Gear control method, device, system and program product

Abstract

The present disclosure relates to a gear control method, device, system and program product, and relates to the technical field of vehicle control. The gear control method comprises: determining slope information of an environment in which a mechanical device is located at a current moment according to a simulation slope at a previous moment of the mechanical device and a collected slope at the current moment; determining working condition information of the mechanical device according to the slope information; in a case where the working condition information is an uphill working condition, determining a first power factor of the mechanical device according to the slope information; determining a maximum climbing slope of the mechanical device according to the first power factor; and in a case where the maximum climbing slope is less than the collected slope, performing gear down processing on the mechanical device until the maximum climbing slope is greater than or equal to the collected slope.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicle control, and particularly relates to a gear control method, device, system and program product. BACKGROUND

[0002] With the aggravation of energy crisis and environmental problems, new energy vehicles become the focus and difficulty of the automobile industry in response to the challenge of green and low-carbon development, and the intelligent development of new energy vehicles also attracts widespread attention. SUMMARY

[0003] One of the technical problems to be solved by the present disclosure is how to realize autonomous control of the gear of a mechanical device and guarantee the accuracy and power performance of the gear control process.

[0004] According to some embodiments of the first aspect of the present disclosure, a gear control method is provided, comprising: determining slope information of an environment in which a mechanical device is located at a current moment according to a simulation slope at a previous moment of the mechanical device and a collected slope at the current moment; determining working condition information of the mechanical device according to the slope information; in a case where the working condition information is an uphill working condition, determining a first power factor of the mechanical device according to the slope information; determining a maximum climbing slope of the mechanical device according to the first power factor; in a case where the maximum climbing slope is less than the collected slope, performing gear down processing on the mechanical device until the maximum climbing slope is greater than or equal to the collected slope.

[0005] In some embodiments, the gear control method further comprises: in a case where the working condition information is a downhill working condition, determining gear information corresponding to a speed range including a real-time speed of the mechanical device according to a speed range of each gear of the mechanical device; determining a highest gear in the gear information; and adjusting the gear of the mechanical device to the highest gear.

[0006] In some embodiments, the gear control method further comprises: in a case where the maximum climbing slope is greater than or equal to the collected slope, maintaining the gear of the mechanical device.

[0007] In some embodiments, determining the slope information of the environment in which the mechanical equipment is located at the current moment, based on the simulated slope of the mechanical equipment at the previous moment and the collected slope at the current moment, includes: determining the magnitude relationship between the simulated acceleration of the mechanical equipment at the previous moment and the collected acceleration at the current moment, based on the simulated slope of the previous moment and the collected slope at the current moment; if the simulated acceleration is greater than the collected acceleration, adding a slope correction coefficient to the simulated slope, and determining the simulated slope with the added slope correction coefficient as the slope information at the current moment; if the simulated acceleration is less than the collected acceleration, reducing the slope correction coefficient to the simulated slope, and determining the simulated slope with the reduced slope correction coefficient as the slope information at the current moment; if the simulated acceleration is equal to the collected acceleration, determining the simulated slope as the slope information at the current moment.

[0008] In some embodiments, determining the magnitude relationship between the simulated acceleration of the mechanical equipment at the previous moment and the collected acceleration at the current moment, based on the simulated slope at the previous moment and the collected slope at the current moment, includes: if the simulated slope at the previous moment is greater than the collected slope at the current moment, the magnitude relationship is determined to be that the simulated acceleration at the previous moment is less than the collected acceleration at the current moment; if the simulated slope at the previous moment is less than the collected slope at the current moment, the magnitude relationship is determined to be that the simulated acceleration at the previous moment is greater than the collected acceleration at the current moment; if the simulated slope at the previous moment is equal to the collected slope at the current moment, the magnitude relationship is determined to be that the simulated acceleration at the previous moment is equal to the collected acceleration at the current moment.

[0009] In some embodiments, determining the magnitude relationship between the simulated acceleration of the mechanical equipment at the previous moment and the acquired acceleration at the current moment, based on the simulated slope at the previous moment and the acquired slope at the current moment, includes: determining the simulated acceleration of the mechanical equipment at the previous moment based on the simulated slope at the previous moment; determining the acquired acceleration of the mechanical equipment at the current moment based on the acquired slope at the current moment; and determining the magnitude relationship between the simulated acceleration of the mechanical equipment at the previous moment and the acquired acceleration at the current moment based on their magnitudes.

[0010] In some embodiments, determining the first power factor of the mechanical equipment based on the slope information includes: determining the second power factor corresponding to the slope information based on the slope information and the rolling friction coefficient of the mechanical equipment; and determining the maximum value of the second power factor as the first power factor.

[0011] In some embodiments, determining the maximum gradeability of the mechanical equipment based on the first power factor includes: determining the maximum slope angle supported by the mechanical equipment based on the first power factor and the rolling friction coefficient of the mechanical equipment; and determining the maximum gradeability based on the maximum slope angle.

[0012] In some embodiments, if the simulated slope at the previous moment is the simulated slope at the initial moment, the simulated slope at the initial moment is the collected slope at the initial moment; if the simulated slope at the previous moment is not the simulated slope at the initial moment, the simulated slope at the previous moment is the slope information at the previous moment determined by the simulation model.

[0013] In some embodiments, the gear control method further includes: acquiring time information, longitude and latitude information of the mechanical equipment, driving speed of the mechanical equipment, altitude of the environment where the mechanical equipment is located, and driving distance of the mechanical equipment; and constructing a simulation model based on the time information, longitude and latitude information of the mechanical equipment, driving speed of the mechanical equipment, altitude of the environment where the mechanical equipment is located, and driving distance of the mechanical equipment.

[0014] In some embodiments, determining the operating condition information of the mechanical equipment based on the slope information includes: when the slope information is greater than zero, the operating condition information of the mechanical equipment is uphill; when the slope information is less than zero, the operating condition information of the mechanical equipment is downhill.

