Vehicle control method, electronic equipment and vehicle

Abstract

The invention relates to the technical field of vehicle control, and provides a vehicle control method, electronic equipment and a vehicle, in response to a received gear shifting request, operation information and a current gear shifting gear of the vehicle are obtained, and a target gear shifting gear is determined according to the operation information and the current gear shifting gear; according to the current gear shifting gear, the target gear shifting gear and the operation information, target power interruption torque is determined; determining target motor torque according to the target power interruption torque, and controlling the vehicle to run according to the target motor torque. The target power interruption torque is determined according to the current actual gear shifting gear and the target gear shifting gear, and in the gear shifting process, the vehicle is controlled to run according to the target motor torque determined by the target power interruption torque, so that in the process that the electric vehicle is switched from the actual gear shifting gear to the target gear shifting gear, namely, in the actual gear shifting process, the actual gear shifting speed of the electric vehicle is increased. The real gear shifting feeling in the manual mode is achieved, and the driving experience feeling and the driving fun of the vehicle are improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicle control, and particularly relates to a vehicle control method, an electronic device and a vehicle. BACKGROUND

[0002] With the rapid development of the vehicle technical field, vehicles have become an important means of transportation in people's daily life. At present, electric vehicles do not contain the traditional transmission structure of fuel vehicles, and only have simple moving parts. The fewer the parts, the smaller the mechanical gap, friction and inertia, and thus the faster the starting response, the smoother the gear shifting and power output, and the stronger the acceleration ability.

[0003] However, since the electric vehicle does not have the traditional transmission structure, it does not need to perform manual gear shifting, which leads to the fact that the user cannot experience the real steering feeling like manual gear shifting of the fuel vehicle, and the user's driving experience is poor. SUMMARY

[0004] Therefore, the purpose of the present disclosure is to provide a vehicle control method, an electronic device and a vehicle to solve the problem that the user cannot experience the real steering feeling like manual gear shifting of the fuel vehicle due to the fact that the electric vehicle does not have the traditional transmission structure, and the user's driving experience is poor.

[0005] To achieve the above purpose, the first aspect of the present disclosure provides a vehicle control method, which comprises the following steps: In response to receiving a gear shifting request, obtaining running information and a current gear shifting gear of a vehicle, and determining a target gear shifting gear according to the running information and the current gear shifting gear; According to the current gear shifting gear, the target gear shifting gear and the running information, determining a target power interruption torque; According to the target power interruption torque, determining a target motor torque, and controlling the vehicle to travel according to the target motor torque.

[0006] Based on the same inventive concept, the second aspect of the present disclosure provides a vehicle control device, which comprises: A target gear shifting gear determination module configured to, in response to receiving a gear shifting request, obtain running information and a current gear shifting gear of a vehicle, and determine a target gear shifting gear according to the running information and the current gear shifting gear; A target power interruption torque determination module configured to determine a target power interruption torque according to the current gear shifting gear, the target gear shifting gear and the running information; A vehicle control module configured to determine a target motor torque according to the target power interruption torque, and control the vehicle to travel according to the target motor torque.

[0007] Based on the same inventive concept, a third aspect of the present disclosure provides an electronic device including a memory, a processor, and a computer program stored on the memory and executable by the processor, the processor implementing the vehicle control method as described above when executing the computer program.

[0008] Based on the same inventive concept, a fourth aspect of the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the vehicle control method as described above.

[0009] Based on the same inventive concept, a fifth aspect of the present disclosure provides a vehicle including the vehicle control device of the second aspect, the electronic device of the third aspect, or the storage medium of the fourth aspect.

[0010] As can be seen from the above, the present disclosure provides a vehicle control method, an electronic device, and a vehicle. When a shift request is received, it indicates that the user wants to perform a simulated manual shifting operation. The running information and the current shift gear of the vehicle are obtained. The target shift gear is determined according to the running information and the current shift gear. The target shift gear is the gear required by the user. The target power interruption torque is determined according to the current shift gear, the target shift gear, and the running information. The target motor torque is determined according to the target power interruption torque, and the vehicle is controlled to travel according to the target motor torque. By determining the target power interruption torque according to the current actual shift gear and the target shift gear, and controlling the vehicle to travel according to the target motor torque determined by the target power interruption torque during the shifting process, the electric vehicle can achieve a real shifting feeling in the manual mode during the process of switching from the actual shift gear to the target shift gear, i.e., during the actual shifting process, thereby improving the driving experience and driving pleasure of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the present disclosure or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or the related art descriptions. Obviously, the drawings in the following description are only embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0012] Figure 1 a flowchart of the vehicle control method of an embodiment of the present disclosure; Figure 2 a flowchart of the vehicle control method of another embodiment of the present disclosure; Figure 3 a schematic diagram of the vehicle control system of an embodiment of the present disclosure; Figure 4A structural diagram of a vehicle control device according to an embodiment of the present disclosure; Figure 5 A structural diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0013] In order to make the objects, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to specific embodiments and drawings.

[0014] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood as the common meanings understood by those skilled in the art to which the embodiments of the present disclosure belong. The terms “first”, “second” and similar terms used in the embodiments of the present disclosure do not represent any order, number or importance, but are only used to distinguish different components. The terms “include” or “contain” and similar terms mean that the components or objects before the terms cover the components or objects listed after the terms and their equivalents, and do not exclude other components or objects. The terms “connect” or “connected” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms “up”, “down”, “left”, “right” and the like are only used to represent relative positional relationships, and when the absolute positions of the described objects change, the relative positional relationships may also change accordingly.

[0015] The terms involved in the present disclosure are explained as follows: BCM: Body Control Module (BCM) controls the operation of vehicle body electrical equipment such as vehicle lights, wipers, windows, door locks, etc. by receiving various sensor signals, and can also communicate with other automotive electronic systems to coordinate work, improve the comfort, convenience and safety of the vehicle.

[0016] VCU: Vehicle Control Unit (VCU) accurately controls power output, energy recovery and other operations according to driving requirements and vehicle operating conditions, to ensure that the performance, safety and energy consumption of the vehicle are in the best balance.

[0017] HUT: Head Unit System (HUT) is responsible for displaying important information such as vehicle speed and engine speed on the instrument panel in an intuitive way, providing real-time and accurate vehicle status feedback to the driver.

[0018] MCU: Motor Control Unit (MCU) is mainly responsible for accurately controlling the running state of the motor. MCU receives instructions from the vehicle control unit (VCU) and combines real-time feedback information from the motor to accurately adjust the motor's speed, torque and power output to meet the power demand in different driving conditions. It can also achieve energy recovery function, converting kinetic energy into electrical energy and storing it when the vehicle decelerates or brakes, improving energy utilization efficiency.

[0019] ASD: Active Sound Desgn (ASD) actively emits specific sounds according to the vehicle's driving state and driving mode by installing sound equipment inside or outside the vehicle.

[0020] With the rapid development of the vehicle technology field, vehicles have become an important means of transportation in people's daily life. In today's era of rapid development of the automotive industry, electric vehicles have gradually become a popular choice in the market due to their environmental protection, high efficiency and other advantages.

[0021] However, compared with traditional fuel vehicles, electric vehicles have some significant differences in driving experience. Traditional fuel vehicles are usually equipped with complex gearbox structures, which allow drivers to precisely control the vehicle's power output and driving rhythm through manual shifting, thus obtaining a highly engaging and realistic driving experience. This experience is not just simple driving, but a process of deep communication with the vehicle, allowing drivers to flexibly choose the appropriate gear according to road conditions, vehicle speed and their own driving intentions, and enjoy the joy of controlling the vehicle through their own operations.

[0022] However, the advent of electric vehicles has changed this traditional model. Since the power system of electric vehicles is completely different from that of fuel vehicles, the core component is an electric motor, and the characteristics of the electric motor make the vehicle not need to be equipped with a traditional gearbox structure. Because it only has simple moving parts, the fewer parts, the smaller the mechanical gap, friction and inertia, thus the faster the starting response, smoother shifting and power output, and very strong acceleration ability. Therefore, this design improves the transmission efficiency of the vehicle to some extent and reduces mechanical losses.

[0023] However, because electric vehicles do not have a traditional gearbox structure, they do not need to be manually shifted, although this simplifies the driving process to some extent and makes driving more convenient, it deprives drivers of the opportunity to experience the engaging and realistic manipulation experience of manual shifting in fuel vehicles. That is, drivers can only passively accept the automatic control of the vehicle and cannot precisely control the vehicle's power output and driving rhythm through their own operations as in fuel vehicles, resulting in drivers being unable to experience the realistic manipulation of manual shifting in fuel vehicles.

[0024] Therefore, in order to solve the problem that the user cannot experience the real steering feeling of manual shifting of a fuel vehicle and the user's driving experience is poor due to the absence of a traditional gearbox structure in an electric vehicle and the electric vehicle does not need to perform manual shifting, the embodiment provides a vehicle control method, as shown in the method, which comprises the following steps. Figure 1 Step 101, in response to receiving a shifting request, obtaining running information and a current shifting gear of the vehicle, and determining a target shifting gear according to the running information and the current shifting gear.

