation with the acceleration before gear shifting and the gear shifting duration. Whether the double-electric-drive-axle vehicle can shift gears successfully or not is related to whether the difference between the rotating speed of the output shaft and the rotating speed of a gear shifting driving motor in the double-electric-drive axle is within the preset difference value range or not, so that the target rotating speed of the output shaft is determined according to the acceleration of the output shaft before gear shifting and the preset gear shifting duration time; in this way, the difference between the rotating speed of the gear shifting driving motor in the gear shifting process and the target rotating speed can be controlled to be within the preset difference value range, and then the stability of the double-electric-drive-axle vehicle in the gear shifting process is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of electric drive axle control, and in particular to a gear shift control method, device, electronic equipment and medium. Background Art

[0002] In electric drive axle vehicles, the electric drive axle (a drive axle that integrates the drive motor into the vehicle's axle to achieve integration, high efficiency and other functions) needs to go through the processes of clearing torque, returning to neutral, motor speed regulation, shifting, and torque recovery during the gear shifting process. In the existing driving gear shifting process including central direct drive, if the vehicle only includes one electric drive axle, the drive motor on the electric drive axle needs to adjust its own speed to the speed of the vehicle's output shaft (set inside the vehicle's gearbox, usually composed of axle tubes, universal joints, bearings and other components, and plays the role of connecting the vehicle's electric drive axle and the vehicle's drive wheels) during the motor speed regulation process before starting to shift. During the shifting process, the power of a single electric drive axle needs to be interrupted, so that the output shaft speed is in a reduced stage, so the gear shifting can generally be successful. However, in the case of a dual-electric drive axle vehicle, since the power of one electric drive axle is interrupted during the gear shifting process, the power of the other electric drive axle is not interrupted, and torque compensation of the output shaft is required, the vehicle speed continues to increase during the gear shifting process, and the output shaft speed will continue to increase. This will cause the speed difference between the speed of the drive motor working in the dual-electric drive axle and the output shaft speed to exceed the preset speed difference threshold when shifting, resulting in gear shifting failure. In severe cases, the vehicle may even produce gear clashing, which seriously affects the smoothness of the vehicle's driving and the life of the drive motor. Summary of the Invention

[0003] The purpose of the present invention is to provide a gear shift control method, device, electronic device and medium. After determining the target speed of the output shaft based on the acceleration of the output shaft before the gear shift and the preset gear shift duration, this scheme can control the speed of the gear shift drive motor during the gear shift process so that the difference between the speed and the target speed is within a preset difference range, thereby ensuring the stability of the gear shift process of the dual electric drive axle vehicle.

[0004] To solve the above technical problems, the present invention provides a shift control method applied to a vehicle controller of a dual electric drive axle vehicle, comprising:

[0005] Determining a current rotational speed of a drive motor in a dual electric drive axle of the dual electric drive axle vehicle, and determining whether the dual electric drive axle vehicle needs to shift gears based on the current rotational speed;

[0006] If the dual electric drive axle vehicle needs to shift gears, determining a current acceleration of an output shaft of the dual electric drive axle vehicle before the shift;

[0007] determining a target speed of the output shaft according to the current acceleration and a preset shift duration of the output shaft, wherein both the current acceleration and the preset shift duration are positively correlated with the target speed;

[0008] The motor speed of the shift drive motor in the dual electric drive axle is controlled so that the difference between the motor speed and the target speed falls within a preset difference range within the preset shift duration.

[0009] Optionally, determining the target speed of the output shaft according to the acceleration and a preset shift duration of the output shaft includes:

[0010] Determining a shift reference time according to the preset shift duration and a reference time determination formula;

[0011] taking the product of the shift reference time and the acceleration as the target speed of the output shaft;

[0012] The reference time determination formula is: T=T n / 2, T is the shift reference time, T n is the preset shift duration.