[0015] In some embodiments, the gear control method further includes: determining whether the mechanical equipment is in a coasting condition; if the mechanical equipment is in a coasting condition, determining gear information corresponding to the speed range including the real-time speed of the mechanical equipment based on the speed range of each gear of the mechanical equipment; determining the highest gear in the gear information; and adjusting the gear of the mechanical equipment to the highest gear.

[0016] According to some embodiments of the second aspect of this disclosure, a gear control device is provided, comprising: a first determining unit configured to determine slope information of the environment in which the mechanical equipment is located at the current moment based on the simulated slope of the mechanical equipment at the previous moment and the collected slope at the current moment; a second determining unit configured to determine the operating condition information of the mechanical equipment based on the slope information; a third determining unit configured to determine a first power factor of the mechanical equipment based on the slope information when the operating condition information is an uphill operating condition; a fourth determining unit configured to determine the maximum gradeability of the mechanical equipment based on the first power factor; and a control unit configured to downshift the mechanical equipment when the maximum gradeability is less than the collected slope, until the maximum gradeability is greater than or equal to the collected slope.

[0017] According to some embodiments of the third aspect of this disclosure, a gear control device is provided, including: a memory and a processor coupled to the memory, the processor being configured to execute the gear control method of any of the above embodiments based on instructions stored in the memory.

[0018] According to some embodiments of the fourth aspect of this disclosure, a gear control system is provided, including the gear control device in any of the above embodiments; and a sensor configured to acquire a slope.

[0019] According to some embodiments of the fifth aspect of this disclosure, a computer-readable storage medium is provided that stores computer instructions thereon, which, when executed by a processor, implement the gear control method of any of the above embodiments.

[0020] According to some embodiments of the sixth aspect of this disclosure, a computer program product is provided, including computer instructions that, when executed by a processor, implement the gear control method in any of the above embodiments.

[0021] In the above embodiments, by determining the current slope information based on the simulated slope of the previous moment and the slope acquired by the sensor at the current moment, the accuracy and timeliness of the slope information determination process can be improved, reducing errors, fluctuations, and delays caused by the slope acquisition sensor. Furthermore, when the machinery is operating uphill, by autonomously comparing the maximum gradeability of the machinery with the acquired slope, the gear position of the machinery can be controlled in a timely manner, achieving autonomous gear control. Moreover, because gear control is based on the relationship between the maximum gradeability and the acquired slope, timely and effective gear control is possible, ensuring not only the timeliness of gear control but also reducing the impact of unnecessary gear shifts on the driver. Additionally, when the machinery is operating uphill, in addition to ensuring the timeliness of gear control and the accuracy of slope information, the accuracy of the gear control process and power performance are also guaranteed, meeting the power output requirements of the machinery under extreme operating conditions and improving the user experience of the machinery. Attached Figure Description

[0022] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0023] This disclosure can be more clearly understood with reference to the accompanying drawings and the following detailed description.

[0024] Figure 1 Schematic diagrams illustrating some embodiments of the gear control method of this disclosure are shown.

[0025] Figure 2 Schematic diagrams illustrating some embodiments of the method for determining slope information disclosed herein.

[0026] Figure 3 Schematic diagrams illustrating some embodiments of the dynamic upshift curves before and after considering slope information in this disclosure.

[0027] Figure 4 The diagram illustrates some embodiments of the present disclosure comparing the motor operating points corresponding to the optimal power shift point before and after considering slope information.

[0028] Figure 5 Schematic diagrams showing some embodiments of the gear control device of this disclosure are provided.

[0029] Figure 6 Schematic diagrams showing other embodiments of the gear control device of this disclosure are shown.

[0030] Figure 7 Schematic diagrams illustrating some embodiments of the gear control system of this disclosure are shown. Detailed Implementation

[0031] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0032] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0033] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0034] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0035] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0036] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0037] With the widespread attention given to new energy vehicles, the demand for their intelligence is also increasing. For example, there are higher requirements for the accuracy, breadth, and user experience of intelligent control. However, traditional gear control strategies do not take into account the impact of road slope, which may lead to inaccurate and unnecessary gear shifts. This will directly affect the user experience and consume unnecessary energy (or electricity). Furthermore, inaccurate gear shifts will also fail to guarantee the power performance of mechanical equipment during the gear control process.

[0038] Therefore, how to achieve autonomous gear control of mechanical equipment and ensure the accuracy and power performance of the gear control process is a problem that needs to be solved. To address this issue, this disclosure proposes a gear control method, as follows.

[0039] Figure 1 Schematic diagrams illustrating some embodiments of the gear control method of this disclosure are shown.

[0040] like Figure 1 As shown, the gear control method includes steps 110 to 150, and the gear control method is executed by the gear control device.

[0041] In step 110, the slope information of the environment in which the mechanical equipment is located at the current moment is determined based on the simulated slope of the mechanical equipment at the previous moment and the collected slope at the current moment.

[0042] In some embodiments, if the simulated slope at the previous moment is the simulated slope at the initial moment, the simulated slope at the initial moment is the collected slope at the initial moment; if the simulated slope at the previous moment is not the simulated slope at the initial moment, the simulated slope at the previous moment is the slope information at the previous moment determined by the simulation model.

[0043] For example, the current slope can be obtained through a slope sensor, and the mechanical equipment can be a vehicle or other moving mechanical equipment.

[0044] In step 120, the operating condition information of the mechanical equipment is determined based on the slope information.

[0045] For example, the operating condition information of mechanical equipment includes uphill or downhill operating conditions.

[0046] In step 130, when the working condition is uphill, the first power factor of the mechanical equipment is determined based on the slope information.

[0047] In some embodiments, the first power factor of the mechanical equipment refers to the power factor corresponding to the maximum slope angle.

[0048] In step 140, the maximum gradeability of the mechanical equipment is determined based on the first power factor.

[0049] For example, the maximum gradeability represents the maximum gradeability that a machine can climb at the current moment, which can be determined by performing a tangent function calculation on the maximum gradeability angle.

[0050] In step 150, if the maximum gradient is less than the collection gradient, the mechanical equipment is downgraded until the maximum gradient is greater than or equal to the collection gradient.