[0025] In a specific implementation, when the electric vehicle receives a shifting request, it means that the user wants to perform a simulated manual shifting operation. The shifting request is generated by the user controlling a gear up and down device arranged in the electric vehicle, and the shifting request includes a gear up request and a gear down request.

[0026] In the embodiment, a gear up and down device is arranged in the electric vehicle, and the gear up and down device is arranged at a steering wheel of the vehicle. The user can realize the demand for manual shifting on the electric vehicle by controlling the gear up and down device.

[0027] For example, the gear up and down device is a single device arranged on the left side of the steering wheel. Moving the gear up and down device to the side of the driver corresponds to a gear down request, and moving the gear up and down device to the side of the front windshield of the vehicle corresponds to a gear up request. Another example, the gear up and down device is two devices arranged on the left and right sides of the steering wheel, one of which is a gear up device and the other is a gear down device.

[0028] In the embodiment, the gear up and down device is preferably two devices, specifically a gear up paddle and a gear down paddle, which are arranged on the left and right sides of the steering wheel. In actual application, the user realizes the gear up request by moving the gear up paddle, and realizes the gear down request by moving the gear down paddle.

[0029] The current shifting gear and the running information of the vehicle are obtained, wherein the running information includes the current vehicle speed, the driving mode, the brake pedal opening degree, the accelerator pedal opening degree, the steering wheel angle, etc. The current shifting gear represents the gear determined by the gear up and down paddle, that is, it corresponds to the actual gear information of the manual shifting vehicle. For example, the vehicle includes five shifting gears, which are 1st gear, 2nd gear, 3rd gear, 4th gear and 5th gear, 1st gear is a low-speed gear used for vehicle starting. It has the largest transmission ratio and can provide a larger torque output, so that the vehicle can start driving from a stationary state. As the vehicle speed increases, the driver will gradually shift into 2nd gear, 3rd gear and other higher gears. Each gear has a corresponding transmission ratio, and when shifting to a high gear, the transmission ratio gradually decreases, the vehicle speed increases, but the torque output decreases relatively.

[0030] ​The target shift gear position is determined according to the operation information and the current shift gear position, and the target shift gear position can be the current shift gear position or a requested shift gear position corresponding to the shift request.

[0031] It can be understood that if the target shift gear position is the current shift gear position, the shift gear position of the vehicle is always maintained at the current shift gear position, and thus the switching operation is not required.

[0032] In step 102, a target power interruption torque is determined according to the current shift gear position, the target shift gear position, and the operation information.

[0033] In a specific implementation, after the target shift gear position is determined, it is indicated that the vehicle needs to switch from the current shift gear position to the target shift gear position. In order to achieve the same jerk feeling of the shift feeling of the fuel vehicle, a target power interruption torque is determined according to the current shift gear position, the target shift gear position, and the operation information. The target power interruption torque is an ideal motor torque corresponding to the current operation information when the vehicle switches from the current shift gear position to the target shift gear position.

[0034] It can be understood that in the embodiment, the power interruption torque is only the torque output by the electric vehicle to simulate the real shift feeling of the fuel vehicle, and the electric vehicle is not without power, and there is no safety risk.

[0035] In step 103, a target motor torque is determined according to the target power interruption torque, and the vehicle is controlled to travel according to the target motor torque.

[0036] In a specific implementation, based on the foregoing description, the target power interruption torque is an ideal motor torque corresponding to the current operation information when the vehicle switches from the current shift gear position to the target shift gear position. The actual output target motor torque can be the target power interruption torque or other torque values. Therefore, after the target power interruption torque is determined, a target motor torque is determined according to the target power interruption torque, the target motor torque is an actual output torque value of the motor of the electric vehicle, and the vehicle is controlled to travel according to the target motor torque.

[0037] According to the above scheme, when a shift request is received, it indicates that the user wants to perform a simulated manual shift operation, the running information and the current shift gear of the vehicle are obtained, the target shift gear is determined according to the running information and the current shift gear, and the target shift gear is the gear required by the user. According to the current shift gear, the target shift gear and the running information, the target power interruption torque is determined. According to the target power interruption torque, the target motor torque is determined, and the vehicle is controlled to travel according to the target motor torque. By determining the target power interruption torque according to the current actual shift gear and the target shift gear, in the shift process, the vehicle is controlled to travel according to the target motor torque determined by the target power interruption torque, so that the electric vehicle realizes the real shift feeling in the manual mode during the switching from the actual shift gear to the target shift gear, and improves the driving experience and driving pleasure of the vehicle.

[0038] In some embodiments, during the shift process of the fuel vehicle, the torque value output by the engine changes over time as the shift process proceeds, and therefore, when the electric vehicle simulates the manual shift of the fuel vehicle, the torque value output by the motor can also be set to change as the shift process changes, and then the corresponding target power interruption torque can be determined according to the current actual shift process of the vehicle. That is, in step 102, the target power interruption torque is determined according to the current shift gear, the target shift gear and the running information, which specifically includes: Step 1021, determining a target shift type according to the running information, the current shift gear and the target shift gear, and obtaining a torque corresponding relationship corresponding to the target shift type; Step 1022, determining an actual shift process, and determining a target power interruption torque corresponding to the actual shift process according to the torque corresponding relationship.

[0039] In specific implementation, the target shift type is determined according to the running information, the current shift gear and the target shift gear, wherein the target shift type represents the speed of switching the vehicle from the current shift gear to the target shift gear.

[0040] In this embodiment, the shift speed is different between different shift types, and exemplarily, different shift types are represented by different numbers, and the larger the number is, the faster the corresponding shift speed is and the shorter the shift time is.

[0041] Exemplarily, the shift type includes at least one of the following: 1 slow shift, 2 comfortable shift, 3 normal shift, 4 coherent shift, 5 rapid shift and 6 sporty shift. At this time, the shift time gradually shortens from 1 slow shift to 6 sporty shift.

[0042] Because different shift types correspond to different shift times, the same shift process corresponds to different target power interruption torques between different shift types. Therefore, a torque correspondence relationship corresponding to the target shift type is obtained, where the torque correspondence relationship represents the correspondence between the shift process and the power interruption torque under the target shift type. The form of the correspondence relationship can include at least one of the following: a relationship table, a functional relationship, a curve relationship, a key-value pair relationship, and a column chart relationship.

[0043] The actual shift process is determined, the torque correspondence relationship is searched according to the actual shift process, and the target power interruption torque corresponding to the actual shift process is determined.

[0044] According to the above scheme, the corresponding target power interruption torque is determined according to the actual shift process, which is more similar to the shift experience of a real manual shift of a fuel vehicle, thereby improving the shift experience of the user. At the same time, the target power interruption torque is determined by searching the torque correspondence relationship corresponding to the target shift type. On the one hand, the determined target power interruption torque is more matched with the current actual running information of the vehicle, thereby improving the accuracy of the target power interruption torque. On the other hand, the target power interruption torque is determined by searching, which shortens the determination time of the target power interruption torque and improves the determination rate of the target power interruption torque, thereby making the vehicle travel more smoothly.

[0045] In some embodiments, because the demand for shifting is different when the vehicle is in different driving conditions, and the target shift type represents the speed at which the vehicle switches from the current shift gear to the target shift gear, the target shift type can be determined according to the current driving condition of the vehicle, that is, the target shift type is determined according to the running information, the current shift gear, and the target shift gear in step 1021, which specifically includes: In step 10211, the target shift mode corresponding to the running information is determined according to the running information, and a type correspondence relationship corresponding to the target shift mode is obtained. In step 10212, the target shift type corresponding to the current shift gear and the target shift gear is determined according to the current shift gear, the target shift gear, and the type correspondence relationship.

[0046] In specific implementation, the database is searched according to the running information to determine the target shift mode corresponding to the running information, where the target shift mode specifically includes a high throttle condition, a loose throttle condition, a turning condition, etc.

[0047] Exemplarily, if the obtained running information of the vehicle is that the accelerator pedal rate of change is greater than a preset opening rate of change, at this time it indicates that the vehicle is in a state of stepping on the accelerator to accelerate rapidly, and it is determined that the target shift mode is a large accelerator mode. If the obtained running information of the vehicle is that the brake pedal opening is greater than a preset opening, at this time it indicates that the vehicle is in a state of stepping on the brake while the accelerator is released, and it is determined that the target shift mode is a released accelerator mode. If the obtained running information of the vehicle is that the steering wheel angle is greater than a preset angle, at this time it indicates that the vehicle is in a large turning operation, and it is determined that the target shift mode is a turning mode.

[0048] Under different shift modes, the requirements for shift speed are different. For example, in the large accelerator mode, rapid upshift is usually required. In the released accelerator mode, rapid downshift is usually required. In the turning mode, in order to ensure safety, delayed upshift or active downshift is usually selected.