[0013] Optionally, determining whether the dual electric drive axle vehicle needs to shift gears according to the current speed includes:

[0014] Determining whether the current speed is greater than a first preset speed threshold or whether the current speed is less than a second preset speed threshold, the first preset speed threshold being greater than the second preset speed threshold;

[0015] If the current speed is greater than a first preset speed threshold, determining that the dual electric drive axle vehicle needs to upshift;

[0016] If the current speed is less than a second preset speed threshold, it is determined that the dual electric drive axle vehicle needs to downshift.

[0017] Optionally, before determining whether the dual electric drive axle vehicle needs to shift gears according to the current speed, the method further includes:

[0018] Determining a current accelerator pedal opening, a current load, and a current battery state of a high-voltage power battery pack of the dual electric drive axle vehicle;

[0019] Accordingly, judging whether the dual electric drive axle vehicle needs to shift gears according to the current speed includes:

[0020] Whether the dual electric drive axle vehicle needs to shift gears is determined according to the current speed, the current accelerator pedal opening, the current load, and the current battery state.

[0021] Optionally, the determining whether the dual electric drive axle vehicle needs to shift gears according to the current speed, the current accelerator pedal opening, the current load, and the current battery status includes:

[0022] determining whether the current speed is greater than the first preset speed threshold, or the current speed is less than the second preset speed threshold, or the current accelerator pedal opening is greater than the first preset opening threshold, or the current accelerator pedal opening is less than the second preset opening threshold, or the current load is greater than the first preset load threshold, or the current load is less than the second preset load threshold, or the current battery state is a low battery state, or the current battery state is a high battery state and / or a low temperature state and / or a power limited state;

[0023] If the current speed is greater than a first preset speed threshold and / or the current accelerator pedal opening is less than a second preset opening threshold and / or the current load is less than a second preset load threshold and / or the current battery state is a low power state, it is determined that the dual electric drive axle vehicle needs to upshift;

[0024] If the current speed is less than a second preset speed threshold and / or the current accelerator pedal opening is greater than a first preset opening threshold and / or the current load is greater than a first preset load threshold and / or the current battery state is a high charge state and / or a low temperature state and / or a power limited state, it is determined that the dual electric drive axle vehicle needs to downshift.

[0025] Optionally, before controlling the motor speed of the shift drive motor in the dual electric drive axle to ensure that the difference between the motor speed and the target speed falls within a preset difference range within the preset shift duration, the method further includes:

[0026] determining a current slope of the dual electric drive axle vehicle;

[0027] Determining a target speed compensation amount corresponding to the current slope according to the current slope and a correspondence between the slope and the speed compensation amount;

[0028] The sum of the target speed and the target speed compensation amount is used as the shift initial speed.

[0029] Optionally, controlling the motor speed of the shift drive motor in the dual electric drive axle to ensure that the difference between the motor speed and the target speed falls within a preset difference range within the preset shift duration includes:

[0030] controlling the motor speed of the shift drive motor in the dual electric drive axle to ensure that the difference between the motor speed of the shift drive motor and the initial shift speed at the beginning of the preset shift duration is within the preset difference range, and determining a speed compensation amount corresponding to the slope change amount according to the slope change amount of the dual electric drive axle vehicle within the preset shift duration;

[0031] The motor speed of the shift drive motor in the dual electric drive axle within the preset shift duration is adjusted according to the speed compensation amount corresponding to the slope change amount and the initial shift speed.

[0032] To solve the above technical problems, the present invention further provides a shift control device, which is applied to a vehicle controller of a dual electric drive axle vehicle, comprising:

[0033] a first determining module, configured to determine a current rotational speed of a drive motor in a dual electric drive axle of the dual electric drive axle vehicle, and determine whether the dual electric drive axle vehicle needs to shift gears based on the current rotational speed;

[0034] a second determining module, configured to determine a current acceleration of an output shaft of the dual electric drive axle vehicle before the gear shift if the dual electric drive axle vehicle needs to shift gears;

[0035] a third determining module, configured to determine a target speed of the output shaft according to the current acceleration and a preset shift duration of the output shaft, wherein both the current acceleration and the preset shift duration are positively correlated with the target speed;

[0036] A control module is used to control the motor speed of the shift drive motor in the dual electric drive axle to ensure that the difference between the motor speed and the target speed is within a preset difference range within the preset shift duration.

