Gear shifting control method, device and equipment and computer readable storage medium
By determining the target torque in the electric heavy-duty truck based on the actual torque of the motor, the torque requested by the vehicle control unit, and the transmission mode, the problems of unstable motor torque and uneven shifting are solved, resulting in a faster torque clearing process and a more stable driving experience.
Patent Information
- Application Number
- CN202511923051.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-18
- Publication Date
- 2026-01-16
AI Technical Summary
During the shifting process of electric heavy trucks, the stability of motor torque and the smoothness of shifting are affected, especially when there is a large difference between the torque requested by the vehicle control unit and the actual torque of the motor, resulting in motor torque jumps and extended torque clearing time.
Based on the actual torque of the motor, the torque requested by the vehicle control unit, and the operating mode of the transmission, the target torque is determined. By comparing and selecting appropriate torque values, the torque clearing operation is performed to ensure that the torque with the smallest absolute value is selected as the target torque in manual mode. The torque clearing process is optimized by setting the correspondence between the preset torque range and the torque clearing slope.
This effectively avoids motor torque jumps caused by excessive torque requests from the vehicle control unit, improves shift smoothness and torque clearing speed, shortens shift time, and ensures motor torque stability and driving smoothness.
Smart Images
Figure CN121345992A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle control technology, and in particular to a shift control method, device, equipment and storage medium. Background Technology
[0002] Electric heavy-duty trucks undergo several processes during gear shifting, including torque clearing, returning to neutral, motor speed adjustment, gear engagement, and torque recovery. During the torque clearing process, the TCU (Transmission Control Unit) may overstep its authority, gradually reducing the torque requested by the VCU (Vehicle Control Unit) from its current value to zero. Normally, torque clearing works when the VCU requested torque is low or close to the actual motor torque. However, when the difference is significant, it can cause abrupt changes in the actual motor torque and prolong the clearing time, severely impacting driving smoothness and power. Therefore, ensuring the stability of motor torque and the smoothness of gear shifting during torque clearing has become a pressing technical problem for those skilled in the art. Summary of the Invention
[0003] The purpose of this application is to provide a shift control method, device, equipment, and storage medium that can ensure the stability of motor torque and the smoothness of shifting during the torque clearing process.
[0004] To solve the above-mentioned technical problems, this application provides a shift control method, including:
[0005] Obtain the actual torque of the motor, the requested torque of the vehicle control unit, and the operating mode of the transmission;
[0006] If the transmission is in automatic mode, then the requested torque from the vehicle control unit is selected as the target torque.
[0007] If the gearbox is in manual mode, then the absolute value of the actual torque of the motor is compared with the absolute value of the torque requested by the vehicle control unit.
[0008] If the absolute value of the actual torque of the motor is greater than the absolute value of the requested torque of the vehicle control unit, then the requested torque of the vehicle control unit is selected as the target torque.
[0009] If the absolute value of the actual torque of the motor is less than the absolute value of the requested torque of the vehicle control unit, then the actual torque of the motor is selected as the target torque.
[0010] Perform a torque clearing operation based on the target torque.
[0011] In some embodiments, performing a torque clearing operation based on the target torque includes:
[0012] Determine the clear torque slope based on the target torque;
[0013] Perform the clearing and twisting operation according to the clearing and twisting slope.
[0014] In some embodiments, determining the clearing torque slope based on the target torque includes:
[0015] Calculate the difference between the target torque and zero torque;
[0016] The clearing and twisting slope is determined based on the difference.
[0017] In some embodiments, the clear torque slope is positively correlated with the difference between the target torque and zero torque.
[0018] In some embodiments, determining the clearing slope based on the difference includes:
[0019] Determine the preset torque range in which the difference lies;
[0020] The clearing torque slope is determined based on the preset torque range and the correspondence between the preset torque range and the clearing torque slope.
[0021] In some embodiments, it also includes:
[0022] Set the preset torque range and the correspondence between the preset torque range and the torque slope.
[0023] In some embodiments, it also includes:
[0024] After the torque clearing operation is completed, perform the disengagement, speed adjustment, and gear shifting operations in sequence.
[0025] To address the aforementioned technical problems, this application also provides a gear shift control device, comprising:
[0026] The acquisition module is used to acquire the actual torque of the motor, the requested torque of the vehicle control unit, and the operating mode of the transmission.
[0027] The first selection module is used to select the requested torque of the vehicle control unit as the target torque if the operating mode of the transmission is automatic mode.
[0028] The comparison module is used to compare the absolute value of the actual torque of the motor with the absolute value of the requested torque of the vehicle control unit if the operating mode of the transmission is manual mode.
[0029] The second selection module is used to select the requested torque of the vehicle control unit as the target torque if the absolute value of the actual torque of the motor is greater than the absolute value of the requested torque of the vehicle control unit.