[0049] The type corresponding relationship corresponding to the target shift mode is obtained, wherein the type corresponding relationship is a corresponding relationship among the current shift gear, the target shift gear and the target shift type. The target shift type corresponding to the current shift gear and the target shift gear is determined by searching the type corresponding relationship according to the current shift gear and the target shift gear.

[0050] Exemplarily, in the large accelerator mode, the current shift gear is 1st gear and the target shift gear is 3rd gear. At this time, the type corresponding relationship corresponding to the large accelerator mode is searched to determine that the target shift type is 6th sport shift, so as to realize rapid shift in the large accelerator mode.

[0051] According to the above scheme, because the requirements for shift are different when the vehicle is in different driving conditions, the target shift mode can be determined according to the actual running information of the vehicle, and then the type corresponding relationship corresponding to the target shift mode is searched according to the current shift gear and the target shift gear, and then the target shift type is determined. The target shift type is determined more accurately.

[0052] In some embodiments, the actual shift process of the vehicle can be determined according to the duration of shift, that is, the actual shift process is determined in step 1022, and specifically includes: Step 10221, after determining the target shift gear according to the running information and the current shift gear, timing is started; Step 10222, the first target shift duration is determined according to the current shift gear and the target shift gear, wherein the first target shift duration is the shortest time required for switching from the current shift gear to the target shift gear; Step 10223, the actual shift process is determined according to the first timing duration and the first target shift duration.

[0053] In a specific implementation, after receiving the shift request, the running information of the vehicle and the current shift gear are obtained, the target shift gear is determined according to the running information and the current shift gear, and timing is started after the target shift gear of the vehicle is determined. The timing duration at this time is recorded as the first timing duration.

[0054] According to the current shift gear and the target shift gear, a corresponding first target shift duration is determined, where the first target shift duration is the shortest time required for switching from the current shift gear to the target shift gear and is pre-labeled. In this embodiment, the first target shift duration can be determined by searching a database according to the current shift gear and the target shift gear. The database stores the corresponding relationship between gear change and shift duration.

[0055] The first timing duration and the first target shift duration are subjected to ratio processing, and the ratio obtained is the actual shift progress. The actual shift progress represents the shift progress at the current time in the process of switching from the current shift gear to the target shift gear. If the switching is completed and the actual shift gear of the vehicle is the target shift gear, it is determined that the shift is completed, and the actual shift progress is 100%.

[0056] In some embodiments, like the maximum speed limit of the engine at different gears when the fuel vehicle shifts gears, the virtual engine of the electric vehicle also needs to operate in the effective working range. If the limit speed is exceeded, the problem of oil interruption or engine damage will occur. Therefore, in step 103, the target motor torque is determined according to the target power interruption torque, specifically including: In step 1031, the target torque limit value is determined according to the running information and the current shift gear. In step 1032, the target power interruption torque and the target torque limit value are compared to obtain a comparison result, and the target motor torque is determined according to the comparison result.

[0057] In a specific implementation, the target torque limit value is determined according to the actual running information and the current shift gear of the vehicle, where the target torque limit value is the maximum torque that the virtual engine of the vehicle can accept at the current shift gear.

[0058] Specifically, the process of determining the target torque limit value according to the actual running information and the current shift gear of the vehicle includes: In step A, the target speed ratio corresponding to the current shift gear and the target speed threshold of the virtual engine are obtained, and the target speed threshold is determined according to the target speed ratio and the target speed threshold. In step B, the target torque limit value is determined according to the current speed and the target speed threshold.

[0059] Specifically, according to the current shift gear, a target speed ratio corresponding to the current shift gear is determined, wherein the target speed ratio is a speed ratio under the current shift gear, and the speed ratio is a ratio of a virtual engine speed to a wheel speed. The lower the current shift gear is, the greater the target speed ratio is, and the more the virtual engine rotates for one wheel rotation, and the more power and the slower the speed are. The higher the current shift gear is, the smaller the target speed ratio is, and the less the virtual engine rotates, and the faster the wheel rotates, and the less power and the faster the speed are.

[0060] A target speed threshold of a virtual engine corresponding to the current shift gear is obtained, and according to the target speed ratio and the target speed threshold, a target vehicle speed threshold corresponding to the current shift gear is determined in combination with a vehicle parameter of a tire radius and a reduction ratio.

[0061] A current vehicle speed is obtained, and a difference between the current vehicle speed and the target vehicle speed threshold is processed to obtain a speed difference value. According to the speed difference value, a target torque limit value is output by a PI controller, wherein P and I terms of the PI controller are obtained by real vehicle calibration.

[0062] Exemplarily, the current shift gear is 1st gear, a speed ratio corresponding to the 1st gear is determined to be 12, and a target speed threshold of a virtual engine corresponding to the 1st gear is 6500 Rpm. According to the speed ratio and the target speed threshold, a threshold vehicle speed corresponding to the current 1st gear is calculated to be 46 km / h in combination with a vehicle parameter of a tire radius and a reduction ratio. A current vehicle speed of the vehicle is obtained to be 40 km / h, a speed difference value is determined to be 6 km / h, and then a target torque limit value is determined by the PI controller according to the speed difference value.

[0063] After the target torque limit value is determined, a target power interruption torque is compared with the target torque limit value to obtain a comparison result. The comparison result is that the target power interruption torque is greater than the target torque limit value, or the target power interruption torque is less than or equal to the target torque limit value.

[0064] If the comparison result is that the target power interruption torque is greater than the target torque limit value, at this time, it is indicated that the target power interruption torque determined according to the current shift gear, the target shift gear and the running information exceeds the target torque limit value, and if the vehicle is controlled according to the target power interruption torque, the virtual engine speed exceeds the speed threshold range, which may cause a problem of damage of the virtual engine, at this time, the target motor torque is determined to be the target torque limit value.

[0065] If the comparison result is that the target power interruption torque is less than or equal to the target torque limit, it indicates that the target power interruption torque determined according to the current shift gear, the target shift gear and the running information controls the vehicle running, the speed of the virtual engine is within the threshold range, and there is no safety risk, that is, the target motor torque is determined as the target power interruption torque.

[0066] After determining the target motor torque, the target motor torque is the target vehicle torque determined by the VCU, and the target motor torque is sent to the motor control system. The motor control system responds to the target motor torque and determines the actual motor torque according to the target motor torque and the preset accuracy deviation, and controls the vehicle motor to run according to the actual motor torque.

[0067] Through the above scheme, after determining the target power interruption torque, the target power interruption torque is compared with the target torque limit under the current shift gear, and then the target motor torque is determined to ensure that the virtual engine runs in the effective working interval and avoids exceeding the limit speed.

[0068] In some embodiments, the running information includes the current vehicle speed. When receiving the shift request and determining the target shift gear, the target shift gear can be determined by comparing the size relationship between the current vehicle speed and the shift request corresponding to the request shift gear. That is, in step 101, in response to receiving the shift request, the running information and the current shift gear of the vehicle are obtained, the target shift gear is determined according to the running information and the current shift gear, and specifically includes: In step 1011, in response to receiving the shift request, the current shift gear of the vehicle is obtained, and the request shift gear and the shift speed corresponding to the request shift gear are determined according to the current shift gear and the shift request. In step 1012, the current vehicle speed is obtained, and the target shift gear of the vehicle is determined according to the current vehicle speed and the shift speed.

[0069] In specific implementation, when the electric vehicle receives the shift request, it indicates that the user wants to perform simulated manual shift operation. The shift request is generated by controlling the upshift and downshift device set in the electric vehicle, and the shift request includes upshift request and downshift request.

[0070] The request shift gear and the shift speed corresponding to the request shift gear are determined according to the current shift gear and the shift request. In this embodiment, different shift gears are suitable for different speed ranges, and each shift gear corresponds to a corresponding shift speed. The higher the shift gear, the greater the corresponding shift speed. Therefore, after determining the request shift gear, the shift speed corresponding to the request shift gear can be found.

[0071] For example, low gears (such as 1st gear, 2nd gear) are used for low-speed driving, such as starting or climbing, which provide greater torque output but lower vehicle speed. As the vehicle speed increases, the vehicle gradually shifts to high gears (such as 3rd gear, 4th gear, 5th gear, etc.), which have relatively small transmission ratios and can enable the vehicle to travel at a higher speed but have relatively reduced torque output.

[0072] The current vehicle speed is obtained, and the target gear shifting gear of the vehicle is determined according to the current vehicle speed and the gear shifting speed.