[0037] To solve the above technical problems, the present invention further provides an electronic device, comprising:

[0038] memory for storing computer programs;

[0039] A processor is used to implement the steps of the shift control method as described above when executing the computer program.

[0040] To solve the above technical problems, the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the shift control method described above are implemented.

[0041] The purpose of the present invention is to provide a gear shift control method, device, electronic device and medium. Taking into account that the rotational speed of the output shaft of a dual-electric drive axle vehicle during the gear shift process is positively correlated with its acceleration before the gear shift and the gear shift duration, and because whether the dual-electric drive axle vehicle can successfully shift gears is related to whether the difference between the rotational speed of the output shaft and the rotational speed of the gear shift drive motor in the dual-electric drive axle is within a preset difference range, this scheme can control the speed of the gear shift drive motor during the gear shift process to be within a preset difference range after determining the target speed of the output shaft based on the acceleration of the output shaft before the gear shift and the preset gear shift duration, thereby ensuring the stability of the gear shift process of the dual-electric drive axle vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0043] Figure 1 A process flow chart of a shift control method provided by the present invention;

[0044] Figure 2 A process flow chart of another shift control method provided by the present invention;

[0045] Figure 3 A schematic structural diagram of a shift control device provided by the present invention;

[0046] Figure 4 This is a structural diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0047] The core of the present invention is to provide a gear shift control method, device, electronic device and medium. After determining the target speed of the output shaft based on the acceleration of the output shaft before the gear shift and the preset gear shift duration, this scheme can control the speed of the gear shift drive motor during the gear shift process so that the difference between the speed and the target speed is within a preset difference range, thereby ensuring the stability of the gear shift process of the dual electric drive axle vehicle.

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0049] Please refer to Figure 1 , Figure 1 This is a process flow chart of a shift control method provided by the present invention. The shift control method is applied to the vehicle controller of a dual electric drive axle vehicle, including:

[0050] S11: Determine the current speed of the drive motor in the dual electric drive axle of the dual electric drive axle vehicle, and determine whether the dual electric drive axle vehicle needs to shift gears based on the current speed;

[0051] S12: If the dual electric drive axle vehicle needs to shift gears, determine the current acceleration of the output shaft of the dual electric drive axle vehicle before the shift;

[0052] S13: determining a target speed of the output shaft based on the current acceleration and a preset shift duration of the output shaft, wherein the current acceleration and the preset shift duration are both positively correlated with the target speed;

[0053] S14: Controlling the motor speed of the shift drive motor in the dual electric drive axle to ensure that the difference between the motor speed and the target speed falls within a preset difference range within a preset shift duration.

[0054] In the present invention, it is taken into account that the rotational speed of the output shaft of the dual-electric drive axle vehicle during the gear shifting process is positively correlated with the acceleration of the output shaft before the gear shifting and the preset gear shifting duration, and if the dual-electric drive axle vehicle wants to shift gears stably, it is necessary to ensure that the difference between the motor speed of the shifting drive motor and the rotational speed of the output shaft during the gear shifting process of the dual-electric drive axle vehicle needs to be within the preset difference range. Therefore, this scheme needs to first determine whether the dual-electric drive axle vehicle needs to shift gears. If gear shifting is required, it is necessary to determine the target rotational speed of the output shaft during the gear shifting process based on the current acceleration of the output shaft before the gear shifting and the preset gear shifting duration. Finally, it is only necessary to control the difference between the motor speed of the shifting drive motor in the dual-electric drive axle and the target rotational speed within the preset difference range within the preset gear shifting duration to ensure the stability of the gear shifting process of the dual-electric drive axle vehicle.