[0051] If the maximum gradeability is less than the measured gradeability, it means that the mechanical equipment cannot pass the measured gradeability obtained by the sensor. Therefore, it is necessary to reduce the current gear so that the mechanical equipment can pass the uphill condition.

[0052] In some embodiments, the mechanical equipment is kept in gear when the maximum gradient is greater than or equal to the sampling gradient.

[0053] If the maximum gradeability is greater than or equal to the measured slope, it indicates that the machinery has sufficient power to successfully climb the slope, and the current gear can be maintained. If the maximum gradeability is less than the measured slope, it indicates that the machinery lacks sufficient power, and therefore the gear needs to be downshifted to provide adequate power for successful climbing. This gear control strategy, which incorporates slope requirements, can more accurately and promptly meet the machinery's power needs, reduce the number of gear shifts, and ensure a better user experience.

[0054] In the above embodiments, by determining the current slope information based on the simulated slope of the previous moment and the slope acquired by the sensor at the current moment, the accuracy and timeliness of the slope information determination process can be improved, reducing errors, fluctuations, and delays caused by the slope acquisition sensor. Furthermore, when the machinery is operating uphill, by autonomously comparing the maximum gradeability of the machinery with the acquired slope, the gear position of the machinery can be controlled in a timely manner, achieving autonomous gear control. Moreover, because gear control is based on the relationship between the maximum gradeability and the acquired slope, timely and effective gear control is possible, ensuring not only the timeliness of gear control but also reducing the impact of unnecessary gear shifts on the driver. Additionally, when the machinery is operating uphill, in addition to ensuring the timeliness of gear control and the accuracy of slope information, the accuracy of the gear control process and power performance are also guaranteed, meeting the power output requirements of the machinery under extreme operating conditions and improving the user experience of the machinery.

[0055] The following embodiments describe a gear control method for downhill driving conditions.

[0056] In some embodiments, when the working condition information is a downhill working condition, the gear information corresponding to the speed range including the real-time speed of the mechanical equipment is determined according to the speed range of each gear of the mechanical equipment; the highest gear is determined in the gear information; and the gear of the mechanical equipment is adjusted to the highest gear.

[0057] For example, the speed range of each gear in a mechanical device can be determined by the factory parameters of the device's gearbox.

[0058] The following embodiments describe a gear control method for a coasting condition.

[0059] Determine if the mechanical equipment is in a coasting condition; if so, determine the gear information corresponding to the speed range of each gear, including the real-time speed of the mechanical equipment, based on the speed range of each gear; determine the highest gear from the gear information; and adjust the mechanical equipment to the highest gear.

[0060] For example, the accelerator pedal signal and brake pedal signal of a mechanical device can be used to determine whether the device is in a coasting condition. If the accelerator pedal signal and brake pedal signal are both zero, then the device is in a coasting condition.

[0061] When machinery is in downhill or coasting conditions, gear control is an economical strategy. By determining the gear information corresponding to the real-time speed range of the machinery, and identifying the highest gear within that range, the machinery is adjusted to the highest gear. At the highest gear, the speed ratio is the smallest, and the torque transmitted from the wheel end to the motor end is the largest. The magnitude of the motor torque determines the energy recovery torque. At this point, the recovery torque is the largest, meaning the recovery intensity is the largest, which enhances the energy recovery degree of the machinery, optimizes energy consumption, improves economy, extends the driving range of the machinery, and to some extent reduces the number of gear switching cycles, improving the user experience and the machinery's adaptability to the environment.

[0062] The above embodiment can reduce the number of gear shifts. The specific analysis is as follows: When mechanical equipment goes downhill, the vehicle speed increases. If the traditional gear shifting strategy on flat roads is used, the speed will increase with the increase of the slope, the gear will be shifted up, and the vehicle speed will continue to increase. The driver will step on the brake pedal to control the speed. When the speed decreases, the gear will be downshifted, resulting in a cycle of gear shifting. This will cause some wear on the transmission. Therefore, this embodiment improves economy by recovering energy in downhill or coasting conditions.

[0063] The following embodiments describe how to determine the slope information of the environment in which the mechanical equipment is located at the current moment based on the simulated slope of the mechanical equipment at the previous moment and the collected slope at the current moment, as detailed below.

[0064] In some embodiments, determining the slope information of the environment in which the mechanical equipment is located at the current moment based on the simulated slope of the mechanical equipment at the previous moment and the collected slope at the current moment includes: determining the magnitude relationship between the simulated acceleration of the mechanical equipment at the previous moment and the collected acceleration at the current moment based on the simulated slope of the previous moment and the collected slope at the current moment; when the simulated acceleration is greater than the collected acceleration, adding a slope correction coefficient to the simulated slope and determining the simulated slope with the added slope correction coefficient as the slope information at the current moment; when the simulated acceleration is less than the collected acceleration, reducing the slope correction coefficient to the simulated slope and determining the simulated slope with the reduced slope correction coefficient as the slope information at the current moment; when the simulated acceleration is equal to the collected acceleration, determining the simulated slope as the slope information at the current moment, as shown in formula (1).

[0065] (1).

[0066] Among them, a ck This represents the slope information at the current moment (also known as the simulated slope at the current moment), a ck-1 b represents the simulated slope at the previous moment. c b represents the simulated acceleration at the previous moment. r This represents the current acceleration measured at the moment of acquisition. This represents the slope correction factor.

[0067] For example, The slope correction factor can be 2%. It should be noted that the slope correction factor should not be too large, otherwise it will cause oscillations in the slope during the process of determining the slope information, making it impossible for the simulated slope to converge to the collected slope. The slope correction factor can be determined through simulation testing.

[0068] By comparing the simulated acceleration from the previous moment with the collected acceleration from the current moment, the simulated slope from the previous moment is corrected to obtain the slope information for the current moment. The correction process takes into account the influence of factors such as the pitch motion of the mechanical equipment. Through the correction process, accurate slope information can be obtained, and compared with obtaining slope information through sensors, slope information can be obtained more timely, so as to achieve accurate gear control in the future.