[0073] According to the above scheme, when the electric vehicle receives a gear shifting request, it indicates that the user wants to perform a simulated manual gear shifting operation. The current gear shifting gear of the vehicle is determined, and the requested gear shifting gear and the gear shifting speed corresponding to the requested gear shifting gear are determined according to the current gear shifting gear and the gear shifting request. The current vehicle speed is obtained, and the target gear shifting gear of the vehicle is determined according to the current vehicle speed and the gear shifting speed. The vehicle is controlled to switch from the current gear shifting gear to the target gear shifting gear. When the user drives the electric vehicle, if a gear shifting request is received, the current vehicle speed and the gear shifting speed are compared to determine the target gear shifting gear, and the vehicle is controlled to switch from the current gear shifting gear to the target gear shifting gear. On the basis that the electric vehicle does not have actual gearbox hardware, the switching of the gear shifting gear is realized, a similar gear shifting feeling to the actual gearbox is generated, a real gear shifting feeling in the manual mode is realized, and the driving experience and driving pleasure of the vehicle are improved.

[0074] Based on the same inventive concept, another embodiment of the disclosure provides a vehicle control method, which specifically describes the determination process of the target gear shifting gear in the above-mentioned embodiment, as shown in Figure 2 The method specifically includes the following steps. Step 201, in response to receiving a gear shifting request, obtaining the current gear shifting gear of the vehicle, and determining the requested gear shifting gear and the gear shifting speed corresponding to the requested gear shifting gear according to the current gear shifting gear and the gear shifting request. Step 202, obtaining the current vehicle speed, determining the target gear shifting gear of the vehicle according to the current vehicle speed and the gear shifting speed, and controlling the vehicle to switch from the current gear shifting gear to the target gear shifting gear.

[0075] In specific implementation, when the electric vehicle receives a gear shifting request, it indicates that the user wants to perform a simulated manual gear shifting operation. The gear shifting request is a gear shifting request generated by the user controlling the upshift and downshift device set in the electric vehicle, and the gear shifting request includes an upshift request and a downshift request.

[0076] According to the current shift gear and the shift request, a requested shift gear is determined, and the requested shift gear corresponds to a shift speed. In the embodiment, different shift gears are suitable for different speed ranges, and each shift gear corresponds to a corresponding shift speed. The higher the shift gear, the greater the corresponding shift speed. Therefore, after determining the requested shift gear, the shift speed corresponding to the requested shift gear can be found.

[0077] The current speed of the vehicle is obtained, and according to the current speed and the shift speed, a target shift gear of the vehicle is determined, wherein the target shift gear can be the current shift gear or the requested shift gear, and is determined according to the current speed and the shift speed.

[0078] In some embodiments, the shift request includes a shift-up request and a shift-down request. When determining the requested shift gear, it can be determined according to the specific shift-up or shift-down whether to shift up or down based on the current shift gear, that is, in step 201, according to the current shift gear and the shift request, a requested shift gear is determined, and the requested shift gear corresponds to a shift speed. Specifically, it includes: In step 2011, in response to the shift request being a shift-up request, a shift-up change amount corresponding to the shift-up request is determined, the current shift gear is added to the shift-up change amount, and a requested shift gear is obtained; or, In step 2012, in response to the shift request being a shift-down request, a shift-down change amount corresponding to the shift-down request is determined, the current shift gear is subtracted from the shift-down change amount, and a requested shift gear is obtained.

[0079] In specific implementation, when receiving a shift request, it is determined whether the shift request is a shift-up request or a shift-down request. Based on the foregoing embodiment, the shift-up request is a shift request generated by shifting the shift-up paddle, and the shift-down request is a shift request generated by shifting the shift-down paddle.

[0080] If the shift request is a shift-up request, a shift-up change amount corresponding to the shift-up request is determined. The shift-up change amount is the shift-up amount requested by the user. In the embodiment, since the shift-up request is a shift request generated by shifting the shift-up paddle, it can be set that the shift-up amount corresponding to each shift of the shift-up paddle is 1 gear. That is, the shift-up change amount corresponds to the number of times the shift-up paddle is shifted by the user.

[0081] After determining the shift-up change amount, the current shift gear is added to the shift-up change amount, and the sum obtained is the requested shift gear.

[0082] For example, the user shifts the shift-up paddle once, and the corresponding shift-up change amount is 1 gear. If it is determined that the current shift gear is 2 gears, the current shift gear is added to the shift-up change amount, and it is determined that the requested shift gear is 3 gears.

[0083] If the shift request is a downshift request, a downshift change quantity corresponding to the downshift request is determined. The downshift change quantity is a downshift quantity requested by the user. In this embodiment, since the downshift request is a shift request generated by pulling the downshift paddle, the downshift quantity corresponding to each pull of the downshift paddle can be set to 1 gear. That is, the downshift change quantity corresponds to the number of times the downshift paddle is pulled by the user.

[0084] After the downshift change quantity is determined, the current shift gear is subtracted from the downshift change quantity to obtain a difference value, which is the requested shift gear.

[0085] For example, the user pulls the downshift paddle once, and the corresponding downshift change quantity is 1 gear. If it is determined that the current shift gear is 2 gears, the current shift gear is subtracted from the downshift change quantity to determine that the requested shift gear is 1 gear.

[0086] According to the above scheme, the upshift request quantity and the downshift request quantity are determined according to the number of times the upshift and downshift paddles are pulled, which makes the determination of the upshift request quantity and the downshift request quantity more accurate. Furthermore, the requested shift gear determined according to the current shift gear and the upshift request quantity, or the current shift gear and the downshift request quantity, is more accurate.

[0087] In some embodiments, a virtual engine exists in the electric vehicle to simulate the shift experience. When the target shift gear is determined according to the current vehicle speed and the shift speed, the determination can be made by comparing the size relationship between the current vehicle speed and the shift speed, to ensure that the vehicle shifts at an appropriate vehicle speed, controls the virtual engine to work in a reasonable range, and balances the power output. That is, in step 202, the target shift gear of the vehicle is determined according to the current vehicle speed and the shift speed, specifically including: Step 2021, in response to the shift request being an upshift request and the current vehicle speed being greater than the shift speed corresponding to the requested shift gear, determining that the target shift gear of the vehicle is the requested shift gear. Alternatively, Step 2022, in response to the shift request being an upshift request and the current vehicle speed being less than or equal to the shift speed corresponding to the requested shift gear, determining that the target shift gear of the vehicle is the current shift gear.

[0088] In specific implementation, if the shift request is an upshift request, it indicates that the user wants to perform a manual upshift operation. The current vehicle speed is compared with the shift speed corresponding to the requested shift gear, wherein the shift speed represents the minimum vehicle speed to reach the requested shift gear.

[0089] If it is determined that the current vehicle speed is greater than the shift speed, at this time, it indicates that the current vehicle speed meets the vehicle speed requirement corresponding to the requested shift gear, and the shift gear of the vehicle can be adjusted to the target shift gear, and it is determined that the target shift gear of the vehicle is the requested shift gear.

[0090] For example, the current vehicle speed is 25 km / h, the current shift gear is 1, the requested shift gear is 2, and the shift speed corresponding to the 2nd gear is 20 km / h. Therefore, at this time, the current vehicle speed is greater than the shift speed, and it is determined that the target shift gear of the vehicle is the requested shift gear, i.e., the target shift gear is 2.

[0091] If it is determined that the current vehicle speed is less than or equal to the shift speed, at this time, it indicates that the current vehicle speed does not meet the vehicle speed requirement corresponding to the requested shift gear, and the shift gear of the vehicle cannot be adjusted to the target shift gear, and it is determined that the target shift gear of the vehicle is the current shift gear.

[0092] For example, the current vehicle speed is 30 km / h, the current shift gear is 3, the requested shift gear is 4, and the shift speed corresponding to the 4th gear is 40 km / h. Therefore, at this time, the current vehicle speed is less than the shift speed, and it is determined that the target shift gear of the vehicle is the current shift gear, i.e., the target shift gear is 3.

[0093] Alternatively, In step 2023, in response to the shift request being a downshift request and the current vehicle speed being less than the shift speed corresponding to the requested shift gear, the target shift gear of the vehicle is determined to be the requested shift gear. Alternatively, In step 2024, in response to the shift request being a downshift request and the current vehicle speed being greater than or equal to the shift speed corresponding to the requested shift gear, the target shift gear of the vehicle is determined to be the current shift gear.

[0094] In specific implementation, when the shift request is a downshift request, at this time, it indicates that the user wants to perform a manual downshift operation. The current vehicle speed is compared with the shift speed corresponding to the requested shift gear, wherein the shift speed represents the maximum vehicle speed corresponding to the requested shift gear.

[0095] If it is determined that the current vehicle speed is less than the shift speed, at this time, it indicates that the current vehicle speed meets the vehicle speed requirement corresponding to the requested shift gear, and the shift gear of the vehicle can be adjusted to the target shift gear, and it is determined that the target shift gear of the vehicle is the requested shift gear.

[0096] For example, the current vehicle speed is 20 km / h, the current shift gear is 3, the request shift gear is determined to be 2, and the shift speed corresponding to the 2nd gear is 25 km / h. Therefore, the current vehicle speed is less than the shift speed, and the target shift gear of the vehicle is determined to be the request shift gear, i.e., the target shift gear is the 2nd gear.