[0055] This embodiment provides a shift control method, taking into account that the speed of the output shaft of a dual-electric drive axle vehicle during the shift process is positively correlated with its acceleration before the shift and the shift duration, and because whether the dual-electric drive axle vehicle can successfully shift gears is related to whether the difference between the speed of the output shaft and the speed of the shift drive motor in the dual-electric drive axle is within a preset difference range, this solution can control the speed of the shift drive motor during the shift process to ensure that the difference between the target speed and the target speed is within a preset difference range after determining the target speed of the output shaft based on the acceleration of the output shaft before the shift and the preset shift duration, thereby ensuring the stability of the shift process of the dual-electric drive axle vehicle.

[0056] Based on the above embodiment:

[0057] As an optional embodiment, determining the target speed of the output shaft according to the acceleration and the preset shift duration of the output shaft includes:

[0058] Determine the shift reference time according to the preset shift duration and the reference time determination formula;

[0059] The product of the shift reference time and the acceleration is used as the target speed of the output shaft;

[0060] The reference time determination formula is: T=T n / 2, T is the shift reference time, T n is the preset shift duration.

[0061] In the present invention, considering that under normal circumstances the speed of the output shaft during the gear shifting process generally refers to the average speed within the preset gear shifting duration, the target speed is related to half of the preset gear shifting duration, that is, the gear shifting reference time is half of the preset gear shifting duration, and the product of the gear shifting reference time and the acceleration can be used as the target speed of the output shaft, ensuring the integrity of the solution.

[0062] It should be noted that, in practical applications, the shift reference time T can also be T n / 2+preset value, that is, the speed of the output shaft during the gear shifting process can have a certain deviation from the average speed within the preset gear shifting duration.

[0063] As an optional embodiment, determining whether the dual electric drive axle vehicle needs to shift gears according to the current speed includes:

[0064] Determining whether the current speed is greater than a first preset speed threshold or whether the current speed is less than a second preset speed threshold, the first preset speed threshold being greater than the second preset speed threshold;

[0065] If the current speed is greater than a first preset speed threshold, it is determined that the dual electric drive axle vehicle needs to upshift;

[0066] If the current speed is less than the second preset speed threshold, it is determined that the dual electric drive axle vehicle needs to downshift.

[0067] In the present invention, considering that the vehicle speed of the dual electric drive axle is the most basic and most critical parameter for determining whether it needs to shift gears, and different gears correspond to different vehicle speed ranges, excessively high or low vehicle speeds may trigger a gear shift (upshift or downshift). For example, when the speed of the drive motor of a certain electric drive axle is continuously higher than the upper limit of the preset "economic / high efficiency range" (or close to the maximum speed limit allowed by the drive motor), the VCU of the dual electric drive axle vehicle will consider issuing an upshift command to the electric drive axle to reduce the speed of the drive motor, improve efficiency, reduce energy consumption and noise, and protect the motor, that is, to determine whether the current speed is greater than the first preset speed threshold, such as If the current speed is greater than the first preset speed threshold, it is determined that the dual-electric drive axle vehicle needs to upshift; conversely, when the speed of the drive motor of a certain electric drive axle is too low (close to or lower than the lower limit of its high-efficiency range, or so low that it may cause dragging, shaking, or even stalling), the VCU of the dual-electric drive axle vehicle will consider downshifting to increase the speed of the drive motor of the electric drive axle, obtain greater wheel-end torque output capacity, and ensure power response and climbing ability, that is, determine whether the current speed is less than the second preset speed threshold. If the current speed is less than the second preset speed threshold, it is determined that the dual-electric drive axle vehicle needs to downshift, thereby improving the accuracy of the gear shift judgment process.

[0068] As an optional embodiment, before determining whether the dual electric drive axle vehicle needs to shift gears according to the current speed, the method further includes:

[0069] Determining a current accelerator pedal opening, a current load, and a current battery state of a high-voltage power battery pack of the dual electric drive axle vehicle;

[0070] Accordingly, judging whether the dual electric drive axle vehicle needs to shift gears based on the current speed includes:

[0071] Determine whether the dual electric drive axle vehicle needs to shift gears based on the current speed, current accelerator pedal opening, current load and current battery status.