[0069] For example, regarding the slope information of the environment in which the mechanical equipment is located at the current moment, it can be determined whether the absolute value of the difference between the slope information at the current moment and the collected slope at the current moment is less than a preset threshold. If the absolute value of the difference is less than the preset threshold, the simulated slope at the previous moment is determined to be used as the slope information at the current moment. If the absolute value of the difference is greater than or equal to the preset threshold, the simulated slope at the previous moment is corrected until the absolute value of the difference is less than the preset threshold.

[0070] By comparing the slope information at the current moment with the slope collected at the current moment, the accuracy of the determined slope information at the current moment can be guaranteed.

[0071] The relationship between the simulated acceleration of the mechanical equipment at the previous moment and the collected acceleration at the current moment can be determined through the following two specific examples, as follows.

[0072] In some embodiments, determining the magnitude relationship between the simulated acceleration of the mechanical equipment at the previous moment and the collected acceleration at the current moment, based on the simulated slope at the previous moment and the collected slope at the current moment, includes: when the simulated slope at the previous moment is greater than the collected slope at the current moment, the magnitude relationship is determined to be that the simulated acceleration at the previous moment is less than the collected acceleration at the current moment; when the simulated slope at the previous moment is less than the collected slope at the current moment, the magnitude relationship is determined to be that the simulated acceleration at the previous moment is greater than the collected acceleration at the current moment; when the simulated slope at the previous moment is equal to the collected slope at the current moment, the magnitude relationship is determined to be that the simulated acceleration at the previous moment is equal to the collected acceleration at the current moment, as shown in formula (2).

[0073] (2).

[0074] Among them, a c a represents the simulated slope at the previous moment. r b represents the current data collection slope. c b represents the simulated acceleration at the previous moment. r This represents the current acquisition acceleration.

[0075] The relationship between simulated acceleration and acquired acceleration can be determined directly by the relationship between simulated slope and acquired slope. This can quickly determine the relationship between simulated acceleration and acquired acceleration, and improve the efficiency of correcting the simulated slope of the previous moment.

[0076] In some embodiments, determining the magnitude relationship between the simulated acceleration of the mechanical equipment at the previous moment and the collected acceleration at the current moment, based on the simulated slope at the previous moment and the collected slope at the current moment, includes: determining the simulated acceleration of the mechanical equipment at the previous moment based on the simulated slope at the previous moment; determining the collected acceleration of the mechanical equipment at the current moment based on the collected slope at the current moment; and determining the magnitude relationship between the simulated acceleration of the mechanical equipment at the previous moment and the collected acceleration at the current moment based on the magnitude of the simulated acceleration at the previous moment and the collected acceleration at the current moment, as shown in formulas (3) to (7), wherein formula (3) is the vehicle dynamics model, and formulas (4) and (5) are derived from formula (3).

[0077] (3).

[0078] Among them, F t F represents the driving force of mechanical equipment (driving force refers to the force that enables mechanical equipment to overcome resistance and move normally). f F represents the rolling resistance of mechanical equipment (rolling resistance refers to the rolling resistance from the ground when mechanical equipment is moving), w F represents the air resistance of mechanical equipment (air resistance refers to the component of the total air resistance experienced by the mechanical equipment in the direction of travel). i F represents the slope resistance of the mechanical equipment (slope resistance refers to the component of the equipment's weight along the slope when the equipment is operating uphill). j This represents the acceleration resistance of mechanical equipment (acceleration resistance refers to the inertial force that the mechanical equipment needs to overcome when it accelerates). Regarding acceleration resistance, if the acceleration of the mechanical equipment is close to zero, the acceleration resistance can be ignored. For example, when the mechanical equipment is going uphill, the acceleration of the mechanical equipment is close to zero, and the acceleration resistance can be ignored.

[0079] (4).

[0080] Among them, T tq i represents the motor torque of mechanical equipment. g This indicates the gearbox ratio of the mechanical equipment. i0 represents the final drive ratio of the mechanical equipment, that is, the gear transmission ratio of the final drive ratio in the drive axle of the mechanical equipment. The mechanical efficiency of the transmission system of the mechanical equipment is represented by r, the rolling radius of the wheel of the mechanical equipment is represented by m, the mass of the mechanical equipment is represented by g, the acceleration due to gravity is represented by f, the rolling friction coefficient of the mechanical equipment is represented by a, and the slope angle is represented by C. D The value represents the drag coefficient of the mechanical equipment, A represents the frontal area of ​​the mechanical equipment, and u represents the speed of the mechanical equipment. Du / dt represents the rotational mass conversion coefficient of the mechanical equipment, and du / dt represents the acceleration of the mechanical equipment (simulated acceleration).

[0081] (5).

[0082] The process of determining the simulated acceleration by simulating the slope and determining the collected acceleration by collecting the slope is shown in formulas (6) and (7).

[0083] (6).

[0084] (7).

[0085] Among them, v k v represents the current speed. k-1 This indicates the speed at the previous moment. The sampling period is represented by G, the gravity of the mechanical equipment is represented by a. c1 This represents the slope angle corresponding to the simulated slope, 'a'. r1 This indicates the slope angle corresponding to the slope being sampled.

[0086] By directly calculating the simulated acceleration and the acquired acceleration based on the simulated slope and the acquired slope, and then directly determining the relationship between them, the accuracy of determining the relationship between the simulated acceleration and the acquired acceleration can be guaranteed, thus improving the accuracy of the simulation slope correction process.

[0087] Figure 2 Schematic diagrams illustrating some embodiments of the method for determining slope information disclosed herein.

[0088] like Figure 2 As shown, the method for determining slope information includes steps 201 to 210.

[0089] In step 201, the slope information is determined.

[0090] In step 202, the simulated slope of the mechanical equipment at the previous moment is obtained.

[0091] In step 203, the current slope of the mechanical equipment is obtained.