[0097] If it is determined that the current vehicle speed is greater than or equal to the shift speed, it indicates that the current vehicle speed does not meet the speed requirement corresponding to the request shift gear, and the shift gear of the vehicle cannot be adjusted to the target shift gear. The target shift gear of the vehicle is determined to be the current shift gear.

[0098] For example, the current vehicle speed is 20 km / h, the current shift gear is 2, the request shift gear is determined to be 1, and the shift speed corresponding to the 1st gear is 20 km / h. Therefore, the current vehicle speed is greater than the shift speed, and the target shift gear of the vehicle is determined to be the current shift gear, i.e., the target shift gear is the 2nd gear.

[0099] It can be understood that the shift speed corresponding to each request shift gear can be a fixed value or a range value. For example, the shift speed corresponding to the 2nd gear ranges from 20 km / h to 25 km / h. Therefore, when shifting up from the 1st gear to the 2nd gear, the corresponding shift speed takes the minimum value in the range corresponding to the 2nd gear, i.e., when shifting up, if the current vehicle speed is greater than 20 km / h, the vehicle can be shifted up to the 2nd gear. When shifting down from other gears to the 2nd gear, the corresponding shift speed takes the maximum value in the range corresponding to the 2nd gear, i.e., when shifting down, if the current vehicle speed is less than 25 km / h, the vehicle can be shifted down to the 2nd gear.

[0100] Through the above scheme, if the vehicle speed is too low and the gear is forcibly shifted up, the engine speed will sharply decrease, which may cause insufficient power of the vehicle. If the vehicle speed is too high and the gear is still in a low gear, the virtual engine speed will be too high. By comparing the current vehicle speed with the shift speed to determine the corresponding target shift gear, the engine speed and the vehicle speed are matched, thereby achieving smooth power transmission and stable driving of the vehicle.

[0101] In some embodiments, when a shift request is received, it indicates that the user has a demand for manual shifting. However, since the electric vehicle does not include a real transmission structure, in order to ensure the safe and normal driving of the vehicle, certain conditions should be met before manual shifting is allowed when the shift request is received. That is, in step 201, in response to receiving the shift request, the current shift gear of the vehicle is obtained, specifically including: In step 201A, in response to receiving the shift request, the current logical gear and the current driving mode of the vehicle are obtained.

[0102] Step 201B, in response to the current logical gear of the vehicle being forward gear and the current driving mode being sport mode, activating the manual mode, determining the current shift gear of the vehicle.

[0103] In particular implementation, when receiving the shift request, the current logical gear and the current driving mode of the vehicle are obtained, wherein the current logical gear specifically includes P gear, R gear, N gear, D gear, etc.

[0104] The driving mode specifically includes economy mode (ECO), comfort mode (COMFORT), sport mode (SPORT), snow mode (SNOW), custom mode (CUSTOM), energy saving mode (Eco+) and personalized mode (PERSONAL), etc.

[0105] Specifically, the economy mode reduces the output power of the motor, increases the cruising range, and is suitable for low power, long distance driving, and urban congestion working conditions. The comfort mode balances power and energy consumption, and is suitable for daily commuting and other regular driving. In the sport mode, the motor outputs full power, the power response is fast, and it is suitable for fast overtaking and driving pleasure scenes. In the snow mode, the motor power output is reduced to prevent wheel slip. In the custom mode, the power output and energy recovery level parameters are adjusted, for example: custom driving mode (strong power + weak energy recovery level). In the energy saving mode, unnecessary electrical devices such as seat heating and audio are turned off, the speed and power are limited, and the cruising range is maximized.

[0106] When the current logical gear of the vehicle is forward gear and the current driving mode is sport mode, the activation condition of the manual mode is met, and the manual mode is activated. That is, when the current logical gear of the vehicle is D gear and the current driving mode is SPORT mode, the manual mode is activated, and then the current shift gear of the vehicle is obtained. In this embodiment, the current shift gear represents the actual gear of the vehicle at the previous time when the manual mode is activated.

[0107] Through the above scheme, when receiving the shift request, first, the current logical gear and the current driving mode of the vehicle are determined, it is judged whether the corresponding condition of activating the manual mode is met, after the corresponding condition is met, the manual mode is activated, and then the subsequent operation of simulating manual shifting is performed, to ensure the safe and normal driving of the vehicle. At the same time, in the sport mode, the output power and torque of the motor of the vehicle are adjusted to a higher level to provide stronger acceleration performance. Limiting the manual shifting function to be activated and used only in D gear and sport mode can avoid user misoperation in inappropriate driving scenarios, thereby reducing potential safety risks. For example, in low-speed driving or parking, manual shifting may cause unnecessary energy waste or vehicle vibration.

[0108] In some embodiments, after determining the current logical gear and the current driving mode of the vehicle, there can be a case that the current logical gear is not a forward gear and / or the current driving mode is not a sport mode, in which case the manual mode activation condition is not satisfied, and thus the manual mode cannot be activated. In this case, gear shifting is performed according to the gear shifting logic in the non-manual mode, i.e. after obtaining the current logical gear and the current driving mode of the vehicle in step 201A, the method further comprises: Step a, determining that the manual mode is not activated, taking the previous gear corresponding to the current shift gear as the first shift gear, and taking the next gear corresponding to the current shift gear as the second gear; Step b, determining the first shift speed corresponding to the first shift gear, and determining the second shift speed corresponding to the second shift gear; Step c, comparing the current vehicle speed with the first shift speed and the second shift speed to determine the upshift gear and the downshift gear; Step d, determining the second target shift gear according to the current shift gear, the upshift gear and the downshift gear, and controlling the vehicle to shift from the current shift gear to the second target shift gear.

[0109] In specific implementation, if the current logical gear is not a forward gear and / or the current driving mode is not a sport mode, in which case the condition for activating the manual mode is not satisfied, i.e. the manual mode is not activated. The previous gear corresponding to the current shift gear is taken as the first shift gear, and the next gear corresponding to the current shift gear is taken as the second gear, wherein the previous gear is the shift gear after upshifting the current shift gear by one gear, and the next gear is the shift gear after downshifting the current shift gear by one gear.

[0110] The first shift speed corresponding to the first shift gear is determined according to the first shift gear, which is the upshift speed. The second shift speed corresponding to the second shift gear is determined according to the second shift gear, which is the downshift speed. The current vehicle speed is compared with the first shift speed and the second shift speed to determine the upshift gear and the downshift gear. The specific determination method of the upshift gear and the downshift gear includes: In response to the current vehicle speed being greater than the first shift speed, the upshift gear is determined to be 1 gear. In response to the current vehicle speed being less than or equal to the first shift speed, the upshift gear is determined to be 0. In response to the current vehicle speed being less than the second shift speed, the downshift gear is determined to be 1 gear. In response to the current vehicle speed being greater than or equal to the second shift speed, the downshift gear is determined to be 0.

[0111] A second target shift gear is determined according to the current shift gear, the upshift gear and the downshift gear, and the vehicle is controlled to switch from the current shift gear to the second target shift gear. The second target shift gear is determined by adding the current shift gear and the upshift gear, and then subtracting the downshift gear from the sum.

[0112] For example, the current shift gear is 2, the first shift gear is 3, and the second shift gear is 1. It is determined that the first shift speed corresponding to 3 is 35 km / h, and the shift speed corresponding to 1 is 20 km / h. If the current speed is 40 km / h, the corresponding upshift gear is 1, and the corresponding downshift gear is 0. Therefore, the second target shift gear is 2+1-0=3.

[0113] In this embodiment, when the manual mode is not activated, the determined target shift gear is used as the second target shift gear. When the manual mode is activated, the determined target shift gear is used as the first target shift gear. The first and second targets are only used to distinguish between the two target shift gears, and there is no actual logical relationship.

[0114] In some embodiments, when the vehicle is controlled to switch from the current shift gear to the target shift gear, it can be determined whether the shift is completed according to the shift time. That is, in step 202, the vehicle is controlled to switch from the current shift gear to the target shift gear, which specifically includes: Step 202A, after determining the target shift gear of the vehicle, start timing; Step 202B, determining a first target shift time according to the current shift gear and the target shift gear, wherein the first target shift time is the shortest time required to switch from the current shift gear to the target shift gear; Step 202C, in response to the first timing time being greater than or equal to the first target shift time, determining that the vehicle switches from the current shift gear to the target shift gear.

[0115] In specific implementation, after receiving the shift request, it is determined that the current logical gear of the vehicle is the forward gear, and the current driving mode is the sports mode, at which time it is determined that the manual mode is activated.

[0116] The current shift gear of the vehicle is obtained, the requested shift gear and the shift speed corresponding to the requested shift gear are determined according to the current shift gear and the shift request. The current speed of the vehicle is obtained, and the target shift gear of the vehicle is determined according to the current speed and the shift speed. After determining the target shift gear of the vehicle, start timing, and the timing time is recorded as the first timing time.