[0072] In the present invention, whether a dual-electric drive axle vehicle needs to shift gears is considered to be a multi-parameter collaborative decision-making process, which is comprehensively judged by the vehicle controller. Its core goal is to make the drive motor work in the high-efficiency range as much as possible and protect the power system under the premise of ensuring power, smoothness and efficiency. In addition to the speed of the drive motor, the multiple parameters are also related to the current accelerator pedal opening, current load and current battery status of the high-voltage power battery pack of the dual-electric drive axle vehicle. Therefore, this solution chooses to judge whether the dual-electric drive axle vehicle needs to shift gears based on the current speed, current accelerator pedal opening, current load and current battery status, thereby improving the accuracy and reliability of the gear shift judgment process.

[0073] As an optional embodiment, determining whether a dual electric drive axle vehicle needs to shift gears based on the current speed, the current accelerator pedal opening, the current load, and the current battery status includes:

[0074] determining whether the current speed is greater than a first preset speed threshold, or the current speed is less than a second preset speed threshold, or the current accelerator pedal opening is greater than a first preset opening threshold, or the current accelerator pedal opening is less than a second preset opening threshold, or the current load is greater than a first preset load threshold, or the current load is less than a second preset load threshold, or the current battery state is a low battery state, or the current battery state is a high battery state and / or a low temperature state and / or a power limited state;

[0075] If the current speed is greater than a first preset speed threshold and / or the current accelerator pedal opening is less than a second preset opening threshold and / or the current load is less than a second preset load threshold and / or the current battery state is low, it is determined that the dual electric drive axle vehicle needs to upshift;

[0076] If the current speed is less than the second preset speed threshold and / or the current accelerator pedal opening is greater than the first preset opening threshold and / or the current load is greater than the first preset load threshold and / or the current battery state is a high charge state and / or a low temperature state and / or a power limited state, it is determined that the dual electric drive axle vehicle needs to downshift.

[0077] In the present invention, because the accelerator pedal opening of a dual-electric drive axle vehicle reflects the driver's required torque and the intensity of the driver's power request, when the drive motor speed is within the high-speed range but the dual-electric drive axle vehicle is in a high-throttle / rapid acceleration situation, the VCU may delay upshifting or actively downshift to maintain a high torque output state and prioritize power demand. Conversely, when the dual-electric drive axle vehicle is in a low-throttle / constant-speed cruising situation, the VCU will prefer to operate the dual-electric drive axle vehicle in the highest gear to achieve optimal efficiency. Similarly, because the load of the dual-electric drive axle vehicle is related to the actual torque output of the drive motor, for example, when the dual-electric drive axle vehicle is in a high-load condition (such as a heavy load or climbing a hill), the VCU may delay upshifting even if the vehicle speed and drive motor speed reach the upshift point. This is because insufficient torque may cause stalling or weak acceleration after upshifting. Conversely, an earlier downshift may be required to obtain greater wheel-end torque. On the contrary, when the dual-electric drive axle vehicle is in a low-load condition (such as no-load or flat road), the VCU will actively shift up; similarly, the battery status (SOC, temperature, power limit) of the dual-electric drive axle vehicle is related to whether it needs to shift up. For example, when the dual-electric drive axle vehicle is in a low-battery state, the VCU will be more inclined to shift up (reduce speed and reduce energy consumption) to extend battery life; on the contrary, when the dual-electric drive axle vehicle is in a high-battery state / low-temperature state / power-limited state, if the battery cannot provide high power, the VCU will utilize the high torque characteristics of the motor by downshifting to make up for the lack of power caused by power limitation. Therefore, after simultaneously considering the current speed, the current accelerator pedal opening, the current load and the current battery status, if the current speed is greater than the first preset speed threshold and / or the current accelerator pedal opening is less than the second preset opening threshold and / or the current load is less than the second preset load threshold and / or the current battery status is in a low-power state, it is determined that the dual-electric drive axle vehicle needs to upshift; conversely, if the current speed is less than the second preset speed threshold and / or the current accelerator pedal opening is greater than the first preset opening threshold and / or the current load is greater than the first preset load threshold and / or the current battery status is in a high-power state and / or a low-temperature state and / or a power-limited state, it is determined that the dual-electric drive axle vehicle needs to downshift, thereby ensuring the integrity of the solution.