[0092] In step 204, it is determined whether the simulated slope at the previous moment is greater than the collected slope at the current moment. If the simulated slope is greater than the collected slope, step 205 is executed; otherwise, step 206 is executed directly.

[0093] In step 205, a slope correction coefficient is added to the simulated slope at the previous moment to obtain the slope information at the current moment (i.e., the simulated slope at the current moment), and then steps 202 and 203 are executed directly.

[0094] In step 206, it is determined whether the simulated slope at the previous moment is equal to the collected slope at the current moment. If the simulated slope is equal to the collected slope, step 208 is executed directly; if the simulated slope is not equal to the collected slope, step 207 is executed.

[0095] In step 207, the slope correction factor is reduced based on the simulated slope at the previous moment to obtain the slope information at the current moment (i.e., the simulated slope at the current moment), and then steps 202 and 203 are executed again.

[0096] In step 208, the simulated slope of the previous moment is determined as the slope information of the current moment (i.e., the simulated slope of the current moment), and then step 209 is executed.

[0097] In step 209, it is determined whether the absolute value of the difference between the slope information at the current time and the slope collected at the current time is less than a preset threshold. If the absolute value of the difference between the slope information at the current time and the slope collected at the current time is less than the preset threshold, step 210 is executed directly. If the absolute value of the difference between the slope information at the current time and the slope collected at the current time is greater than or equal to the preset threshold, steps 202 and 203 are executed again.

[0098] The slope correction factor affects the simulation speed of the slope, but an excessively large slope correction factor can easily cause oscillations in the slope information during the simulation process, making it impossible to converge to the collected slope (i.e., the actual slope). Therefore, in the slope simulation model, it is necessary to compare the simulated slope and the collected slope and control their error (i.e., the absolute value of the difference between the simulated slope and the collected slope) to achieve the goal of making the simulated slope approximate the collected slope. At the same time, it can take into account the influence of factors such as the pitch motion of the vehicle body, reduce the error and fluctuation brought by the slope sensor, and determine the slope of the road where the mechanical equipment (such as the vehicle) is located more quickly and accurately.

[0099] In step 210, the determination of slope information is completed.

[0100] The following describes, with reference to an embodiment, how to determine the first power factor of mechanical equipment based on slope information, as follows.

[0101] In some embodiments, determining the first power factor of the mechanical equipment based on the slope information includes: determining the second power factor corresponding to the slope information based on the slope information and the rolling friction coefficient of the mechanical equipment; and determining the maximum value of the second power factor as the first power factor, as shown in formulas (8) to (10).

[0102] For example, the second dynamic factor can be multiple second dynamic factors corresponding to multiple slope information within the slope simulation cycle.

[0103] The maximum value among multiple second power factors corresponding to multiple slope information is determined as the first power factor, so as to determine the maximum gradeability of the mechanical equipment. Subsequently, gear control is performed based on the relationship between the collected slope and the maximum gradeability, which can timely and effectively switch gears for the mechanical equipment to ensure that the mechanical equipment has sufficient power.

[0104] Considering that the mechanical equipment is in an uphill condition, the acceleration resistance of the mechanical equipment can be ignored. Therefore, the vehicle dynamics model is shown in formulas (8) and (9).

[0105] (8).

[0106] (9).

[0107] The second driving factor is shown in formula (10).

[0108] (10).

[0109] Where 'a' represents the slope angle corresponding to the slope information, which can be obtained by performing arctangent processing on the slope information; and 'G' represents the gravity of the mechanical equipment. The maximum value among multiple second dynamic factors is selected as the first dynamic factor, and D is used... max express.

[0110] The following describes, with reference to an embodiment, how to determine the maximum gradeability of the mechanical equipment based on the first power factor, as follows.

[0111] In some embodiments, determining the maximum gradeability of the mechanical equipment based on the first power factor includes: determining the maximum slope angle supported by the mechanical equipment based on the first power factor and the rolling friction coefficient of the mechanical equipment; and determining the maximum gradeability based on the maximum slope angle, as shown in formulas (11) and (12).

[0112] (11).

[0113] Among them, a max D represents the maximum slope angle. max This represents the second driving factor.

[0114] (12).

[0115] Among them, i max The maximum gradient is represented by formula (12). The maximum gradient is obtained by calculating the tangent of the maximum gradient angle.

[0116] The method for determining operating condition information is described below with reference to an embodiment.

[0117] In some embodiments, when the slope information is greater than zero, the operating condition information of the mechanical equipment is uphill; when the slope information is less than zero, the operating condition information of the mechanical equipment is downhill.

[0118] Determining the operating conditions of machinery based on slope information helps to control the machinery at different speeds for different operating conditions, thus providing the possibility of ensuring the power of the machinery while maintaining its economic efficiency during operation.

[0119] The method for constructing the simulation model is described below with reference to specific examples.

[0120] In some embodiments, time information, longitude and latitude information of the mechanical equipment, travel speed of the mechanical equipment, altitude of the environment where the mechanical equipment is located, and travel distance of the mechanical equipment are acquired; and a simulation model is constructed based on the time information, longitude and latitude information of the mechanical equipment, travel speed of the mechanical equipment, altitude of the environment where the mechanical equipment is located, and travel distance of the mechanical equipment.

[0121] For example, the longitude and latitude information of mechanical equipment can be determined using the Global Positioning System.

[0122] For example, a simulation model can be trained by acquiring time information samples, longitude information samples, latitude information samples, driving speed samples, altitude samples, driving distance samples, and simulation slope labels, and then training the simulation model based on the above samples and labels.

[0123] Figure 3 Schematic diagrams illustrating some embodiments of the dynamic upshift curves before and after considering slope information in this disclosure.

[0124] like Figure 3As shown, the horizontal axis represents speed in km / h, and the vertical axis represents throttle opening. Solid lines connected by circles represent the curve from 1st to 2nd gear after considering gradient information; dashed lines connected by circles represent the curve from 1st to 2nd gear before considering gradient information; solid lines connected by asterisks represent the curve from 2nd to 3rd gear after considering gradient information; dashed lines connected by asterisks represent the curve from 2nd to 3rd gear before considering gradient information; solid lines connected by plus signs represent the curve from 3rd to 4th gear after considering gradient information; and dashed lines connected by plus signs represent the curve from 3rd to 4th gear before considering gradient information.