[0117] According to the current shift gear and the target shift gear, a corresponding first target shift duration is determined, wherein the first target shift duration is a shortest time required for switching from the current shift gear to the target shift gear and is pre-labeled. In this embodiment, the first target shift duration can be determined according to the current shift gear and the target shift gear by looking up a database, and the database stores a corresponding relationship between gear change and shift duration.

[0118] The first timing duration is compared with the first target shift duration. If the first timing duration is less than the first target shift duration, it indicates that the shift is not completed, i.e., the actual shift gear of the vehicle is not switched from the current shift gear to the target shift gear.

[0119] If the first timing duration is greater than or equal to the first target shift duration, it indicates that the shift is completed, i.e., the vehicle is switched from the current shift gear to the target shift gear, and the shift gear of the vehicle is the target shift gear.

[0120] It can be understood that if the target shift gear is the current shift gear, i.e., the shift gear of the vehicle does not need to be switched, the corresponding first target shift duration is 0.

[0121] Through the above scheme, the first timing duration is compared with the first target shift duration to determine whether the shift is completed, and the determination of whether the shift is completed is more accurate.

[0122] In some embodiments, during the manual shift process, the user may again move the up-down gear paddle, i.e., there is a new shift request, and a new target shift gear needs to be determined again to accurately adjust the shift gear of the vehicle to meet the user's needs. That is, the step 202 of controlling the vehicle to switch from the current shift gear to the target shift gear specifically includes: Step 20A, during the process of controlling the vehicle to switch from the current shift gear to the target shift gear, a new shift request is received; Step 20B, according to the current shift gear and the new shift request, a new requested shift gear and a new shift speed corresponding to the new requested shift gear are determined; Step 20C, the actual speed of the vehicle is obtained, and it is determined that the actual speed meets a preset shift condition according to the actual speed and the new shift speed, and the new target shift gear is determined to be the new requested shift gear; Step 20D, the vehicle is controlled to switch from the current shift gear to the new target shift gear.

[0123] In a specific implementation, during the process of controlling the vehicle to switch from the current shift gear to the target shift gear, the user again actuates the upshift paddle or the downshift paddle, and a new shift request is received. The new shift request includes an upshift request and a downshift request. According to the foregoing embodiment, the upshift request is a shift request generated by actuating the upshift paddle, and the downshift request is a shift request generated by actuating the downshift paddle.

[0124] According to the current shift gear and the new shift request, a new requested shift gear and a new shift speed corresponding to the new requested shift gear are determined. After the new requested shift gear is determined, the new shift speed corresponding to the new requested shift gear can be found.

[0125] In this embodiment, the new requested shift gear can be determined according to the shift request, the current shift gear, and the new shift request, and specifically includes the following steps: If the shift request is an upshift request and the new shift request is also an upshift request, it means that the user again actuates the upshift paddle to upshift again during the process of upshifting from the current shift gear. In this case, the new requested shift gear is greater than the requested shift gear, and the difference between the two is the number of times the user actuates the upshift paddle.

[0126] For example, the current shift gear is 1st gear, the user actuates the upshift paddle once, the shift request is an upshift request, and the requested shift gear is 2nd gear. During the process of upshifting from 1st gear to 2nd gear, if the user again actuates the upshift paddle once, the new shift request is also an upshift request, and the new requested shift gear is 3rd gear.

[0127] If the shift request is an upshift request and the new shift request is a downshift request, it means that the user actuates the downshift paddle to downshift during the process of upshifting from the current shift gear. In this case, the user selects downshift during the upshifting process, and the new requested shift gear is a gear lower than the current shift gear. Specifically, the downshift change amount is the number of times the user actuates the downshift paddle.

[0128] For example, the current shift gear is 3rd gear, the user actuates the upshift paddle once, the shift request is an upshift request, and the requested shift gear is 4th gear. During the process of upshifting from 3rd gear to 4th gear, if the user actuates the downshift paddle twice, the new shift request is a downshift request, and the new requested shift gear is 1st gear, that is, 2nd gear is continuously downshifted to 1st gear twice from 3rd gear.

[0129] It can be understood that, because the vehicle has a maximum shift gear and a minimum shift gear, if the upshift and downshift mentioned in the present disclosure exceed the maximum shift gear, the final target shift gear is determined as the maximum shift gear. If it is less than the minimum shift gear, the final target shift gear is determined as the minimum shift gear.

[0130] Exemplarily, the maximum shift gear is 5th gear, and the minimum shift gear is 1st gear. If it is determined that the current shift gear is 3rd gear, and the upshift change amount is 3 gears, the target shift gear is determined as the maximum shift gear 5th gear. If it is determined that the current shift gear is 2nd gear, and the downshift change amount is 3 gears, the target shift gear is determined as the minimum shift gear 1st gear.

[0131] If the shift request is a downshift request, and the new shift request is an upshift request, it means that the vehicle is in the process of downshifting from the current shift gear, and the upshift paddle is actuated to upshift. That is, the new requested shift gear is higher than the current shift gear, and the specific upshift change amount is the number of times the upshift paddle is actuated by the user.

[0132] Exemplarily, the current shift gear is 2nd gear, the user actuates the downshift paddle once, the shift request is a downshift request, and the requested shift gear is 1st gear. During the process of downshifting from 2nd gear to 1st gear, if the user actuates the upshift paddle once, the new shift request is an upshift request, and the new requested shift gear is 3rd gear.

[0133] If the shift request is a downshift request, and the new shift request is also a downshift request, it means that the vehicle is in the process of downshifting from the current shift gear, and the downshift paddle is actuated again to downshift again. That is, the new requested shift gear is less than the requested shift gear, and the difference between the two is the number of times the downshift paddle is actuated by the user.

[0134] Exemplarily, the current shift gear is 4th gear, the user actuates the downshift paddle once, the shift request is a downshift request, and the requested shift gear is 3rd gear. During the process of downshifting from 4th gear to 3rd gear, if the user actuates the downshift paddle again once, the new shift request is also a downshift request, and the new requested shift gear is 2nd gear.

[0135] The actual speed of the vehicle is obtained, and it is determined that the preset shift condition is met according to the actual speed and the new shift speed, and the new target shift gear is determined as the new requested shift gear. In the present embodiment, the preset shift condition is specifically: If the new shift request is an upshift request, it is determined that the preset shift condition is met in response to the actual vehicle speed being greater than the new shift speed, and the new target shift gear is the new requested shift gear at this time. It is determined that the preset shift condition is not met in response to the actual vehicle speed being less than or equal to the new shift speed, and the new target shift gear is the requested shift gear at this time.

[0136] Exemplarily, the current shift gear is 1st gear, and the requested shift gear is 2nd gear. If a new shift request is received during the process of shifting from 1st gear to 2nd gear, and the new requested shift gear is 3rd gear, it is determined that the new shift speed corresponding to 3rd gear is 30 km / h. If the current vehicle speed is 40 km / h, the preset shift condition is met at this time, and it is determined that the new target shift gear is 3rd gear. If the current vehicle speed is 25 km / h, the preset shift condition is not met at this time, and it is determined that the new target shift gear is still 2nd gear.

[0137] If the new shift request is a downshift request, it is determined that the preset shift condition is met in response to the actual vehicle speed being less than the new shift speed, and the new target shift gear is the new requested shift gear at this time. It is determined that the preset shift condition is not met in response to the actual vehicle speed being greater than or equal to the new shift speed, and the new target shift gear is the requested shift gear at this time.

[0138] Exemplarily, the current shift gear is 3rd gear, and the requested shift gear is 2nd gear. If a new shift request is received during the process of shifting from 3rd gear to 2nd gear, and the new requested shift gear is 1st gear, it is determined that the new shift speed corresponding to 1st gear is 20 km / h. If the current vehicle speed is 5 km / h, the preset shift condition is met at this time, and it is determined that the new target shift gear is 1st gear. If the current vehicle speed is 15 km / h, the preset shift condition is not met at this time, and it is determined that the new target shift gear is still 2nd gear.

[0139] After the new target shift gear is determined, the vehicle can be controlled to switch from the current shift gear to the new target shift gear.

[0140] In this embodiment, when the vehicle is controlled to switch from the current shift gear to the new target shift gear, the shortest time corresponding to the switching from the current shift gear to the new target shift gear can be determined again, and then it is determined whether the shift is completed according to the second timing duration starting from the time when the new shift request is received, specifically as follows. Step A, after the new target shift gear is determined, timing is started; Step B, the second target shift duration is determined according to the current shift gear and the new target shift gear, wherein the second target shift duration is the shortest time required for switching from the current shift gear to the new target shift gear; Step C, determining that the vehicle switches from the current shift gear to the new target shift gear in response to the second timing duration being greater than or equal to the second target shift duration.