[0078] As an optional embodiment, before controlling the motor speed of the shift drive motor in the dual electric drive axle to ensure that the difference between the motor speed and the target speed within the preset shift duration is within a preset difference range, the method further includes:

[0079] Determine the current slope of a dual electric axle vehicle;

[0080] Determine the target speed compensation amount corresponding to the current slope according to the current slope and the corresponding relationship between the slope and the speed compensation amount;

[0081] The sum of the target speed and the target speed compensation amount is used as the initial speed for shifting.

[0082] In the present invention, taking into account that during the actual gear shifting process of the dual-electric drive axle vehicle, the vehicle may be in a downhill or uphill state, and the slope will affect the speed of the output shaft, therefore, in order to make the difference between the speed of the drive motor and the speed of the output shaft within the preset difference range, it is also necessary to determine the impact of the slope on the output shaft, that is, the target speed compensation amount, and add the target speed compensation amount to the target speed as the initial gear shifting speed at the beginning of the final gear shifting process. Therefore, this scheme can perform speed compensation for the gear shifting process according to the slope of the dual-electric drive axle vehicle to ensure the accuracy of the drive motor speed control, thereby improving the stability of the gear shifting process of the dual-electric drive axle vehicle.

[0083] As an optional embodiment, controlling the motor speed of the shift drive motor in the dual electric drive axle to ensure that the difference between the motor speed and the target speed within a preset difference range within a preset shift duration includes:

[0084] controlling the motor speed of the shift drive motor in the dual electric drive axle so that the difference between the motor speed and the initial speed of the shift at the beginning of the preset shift duration is within a preset difference range, and determining a speed compensation amount corresponding to the slope change amount according to the slope change amount of the dual electric drive axle vehicle during the preset shift duration;

[0085] The motor speed of the shift drive motor in the dual electric drive axle within the preset shift duration is adjusted according to the speed compensation amount corresponding to the slope change amount and the initial shift speed.

[0086] In the present invention, after taking into account the influence of the slope on the speed of the output shaft, this scheme adds a target speed compensation amount on the basis of the target speed as the initial shift speed at the beginning of the final shift process, and during the shift process, the corresponding speed compensation amount is determined according to the real-time change of the slope of the dual-electric drive axle vehicle, and then the speed of the drive motor in the dual-electric drive axle is changed in real time to ensure the accuracy of the drive motor speed control, thereby improving the stability of the dual-electric drive axle vehicle's shift process.

[0087] It should be noted that this solution increases the calculation of the output shaft acceleration as the base number during gear shifting and speed regulation, and associates the target speed with a coefficient according to the acceleration or deceleration of the output shaft speed. In the normal gear shifting and gear adjustment time of about 0.5s, a target gear speed is obtained by calculating the output shaft speed acceleration or deceleration and associating it with the gear adjustment time to adjust the target speed regulation value. The target speed is offset upward again on the basis of the target speed regulation value as a compensation value for uninterrupted power of the dual electric drive axle, a speed regulation correction value. After correcting and compensating the speed regulation target value, it is ensured that the gear speed difference is within the appropriate range under working conditions such as uphill, downhill, and uninterrupted power, avoiding the phenomenon of gear knocking due to gear shift failure and extending the service life of the electric drive axle. The implementation of the strategy of this solution can significantly improve the gear shift success rate of the dual electric drive axle vehicle during the gear shifting process, and also significantly improve the gear shift success rate of the single electric drive axle. After implementing the gear shift control strategy provided by this solution, the actual gear shifting process of the dual electric drive axle vehicle is as follows: Figure 2 shown.