[0125] like Figure 3 As shown, whether shifting from 1st to 2nd gear, 2nd to 3rd gear, or 3rd to 4th gear, the shift speed corresponding to the upshift curve after considering the gradient information is higher than the shift speed of the upshift curve before considering the gradient information. Therefore, when mechanical equipment is operating uphill, gear control that considers the gradient information can provide good power for the mechanical equipment operating uphill, ensuring good power output capability during the uphill process.

[0126] Figure 4 The diagram illustrates some embodiments of the present disclosure comparing the motor operating points corresponding to the optimal power shift point before and after considering slope information.

[0127] like Figure 4 As shown, the horizontal axis represents rotational speed in r / min, and the vertical axis represents torque in Nm. Circles indicate the optimal upshift point after considering gradient information, while asterisks indicate the optimal upshift point before considering gradient information. Figure 4 The values ​​0.86, 0.88, 0.9, 0.92, 0.94, and 0.96 represent the motor efficiency of the mechanical equipment. Taking 0.92 as an example, the loop containing 0.92 represents the contour line where the motor efficiency is 0.92, indicating that the motor efficiency at this point is 0.92. Other values ​​are similar. Figure 4 It can be seen that, compared to the optimal power shift point before considering slope information, the optimal power shift point after considering slope information will move to the lower right, that is, the motor speed increases and the motor torque decreases.

[0128] Figure 5 Schematic diagrams showing some embodiments of the gear control device of this disclosure are provided.

[0129] like Figure 5 As shown, the gear control device 50 includes a first determining unit 51, a second determining unit 52, a third determining unit 53, a fourth determining unit 54, and a control unit 55.

[0130] The first determining unit 51 is configured to determine the slope information of the environment in which the mechanical equipment is located at the current moment based on the simulated slope of the mechanical equipment at the previous moment and the collected slope at the current moment.

[0131] In some embodiments, if the simulated slope at the previous moment is the simulated slope at the initial moment, the simulated slope at the initial moment is the collected slope at the initial moment; if the simulated slope at the previous moment is not the simulated slope at the initial moment, the simulated slope at the previous moment is the slope information at the previous moment determined by the simulation model.

[0132] The second determining unit 52 is configured to determine the operating condition information of the mechanical equipment based on the slope information.

[0133] The third determining unit 53 is configured to determine the first power factor of the mechanical equipment based on the slope information when the working condition information is uphill.

[0134] The fourth determining unit 54 is configured to determine the maximum gradeability of the mechanical equipment based on the first power factor.

[0135] Control unit 55 is configured to downgrade the mechanical equipment when the maximum gradient is less than the acquisition gradient, until the maximum gradient is greater than or equal to the acquisition gradient.

[0136] In the above embodiments, by determining the current slope information based on the simulated slope of the previous moment and the slope acquired by the sensor at the current moment, the accuracy and timeliness of the slope information determination process can be improved, reducing errors, fluctuations, and delays caused by the slope acquisition sensor. Furthermore, when the machinery is operating uphill, by autonomously comparing the maximum gradeability of the machinery with the acquired slope, the gear position of the machinery can be controlled in a timely manner, achieving autonomous gear control. Moreover, because gear control is based on the relationship between the maximum gradeability and the acquired slope, timely and effective gear control is possible, ensuring not only the timeliness of gear control but also reducing the impact of unnecessary gear shifts on the driver. Additionally, when the machinery is operating uphill, in addition to ensuring the timeliness of gear control and the accuracy of slope information, the accuracy of the gear control process and power performance are also guaranteed, meeting the power output requirements of the machinery under extreme operating conditions and improving the user experience of the machinery.

[0137] In some embodiments, the control unit 55 is further configured to, when the operating condition information is a downhill operating condition, determine the gear information corresponding to the speed range including the real-time speed of the mechanical equipment based on the speed range of each gear of the mechanical equipment; determine the highest gear in the gear information; and adjust the gear of the mechanical equipment to the highest gear.

[0138] In some embodiments, the control unit 55 is also configured to maintain the gear of the mechanical equipment when the maximum gradient is greater than or equal to the sampling gradient.

[0139] In some embodiments, the first determining unit 51 is further configured to determine the magnitude relationship between the simulated acceleration of the mechanical equipment at the previous moment and the collected acceleration at the current moment based on the simulated slope at the previous moment and the collected slope at the current moment; if the simulated acceleration is greater than the collected acceleration, a slope correction coefficient is added to the simulated slope, and the simulated slope after adding the slope correction coefficient is determined as the slope information at the current moment; if the simulated acceleration is less than the collected acceleration, the slope correction coefficient is reduced to the simulated slope, and the simulated slope after reducing the slope correction coefficient is determined as the slope information at the current moment; if the simulated acceleration is equal to the collected acceleration, the simulated slope is determined as the slope information at the current moment.

[0140] In some embodiments, the first determining unit 51 is further configured to determine the magnitude relationship as follows: if the simulation slope at the previous moment is greater than the acquisition slope at the current moment, the simulation acceleration at the previous moment is less than the acquisition acceleration at the current moment; if the simulation slope at the previous moment is less than the acquisition slope at the current moment, the simulation acceleration at the previous moment is greater than the acquisition acceleration at the current moment; and if the simulation slope at the previous moment is equal to the acquisition slope at the current moment, the simulation acceleration at the previous moment is equal to the acquisition acceleration at the current moment.

[0141] In some embodiments, the first determining unit 51 is further configured to determine the simulated acceleration of the mechanical equipment at the previous moment based on the simulated slope at the previous moment; determine the collected acceleration of the mechanical equipment at the current moment based on the collected slope at the current moment; and determine the magnitude relationship between the simulated acceleration at the previous moment and the collected acceleration at the current moment based on the magnitudes of the simulated acceleration at the previous moment and the collected acceleration at the current moment.