[0141] In practice, during the process of switching from the current shift gear to the target shift gear, a new shift request is received, and at this time, the new target shift gear is determined again. After the new target shift gear is determined, the first timing duration is cleared, that is, the duration that has been timed since the switching from the current shift gear to the target shift gear is cleared, and the timing is restarted. At this time, the timing duration is recorded as the second timing duration.

[0142] According to the current shift gear and the new target shift gear, a corresponding second target shift duration is determined, wherein the second target shift duration is the shortest time required to switch from the current shift gear to the new target shift gear, which is pre-labeled. In this embodiment, the second target shift duration can be determined according to the current shift gear and the new target shift gear by searching a database. The database stores the corresponding relationship between the gear change and the shift duration.

[0143] The second timing duration is compared with the second target shift duration. If the second timing duration is less than or equal to the second target shift duration, it indicates that the shift has not been completed, that is, the actual shift gear of the vehicle has not been switched from the current shift gear to the new target shift gear.

[0144] If the second timing duration is greater than or equal to the second target shift duration, it indicates that the shift is completed, that is, the vehicle switches from the current shift gear to the new target shift gear, and the shift gear of the vehicle is the new target shift gear.

[0145] It can be understood that if the new target shift gear is the current shift gear, that is, the shift gear of the vehicle does not need to be switched, and the corresponding second target shift duration is 0 seconds.

[0146] For example, the current shift gear is 1st gear, and the target shift gear is 2nd gear. If a new shift request is received during the process of shifting from 1st gear to 2nd gear, and the first timing duration is 50 ms, and the new target shift gear is determined to be 3rd gear. At this time, the first timing duration is cleared, and the timing is restarted. The second target shift duration corresponding to the shift from 1st gear to 3rd gear is 250 ms, that is, when the second timing duration is greater than 250 ms, it is determined that the shift gear of the vehicle is shifted from 1st gear to 3rd gear.

[0147] In this embodiment, when controlling the vehicle to switch from the current shift gear to the new target shift gear, it can be determined whether the shift is completed by first switching to the target shift gear and restarting the timing, and then determining whether to switch from the target shift gear to the new target shift gear according to the restarted timing duration. Specifically, Step a, obtaining a first timing duration, and determining that the vehicle switches from the current shift gear to the target shift gear and restarts timing in response to the first timing duration being equal to the first target shift duration; Step b, determining a third target shift duration according to the target shift gear and the new target shift gear, wherein the third target shift duration is the shortest time required for switching from the target shift gear to the new target shift gear; Step c, determining that the vehicle switches from the target shift gear to the new target shift gear in response to the third timing duration being greater than or equal to the third target shift duration.

[0148] In specific implementation, the first timing duration is the duration of starting timing when the shift request is received. If the first timing duration is equal to the first target shift duration, it is determined that the vehicle switches from the current shift gear to the target shift gear, and the first timing duration is cleared and timing is restarted. The timing duration at this time is recorded as the third timing duration.

[0149] The third target shift duration is determined according to the target shift gear and the new target shift gear, wherein the third target shift duration is the shortest time required for switching from the target shift gear to the new target shift gear.

[0150] The third timing duration is compared with the third target shift duration. If the third timing duration is less than or equal to the third target shift duration, it indicates that the shift is not completed, and the actual shift gear of the vehicle has not switched from the target shift gear to the new target shift gear.

[0151] If the third timing duration is greater than the third target shift duration, it indicates that the shift is completed, and the vehicle switches from the target shift gear to the new target shift gear, i.e., the shift gear of the vehicle is the new target shift gear.

[0152] For example, the current shift gear is 1st gear, a shift request is received, and it is determined that the target shift gear is 2nd gear. Timing is started after the target shift gear is determined. If the first target shift duration corresponding to 1st gear to 2nd gear is 200 ms, a new shift request is received when the first timing duration is 50 ms during the process of 1st gear to 2nd gear, and it is determined that the new target shift gear is 3rd gear. The third target shift duration corresponding to 2nd gear to 3rd gear is 150 ms. When the first timing duration is 200 ms, the shift gear of the vehicle is switched from 1st gear to 2nd gear, and timing is restarted. When the third timing duration is greater than 150 ms, it is determined that the shift gear of the vehicle is switched from 2nd gear to 3rd gear.

[0153] Through the above scheme, in the vehicle gear shifting process, the gear shifting can be performed again according to the received new gear shifting request, and at the same time, only the vehicle speed satisfying the gear shifting condition and the timing duration satisfying the corresponding gear shifting duration are required to realize continuous upshift or continuous downshift, thereby meeting the diversified needs of users.

[0154] Based on the same inventive concept, another embodiment of the present disclosure provides a vehicle control system, which comprises a body control system BCM, a vehicle control system VCU, a motor control system MCU, an instrument display system HUT and an acoustic design control system ASD. Figure 3 As shown, the vehicle control system comprises a body control system BCM, a vehicle control system VCU, a motor control system MCU, an instrument display system HUT and an acoustic design control system ASD.

[0155] The body control system comprises a gear up and down control module for controlling the gear up and down shifters and receiving the gear up request generated by the user through the gear up shifter.

[0156] The vehicle control system comprises a vehicle information acquisition module, a gear up and down gear control module, a gear up and down power interruption torque control module, a torque limiting module and a VCU torque request module, wherein the vehicle information acquisition module is used to acquire the running information of the vehicle, realize the acquisition of the vehicle speed signal, the accelerator pedal signal, the logical gear (D, R, N, P) signal, the driving mode and the brake pedal signal.

[0157] The gear up and down gear control module is used to determine the target gear shifting torque according to the vehicle control method of the foregoing embodiments. The gear up and down power interruption torque control module is used to determine the target power interruption torque according to the vehicle control method of the foregoing embodiments, so as to realize the driving feeling of power interruption in the gear up and down process in the manual mode.

[0158] The torque limiting module is used to determine the target torque limit value corresponding to the current gear according to the vehicle control method of the foregoing embodiments, so as to limit the torque under each gear based on the virtual engine threshold speed and realize the maximum vehicle speed limitation under each gear. The VCU torque request module is used to determine the target motor torque according to the vehicle control method of the foregoing embodiments, i.e., determine the actual VCU torque request.

[0159] The motor control system comprises a motor torque control module, which is used to receive the target motor torque sent by the VCU torque request module. The motor torque control mainly outputs the PWM signal to control the switch of the power unit module to drive the motor, so as to respond to the torque request of the VCU and output the target motor torque. The instrument display system comprises a speed display module for displaying a virtual engine speed and a gear display module for displaying an actual shift gear, and the sound design control system simulates the driving sound of the engine based on the target motor torque and the virtual engine speed calculated by the VCU and the actual shift gear of the vehicle, in combination with the changes of the accelerator pedal and the vehicle speed during driving.

[0160] Through the above scheme, by installing the upshift and downshift paddles on both sides of the steering wheel, upshift and downshift in the manual shift mode of the pure electric vehicle are realized, power interruption in the shift process is realized by controlling the shift torque, the instrument heads-up display simulates the engine speed and the actual gear, and the roaring sound when the accelerator is stepped on and the backfire sound when the accelerator is released, thereby improving the driving experience and driving pleasure.

[0161] It should be noted that the method of the embodiments of the present disclosure can be executed by a single device, such as a computer or a server. The method of the embodiments can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only execute one or more steps in the method of the embodiments of the present disclosure, and the multiple devices can interact with each other to complete the method.

[0162] It should be noted that some embodiments of the present disclosure have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than the order described above and still achieve the desired result. In addition, the processes depicted in the figures do not necessarily require the particular order shown or sequential order to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0163] Based on the same inventive concept, the present disclosure also provides a vehicle control device corresponding to the method of any of the above embodiments.

[0164] Reference Figure 4 , Figure 4 The vehicle control device of the embodiments comprises: A target shift gear determination module 401 configured to, in response to receiving a shift request, acquire running information and a current shift gear of the vehicle, and determine a target shift gear according to the running information and the current shift gear; A target power interruption torque determination module 402 configured to determine a target power interruption torque according to the current shift gear, the target shift gear, and the running information; A vehicle control module 403 configured to determine a target motor torque according to the target power interruption torque, and control the vehicle to travel according to the target motor torque.

[0165] In some embodiments, the target power interruption torque determination module 402 is specifically configured to: determine a target shift type according to the operation information, the current shift gear and the target shift gear, acquire a torque corresponding relationship corresponding to the target shift type; determine an actual shift process, and determine a target power interruption torque corresponding to the actual shift process according to the torque corresponding relationship.

[0166] In some embodiments, the target power interruption torque determination module 402 is specifically configured to: determine a target shift mode corresponding to the operation information according to the operation information, and acquire a type corresponding relationship corresponding to the target shift mode; determine a target shift type corresponding to the current shift gear and the target shift gear according to the current shift gear, the target shift gear and the type corresponding relationship.