[0088] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the structure of a shift control device provided by the present invention. The shift control device is applied to the vehicle controller of a dual electric drive axle vehicle, including:

[0089] A first determining module 11 is used to determine the current speed of the drive motor in the dual electric drive axle of the dual electric drive axle vehicle, and determine whether the dual electric drive axle vehicle needs to shift gears based on the current speed;

[0090] A second determining module 12 is configured to determine a current acceleration of an output shaft of the dual electric drive axle vehicle before the gear shift if the dual electric drive axle vehicle needs to shift gears;

[0091] a third determining module 13 for determining a target speed of the output shaft according to the current acceleration and a preset shift duration of the output shaft, wherein the current acceleration and the preset shift duration are both positively correlated with the target speed;

[0092] The control module 14 is configured to control the motor speed of the shift drive motor in the dual electric drive axle to ensure that the difference between the motor speed and the target speed falls within a preset difference range within a preset shift duration.

[0093] The shift control device provided in this embodiment corresponds to the above method and thus has the same beneficial effects as the above method. Therefore, for the embodiments of the shift control device part, please refer to the description of the embodiments of the method part and will not be repeated here.

[0094] Please refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided by the present invention. The electronic device includes:

[0095] Memory 20, for storing computer programs;

[0096] The processor 21 is configured to implement the steps of the above-mentioned shift control method when executing a computer program.

[0097] The electronic device provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer, or a desktop computer.

[0098] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of a digital signal processor (DSP), a field programmable gate array (FPGA), and a programmable logic array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0099] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory, and non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the shift control method disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include but is not limited to the shift control method, etc.

[0100] In some embodiments, the electronic device may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power supply 25 , and a communication bus 26 .

[0101] Those skilled in the art will understand that Figure 4 The structure shown in the figure does not constitute a limitation of the electronic device, and may include more or fewer components than shown in the figure.

[0102] The purpose of this embodiment is to provide an electronic device, in which the memory 20 is used to store computer programs, and the processor 21 is used to implement the steps of the above-mentioned shift control method when executing the computer programs, so as to make the control process more efficient and accurate.

[0103] The present invention also provides an embodiment corresponding to a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned shift control method are implemented.

[0104] It is understood that if the methods in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0105] The computer-readable storage medium provided in this embodiment corresponds to the above method and therefore has the same beneficial effects as the above method. Therefore, for the embodiments of the computer-readable storage medium part, please refer to the description of the embodiments of the method part, which will not be repeated here.

[0106] It should be noted that, in this specification, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0107] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A shift control method, characterized in that: The vehicle controller used in dual electric drive axle vehicles includes: Determining a current rotational speed of a drive motor in a dual electric drive axle of the dual electric drive axle vehicle, and determining whether the dual electric drive axle vehicle needs to shift gears based on the current rotational speed; If the dual electric drive axle vehicle needs to shift gears, determining a current acceleration of an output shaft of the dual electric drive axle vehicle before the shift; determining a target speed of the output shaft according to the current acceleration and a preset shift duration of the output shaft, wherein both the current acceleration and the preset shift duration are positively correlated with the target speed; The motor speed of the shift drive motor in the dual electric drive axle is controlled so that the difference between the motor speed and the target speed falls within a preset difference range within the preset shift duration.

2. The shift control method according to claim 1, wherein: The determining the target speed of the output shaft according to the acceleration and the preset shift duration of the output shaft includes: Determining a shift reference time according to the preset shift duration and a reference time determination formula; taking the product of the shift reference time and the acceleration as the target speed of the output shaft; The reference time determination formula is: T=T n / 2, T is the shift reference time, T n is the preset shift duration.

3. The shift control method according to claim 1, wherein: Determining whether the dual electric drive axle vehicle needs to shift gears according to the current speed includes: Determining whether the current speed is greater than a first preset speed threshold or whether the current speed is less than a second preset speed threshold, the first preset speed threshold being greater than the second preset speed threshold; If the current speed is greater than a first preset speed threshold, determining that the dual electric drive axle vehicle needs to upshift; If the current speed is less than a second preset speed threshold, it is determined that the dual electric drive axle vehicle needs to downshift.