[0142] In some embodiments, the third determining unit 53 is further configured to determine a second dynamic factor corresponding to the slope information based on the slope information and the rolling friction coefficient of the mechanical equipment; and to determine the maximum value of the second dynamic factor as the first dynamic factor.

[0143] In some embodiments, the fourth determining unit 54 is further configured to determine the maximum slope angle supported by the mechanical equipment based on the first power factor and the rolling friction coefficient of the mechanical equipment; and to determine the maximum gradeability based on the maximum slope angle.

[0144] In some embodiments, the gear control device 50 further includes a construction unit configured to acquire time information, longitude and latitude information of the mechanical equipment, driving speed of the mechanical equipment, altitude of the environment in which the mechanical equipment is located, and driving distance of the mechanical equipment; and to construct a simulation model based on the time information, longitude and latitude information of the mechanical equipment, driving speed of the mechanical equipment, altitude of the environment in which the mechanical equipment is located, and driving distance of the mechanical equipment.

[0145] In some embodiments, the second determining unit 52 is further configured to determine the operating condition of the mechanical equipment as uphill when the slope information is greater than zero, and as downhill when the slope information is less than zero.

[0146] In some embodiments, the control unit 55 is further configured to determine whether the mechanical device is in a coasting condition; when the mechanical device is in the coasting condition, determine gear information corresponding to the speed range including the real-time speed of the mechanical device based on the speed range of each gear of the mechanical device; determine the highest gear in the gear information; and adjust the gear of the mechanical device to the highest gear.

[0147] Figure 6 Schematic diagrams showing other embodiments of the gear control device of this disclosure are shown.

[0148] like Figure 6 As shown, the gear control device 50 of this embodiment includes a memory 61 and a processor 62 coupled to the memory 61. The processor 62 is configured to execute the gear control method of any of the foregoing embodiments based on instructions stored in the memory 61.

[0149] The memory 61 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory stores, for example, the operating system, application programs, boot loader, and other programs.

[0150] The gear control device 50 may also include an input / output interface 63, a network interface 64, and a storage interface 65. These interfaces 63, 64, and 65, as well as the memory 61 and processor 62, can be connected via, for example, a bus 66. The input / output interface 63 provides a connection interface for input / output devices such as a monitor, mouse, keyboard, touchscreen, microphone, and speakers. The network interface 64 provides a connection interface for various networked devices. The storage interface 65 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0151] In the above embodiments, by determining the current slope information based on the simulated slope of the previous moment and the slope acquired by the sensor at the current moment, the accuracy and timeliness of the slope information determination process can be improved, reducing errors, fluctuations, and delays caused by the slope acquisition sensor. Furthermore, when the machinery is operating uphill, by autonomously comparing the maximum gradeability of the machinery with the acquired slope, the gear position of the machinery can be controlled in a timely manner, achieving autonomous gear control. Moreover, because gear control is based on the relationship between the maximum gradeability and the acquired slope, timely and effective gear control is possible, ensuring not only the timeliness of gear control but also reducing the impact of unnecessary gear shifts on the driver. Additionally, when the machinery is operating uphill, in addition to ensuring the timeliness of gear control and the accuracy of slope information, the accuracy of the gear control process and power performance are also guaranteed, meeting the power output requirements of the machinery under extreme operating conditions and improving the user experience of the machinery.

[0152] Figure 7 Schematic diagrams illustrating some embodiments of the gear control system of this disclosure are shown.

[0153] like Figure 7 As shown, the gear control system 70 includes the gear control device 50 and sensor 71 in any of the above embodiments.

[0154] Sensor 71 is configured to acquire the slope.

[0155] In the above embodiments, by determining the current slope information based on the simulated slope of the previous moment and the slope acquired by the sensor at the current moment, the accuracy and timeliness of the slope information determination process can be improved, reducing errors, fluctuations, and delays caused by the slope acquisition sensor. Furthermore, when the machinery is operating uphill, by autonomously comparing the maximum gradeability of the machinery with the acquired slope, the gear position of the machinery can be controlled in a timely manner, achieving autonomous gear control. Moreover, because gear control is based on the relationship between the maximum gradeability and the acquired slope, timely and effective gear control is possible, ensuring not only the timeliness of gear control but also reducing the impact of unnecessary gear shifts on the driver. Additionally, when the machinery is operating uphill, in addition to ensuring the timeliness of gear control and the accuracy of slope information, the accuracy of the gear control process and power performance are also guaranteed, meeting the power output requirements of the machinery under extreme operating conditions and improving the user experience of the machinery.

[0156] In some embodiments, a computer program product is protected, comprising a computer program or instructions that, when executed by a processor, implement the gear control method described above. The computer program product includes a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network, installed from a storage device, or installed from a ROM via a gear control device. When the computer program is executed by a CPU, it performs the functions defined in the methods of the embodiments of this disclosure.

[0157] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0158] This concludes the detailed description of the gear control method, apparatus, system, and program products disclosed herein. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0159] The methods and systems of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0160] While specific embodiments of this disclosure have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A gear control method, comprising: Based on the simulated slope of the mechanical equipment at the previous moment and the collected slope at the current moment, the slope information of the environment in which the mechanical equipment is located at the current moment is determined, including: determining the magnitude relationship between the simulated acceleration of the mechanical equipment at the previous moment and the collected acceleration at the current moment based on the simulated slope of the previous moment and the collected slope at the current moment; if the simulated acceleration is greater than the collected acceleration, adding a slope correction coefficient to the simulated slope, and determining the simulated slope after adding the slope correction coefficient as the slope information at the current moment; if the simulated acceleration is less than the collected acceleration, reducing the slope correction coefficient to the simulated slope, and determining the simulated slope after reducing the slope correction coefficient as the slope information at the current moment; if the simulated acceleration is equal to the collected acceleration, determining the simulated slope as the slope information at the current moment. Based on the slope information, determine the operating condition information of the mechanical equipment; When the working condition information is an uphill working condition, the first power factor of the mechanical equipment is determined based on the slope information; The maximum gradeability of the mechanical equipment is determined based on the first power factor. If the maximum gradient is less than the collection gradient, the mechanical equipment is downgraded until the maximum gradient is greater than or equal to the collection gradient.