[0167] In some embodiments, the target power interruption torque determination module 402 is specifically configured to: start timing after determining a target shift gear according to the operation information and the current shift gear; determine a first target shift duration according to the current shift gear and the target shift gear, wherein the first target shift duration is the shortest time required to switch from the current shift gear to the target shift gear; determine an actual shift process according to the first timing duration and the first target shift duration.

[0168] In some embodiments, the vehicle control module 403 is specifically configured to: determine a target torque limit value according to the operation information and the current shift gear; compare the target power interruption torque and the target torque limit value to obtain a comparison result, and determine a target motor torque according to the comparison result.

[0169] In some embodiments, the operation information includes a current vehicle speed, and the vehicle control module 403 is specifically configured to: acquire a target speed ratio corresponding to the current shift gear and a target speed threshold of a virtual engine, and determine a target vehicle speed threshold according to the target speed ratio and the target speed threshold; determine a target torque limit value according to the current vehicle speed and the target vehicle speed threshold.

[0170] In some embodiments, the vehicle control module 403 is specifically configured to: determining the target motor torque as the target power interruption torque in response to the comparison result being the target power interruption torque being less than or equal to the target torque limit. determining the target motor torque as the target power interruption torque in response to the comparison result being the target power interruption torque being less than or equal to the target torque limit.

[0171] In some embodiments, the running information includes a current vehicle speed, and the target shift gear determination module 401 is specifically configured to: In response to receiving a shift request, obtaining a current shift gear of the vehicle, determining a requested shift gear and a shift speed corresponding to the requested shift gear according to the current shift gear and the shift request; obtaining a current vehicle speed of the vehicle, and determining a target shift gear of the vehicle according to the current vehicle speed and the shift speed.

[0172] For the convenience of description, the above apparatus is described in various modules according to functions. Of course, the functions of the modules can be implemented in one or more software and / or hardware when implementing the present disclosure.

[0173] The apparatus of the above embodiments is used to implement the corresponding vehicle control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here again.

[0174] Based on the same inventive concept, the present disclosure also provides an electronic device corresponding to any of the above method embodiments, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle control method of any of the above embodiments when executing the program.

[0175] Figure 5 A more specific hardware structure of an electronic device is shown in the schematic diagram of the present embodiment. The device can include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 for communication within the device.

[0176] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., for executing related programs to implement the technical solutions provided by the embodiments of the present disclosure.

[0177] The memory 1020 can be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs, and when the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the related program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0178] The input / output interface 1030 is configured to connect an input / output module to realize information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0179] The communication interface 1040 is configured to connect a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as USB, network cable, etc.) or through a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0180] The bus 1050 includes a channel for transmitting information between various components (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040) of the device.

[0181] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only contain components necessary for implementing the embodiments of the present specification, and does not necessarily contain all the components shown in the figure.

[0182] The electronic device of the above embodiments is used to implement the corresponding vehicle control method in any of the preceding embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here.

[0183] Based on the same inventive concept, the disclosure also provides a non-transitory computer readable storage medium storing computer instructions for causing the computer to execute the vehicle control method according to any of the above embodiments.

[0184] The computer readable medium of the embodiments can include permanent and non-permanent, removable and non-removable media, which can realize information storage by any method or technology. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device.

[0185] The storage medium of the above-mentioned embodiments stores computer instructions for causing the computer to execute the vehicle control method as described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0186] Based on the same inventive concept, the present application also provides a vehicle corresponding to the method of any of the above-mentioned embodiments, comprising the vehicle control device of the above-mentioned embodiments, the electronic device of the above-mentioned embodiments, the computer readable storage medium of the above-mentioned embodiments, and the vehicle device realizes the vehicle control method of any of the above-mentioned embodiments.

[0187] The vehicle of the above-mentioned embodiments is used to realize the vehicle control method of any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0188] It can be understood that before using the technical solutions of various embodiments in the present disclosure, the user will be informed of the type, scope of use, use scenario, etc. of the personal information involved by appropriate means, and the authorization of the user will be obtained.

[0189] For example, in response to receiving the user's active request, the user is sent prompt information to explicitly prompt the user that the operation requested to be performed will require the acquisition and use of the user's personal information. Thus, the user can voluntarily choose whether to provide personal information to the software or hardware such as electronic devices, application programs, servers or storage media that perform the technical solutions of the present disclosure according to the prompt information.

[0190] As an optional but not limited implementation manner, in response to accepting the user's active request, the way of sending prompt information to the user may, for example, be a pop-up window manner, in which the prompt information can be presented in the form of text. In addition, the pop-up window can also carry selection controls for the user to select "agree" or "disagree" to provide personal information to the electronic device.

[0191] It can be understood that the above notification and obtaining user authorization process is only illustrative, and does not limit the implementation of the present disclosure, and other ways meeting relevant laws and regulations can also be applied to the implementation of the present disclosure.

[0192] It should be understood by those of ordinary skill in the art that the above discussion of any embodiment is only exemplary and is not intended to imply that the scope (including claims) of the present disclosure is limited to these examples; the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of brevity.

[0193] In addition, in order to simplify the description and discussion, and so as not to make the embodiments of the present disclosure difficult to understand, the well-known power / ground connections of integrated circuit (IC) chips and other components can or can not be shown in the provided drawings. In addition, the apparatus can be shown in the form of a block diagram in order to avoid making the embodiments of the present disclosure difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram apparatus are highly dependent on the platform to be implemented to implement the embodiments of the present disclosure (i.e., these details should be fully within the understanding of those skilled in the art). Where specific details (e.g., circuitry) are set forth in order to describe an illustrative embodiment of the present disclosure, it will be apparent to those skilled in the art that the present disclosure can be practiced without these specific details or with an implementation varying from these specific details. Therefore, these descriptions should be considered as illustrative rather than limiting.

[0194] Although the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications and variations will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) can use the embodiments discussed.

[0195] The embodiments of the present disclosure are intended to cover all such alternatives, modifications and variations as falling within the broad scope of the appended claims. Accordingly, any omission, modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A vehicle control method, characterized in that, include: In response to receiving a gear shift request, the vehicle's operating information and current gear position are obtained, and the target gear position is determined based on the operating information and the current gear position. The target power interruption torque is determined based on the current shift gear, the target shift gear, and the operating information; The target motor torque is determined based on the target power interruption torque, and the vehicle is controlled to move based on the target motor torque.

2. The method according to claim 1, characterized in that, The step of determining the target power interruption torque based on the current shift gear, the target shift gear, and the operating information includes: Based on the operating information, the current shift gear, and the target shift gear, determine the target shift type and obtain the torque correspondence relationship corresponding to the target shift type; Determine the actual shift process, and determine the target power interruption torque corresponding to the actual shift process based on the torque correspondence.

3. The method according to claim 2, characterized in that, Determining the target shift type based on the operating information, the current shift gear, and the target shift gear includes: Based on the operating information, determine the target shift mode corresponding to the operating information, and obtain the type correspondence relationship corresponding to the target shift mode; Based on the correspondence between the current gear position, the target gear position, and the type, determine the target gear position corresponding to the current gear position and the target gear position.

4. The method according to claim 2, characterized in that, Determining the actual gear shift process includes: After determining the target gear based on the operating information and the current gear position, the timer starts. Based on the current gear position and the target gear position, a first target gear shift time is determined, wherein the first target gear shift time is the shortest time required to switch from the current gear position to the target gear position; The actual shift process is determined based on the first timing duration and the first target shift duration.

5. The method according to claim 1, characterized in that, Determining the target motor torque based on the target power interruption torque includes: Based on the operating information and the current gear position, determine the target torque limit; The target power interruption torque and the target torque limit are compared to obtain a comparison result, and the target motor torque is determined based on the comparison result.

6. The method according to claim 5, characterized in that, The operational information includes the current vehicle speed. Determining the target torque limit based on the operating information and the current gear position includes: Obtain the target speed ratio corresponding to the current gear and the target speed threshold of the virtual engine, and determine the target vehicle speed threshold based on the target speed ratio and the target speed threshold; The target torque limit is determined based on the current vehicle speed and the target vehicle speed threshold.

7. The method according to claim 5, characterized in that, Determining the target motor torque based on the comparison result includes: In response to the comparison result indicating that the target power interruption torque is greater than the target torque limit, the target motor torque is determined to be the target torque limit; or, In response to the comparison result that the target power interruption torque is less than or equal to the target torque limit, the target motor torque is determined as the target power interruption torque.

8. The method according to claim 1, characterized in that, The operational information includes the current vehicle speed. The step of responding to a received gear shift request by acquiring vehicle operating information and the current gear position, and determining the target gear position based on the operating information and the current gear position, includes: In response to receiving a shift request, the vehicle obtains the current shift gear and determines the requested shift gear and the shift speed corresponding to the requested shift gear based on the current shift gear and the shift request. Obtain the vehicle's current speed, and determine the target gear for the vehicle based on the current speed and the shift speed.

9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method as described in any one of claims 1 to 8.

10. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 9.

Images