4. The shift control method according to claim 3, wherein: Before determining whether the dual electric drive axle vehicle needs to shift gears according to the current speed, the method further includes: Determining a current accelerator pedal opening, a current load, and a current battery state of a high-voltage power battery pack of the dual electric drive axle vehicle; Accordingly, judging whether the dual electric drive axle vehicle needs to shift gears according to the current speed includes: Whether the dual electric drive axle vehicle needs to shift gears is determined according to the current speed, the current accelerator pedal opening, the current load, and the current battery state.

5. The shift control method according to claim 4, wherein: The determining whether the dual electric drive axle vehicle needs to shift gears according to the current speed, the current accelerator pedal opening, the current load, and the current battery status includes: determining whether the current speed is greater than the first preset speed threshold, or the current speed is less than the second preset speed threshold, or the current accelerator pedal opening is greater than the first preset opening threshold, or the current accelerator pedal opening is less than the second preset opening threshold, or the current load is greater than the first preset load threshold, or the current load is less than the second preset load threshold, or the current battery state is a low battery state, or the current battery state is a high battery state and / or a low temperature state and / or a power limited state; If the current speed is greater than a first preset speed threshold and / or the current accelerator pedal opening is less than a second preset opening threshold and / or the current load is less than a second preset load threshold and / or the current battery state is a low power state, it is determined that the dual electric drive axle vehicle needs to upshift; If the current speed is less than a second preset speed threshold and / or the current accelerator pedal opening is greater than a first preset opening threshold and / or the current load is greater than a first preset load threshold and / or the current battery state is a high charge state and / or a low temperature state and / or a power limited state, it is determined that the dual electric drive axle vehicle needs to downshift.

6. The shift control method according to any one of claims 1 to 5, characterized in that: Before controlling the motor speed of the shift drive motor in the dual electric drive axle to ensure that the difference between the motor speed and the target speed falls within a preset difference range within the preset shift duration, the method further includes: determining a current slope of the dual electric drive axle vehicle; Determining a target speed compensation amount corresponding to the current slope according to the current slope and a correspondence between the slope and the speed compensation amount; The sum of the target speed and the target speed compensation amount is used as the shift initial speed.

7. The shift control method according to claim 6, wherein: Controlling the motor speed of the shift drive motor in the dual electric drive axle to ensure that the difference between the motor speed and the target speed falls within a preset difference range within the preset shift duration, comprising: controlling the motor speed of the shift drive motor in the dual electric drive axle to ensure that the difference between the motor speed of the shift drive motor and the initial shift speed at the beginning of the preset shift duration is within the preset difference range, and determining a speed compensation amount corresponding to the slope change amount according to the slope change amount of the dual electric drive axle vehicle within the preset shift duration; The motor speed of the shift drive motor in the dual electric drive axle within the preset shift duration is adjusted according to the speed compensation amount corresponding to the slope change amount and the initial shift speed.

8. A gear shift control device, characterized in that: The vehicle controller used in dual electric drive axle vehicles includes: a first determining module, configured to determine a current rotational speed of a drive motor in a dual electric drive axle of the dual electric drive axle vehicle, and determine whether the dual electric drive axle vehicle needs to shift gears based on the current rotational speed; a second determining module, configured to determine a current acceleration of an output shaft of the dual electric drive axle vehicle before the gear shift if the dual electric drive axle vehicle needs to shift gears; a third determining module, configured to determine a target speed of the output shaft according to the current acceleration and a preset shift duration of the output shaft, wherein both the current acceleration and the preset shift duration are positively correlated with the target speed; A control module is used to control the motor speed of the shift drive motor in the dual electric drive axle to ensure that the difference between the motor speed and the target speed is within a preset difference range within the preset shift duration.

9. An electronic device, characterized in that: include: memory for storing computer programs; A processor, configured to implement the steps of the shift control method according to any one of claims 1 to 7 when executing the computer program.

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

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