2. The gear control method according to claim 1 further includes: When the working condition information is a downhill working condition, the gear information corresponding to the speed range including the real-time speed of the mechanical equipment is determined according to the speed range of each gear of the mechanical equipment; The highest gear is determined from the gear information; Adjust the gear of the mechanical equipment to the highest gear.

3. The gear control method according to claim 1 further includes: When the maximum gradient is greater than or equal to the collection gradient, maintain the gear position of the mechanical equipment.

4. The gear control method according to claim 1, wherein, The relationship between the simulated slope at the previous moment and the collected slope at the current moment, determined based on the simulated slope at the previous moment and the collected acceleration at the current moment, includes: If the simulated slope at the previous moment is greater than the acquisition slope at the current moment, the magnitude relationship is determined to be that the simulated acceleration at the previous moment is less than the acquisition acceleration at the current moment. If the simulated slope at the previous moment is less than the acquisition slope at the current moment, the magnitude relationship is determined to be that the simulated acceleration at the previous moment is greater than the acquisition acceleration at the current moment. If the simulated slope at the previous moment is equal to the acquisition slope at the current moment, the magnitude relationship is determined to be that the simulated acceleration at the previous moment is equal to the acquisition acceleration at the current moment.

5. The gear control method according to claim 1, wherein, The relationship between the simulated slope at the previous moment and the collected slope at the current moment, determined based on the simulated slope at the previous moment and the collected acceleration at the current moment, includes: Based on the simulated slope at the previous moment, determine the simulated acceleration of the mechanical equipment at the previous moment; Based on the current acquisition slope, determine the current acquisition acceleration of the mechanical equipment; Based on the magnitudes of the simulated acceleration at the previous moment and the acquired acceleration at the current moment, the magnitude relationship between the simulated acceleration at the previous moment and the acquired acceleration at the current moment of the mechanical equipment is determined.

6. The gear control method according to any one of claims 1 to 3, wherein, Based on the slope information, determining the first power factor of the mechanical equipment includes: Based on the slope information and the rolling friction coefficient of the mechanical equipment, the second dynamic factor corresponding to the slope information is determined; The maximum value in the second dynamic factor is determined as the first dynamic factor.

7. The gear control method according to any one of claims 1 to 3, wherein, Determining the maximum gradeability of the mechanical equipment based on the first power factor includes: Based on the first power factor and the rolling friction coefficient of the mechanical equipment, the maximum slope angle supported by the mechanical equipment is determined; The maximum gradient is determined based on the maximum slope angle.

8. The gear control method according to any one of claims 1 to 3, wherein, If the simulated slope at the previous moment is the simulated slope at the initial moment, then the simulated slope at the initial moment is the collected slope at the initial moment. If the simulated slope at the previous moment is not the simulated slope at the initial moment, the simulated slope at the previous moment is the slope information at the previous moment determined by the simulation model.

9. The gear control method according to claim 8 further includes: Acquire time information, longitude and latitude information of the mechanical equipment, travel speed of the mechanical equipment, altitude of the environment in which the mechanical equipment is located, and travel distance of the mechanical equipment; The simulation model is constructed based on the time information, the longitude and latitude information of the mechanical equipment, the travel speed of the mechanical equipment, the altitude of the environment in which the mechanical equipment is located, and the travel distance of the mechanical equipment.

10. The gear control method according to any one of claims 1 to 3, wherein, Based on the slope information, the operating condition information of the mechanical equipment is determined as follows: When the slope information is greater than zero, the operating condition information of the mechanical equipment is uphill operating condition; When the slope information is less than zero, the operating condition information of the mechanical equipment is downhill.

11. The gear control method according to any one of claims 1 to 3, further comprising: Determine whether the mechanical equipment is in a sliding condition; When the mechanical equipment is in the coasting condition, the gear information corresponding to the speed range including the real-time speed of the mechanical equipment is determined according to the speed range of each gear of the mechanical equipment. The highest gear is determined from the gear information; Adjust the gear of the mechanical equipment to the highest gear.

12. A gear control device, comprising: The first determining unit is configured to determine the slope information of the environment in which the mechanical equipment is located at the current moment based on the simulated slope of the mechanical equipment at the previous moment and the collected slope at the current moment, including: determining the magnitude relationship between the simulated acceleration of the mechanical equipment at the previous moment and the collected acceleration at the current moment based on the simulated slope of the previous moment and the collected slope at the current moment; if the simulated acceleration is greater than the collected acceleration, adding a slope correction coefficient to the simulated slope and determining the simulated slope after adding the slope correction coefficient as the slope information at the current moment; if the simulated acceleration is less than the collected acceleration, reducing the slope correction coefficient to the simulated slope and determining the simulated slope after reducing the slope correction coefficient as the slope information at the current moment; if the simulated acceleration is equal to the collected acceleration, determining the simulated slope as the slope information at the current moment. The second determining unit is configured to determine the operating condition information of the mechanical equipment based on the slope information; The third determining unit is configured to determine the first power factor of the mechanical equipment based on the slope information when the working condition information is an uphill working condition. The fourth determining unit is configured to determine the maximum gradeability of the mechanical equipment based on the first power factor; The control unit is configured to downshift the mechanical equipment when the maximum gradient is less than the collection gradient, until the maximum gradient is greater than or equal to the collection gradient.

13. A gear control device, comprising: Memory; and A processor coupled to the memory, the processor being configured to execute the gear control method of any one of claims 1 to 11 based on instructions stored in the memory.

14. A gear control system, comprising: The gear control device as described in claim 12 or 13; A sensor is configured to acquire the slope.

15. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the gear control method according to any one of claims 1 to 11.

16. A computer program product comprising a computer program that, when executed by a processor, implements the gear control method according to any one of claims 1 to 11.

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