[0030] The third selection module is used to select the actual torque of the motor as the target torque if the absolute value of the actual torque of the motor is less than the absolute value of the requested torque of the vehicle control unit.
[0031] The torque clearing module is used to perform torque clearing operations according to the target torque.
[0032] To address the aforementioned technical problems, this application also provides an electronic device, comprising:
[0033] Memory, used to store computer programs;
[0034] A processor is configured to implement the shift control method described above when executing the computer program.
[0035] To address the aforementioned technical problems, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the shift control method described above.
[0036] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the shift control method described above.
[0037] The shift control method provided in this application includes: acquiring the actual torque of the motor, the requested torque of the vehicle control unit, and the operating mode of the transmission; if the operating mode of the transmission is automatic mode, then selecting the requested torque of the vehicle control unit as the target torque; if the operating mode of the transmission is manual mode, then comparing the absolute value of the actual torque of the motor with the absolute value of the requested torque of the vehicle control unit; if the absolute value of the actual torque of the motor is greater than the absolute value of the requested torque of the vehicle control unit, then selecting the requested torque of the vehicle control unit as the target torque; if the absolute value of the actual torque of the motor is less than the absolute value of the requested torque of the vehicle control unit, then selecting the actual torque of the motor as the target torque; and performing a torque clearing operation based on the target torque.
[0038] As can be seen, unlike the traditional method of clearing torque solely based on the requested torque of the vehicle control unit (VCU), the shift control method provided in this application determines the target torque based on the actual motor torque, the requested torque of the vehicle control unit, and the operating mode of the transmission. If the transmission is in automatic mode, the requested torque of the vehicle control unit is directly selected as the target torque. If the transmission is in manual mode, the absolute value of the actual motor torque is compared with the absolute value of the requested torque of the vehicle control unit. If the absolute value of the actual motor torque is greater than the absolute value of the requested torque of the vehicle control unit, the requested torque of the vehicle control unit is selected as the target torque. If the absolute value of the actual motor torque is less than the absolute value of the requested torque of the vehicle control unit, the actual motor torque is selected as the target torque. This avoids motor torque jumps caused by excessively high VCU requested torque, which would affect driving smoothness, and speeds up the shift clearing process, improving shift time. It also ensures the stability of motor torque and shift smoothness during the clearing process.
[0039] The shift control device, equipment, and computer-readable storage medium provided in this application all have the aforementioned technical effects. Attached Figure Description
[0040] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0041] Figure 1 A schematic flowchart illustrating a shift control method provided in an embodiment of this application;
[0042] Figure 2 This is a schematic diagram of a gear shifting process provided in an embodiment of this application;
[0043] Figure 3 This is a schematic diagram of a shift control device provided in an embodiment of this application;
[0044] Figure 4 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation
[0045] The core of this application is to provide a shift control method, device, equipment, and storage medium that can ensure the stability of motor torque and the smoothness of shifting during the torque clearing process.
[0046] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0047] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a shift control method provided in an embodiment of this application. (Refer to...) Figure 1 As shown, the method includes:
[0048] S101: Obtain the actual torque of the motor, the requested torque of the vehicle control unit, and the operating mode of the transmission;
[0049] S102: If the operating mode of the transmission is automatic mode, then the requested torque of the vehicle control unit is selected as the target torque;
[0050] S103: If the working mode of the gearbox is manual mode, then compare the absolute value of the actual torque of the motor with the absolute value of the requested torque of the vehicle control unit.
[0051] S104: If the absolute value of the actual torque of the motor is greater than the absolute value of the requested torque of the vehicle control unit, then the requested torque of the vehicle control unit is selected as the target torque.
[0052] S105: If the absolute value of the actual torque of the motor is less than the absolute value of the requested torque of the vehicle control unit, then the actual torque of the motor is selected as the target torque.
[0053] S106: Perform torque clearing operation according to the target torque.
[0054] The transmission operates in two modes: M (manual) and D (automatic). The automatic transmission control unit (ATU) determines the target torque for gear shifts based on the actual torque of the electric motor, the requested torque from the vehicle control unit (VCU), and the transmission's operating mode. This target torque is used as the initial value for torque clearing.
[0055] If the transmission operates in automatic mode, the target torque is directly selected from the vehicle control unit's requested torque (VCU torque). If the transmission operates in manual mode, the minimum absolute value between the VCU requested torque (close to zero torque) and the actual motor torque is selected as the initial value for the next stage of torque clearing preparation. If the transmission operates in manual mode, the absolute value of the actual motor torque is compared with the absolute value of the vehicle control unit's requested torque, and the torque with the smallest absolute value is selected as the target torque. That is, if the absolute value of the actual motor torque is greater than the absolute value of the vehicle control unit's requested torque, the vehicle control unit's requested torque is selected as the target torque; if the absolute value of the actual motor torque is less than the absolute value of the vehicle control unit's requested torque, the actual motor torque is selected as the target torque. If the absolute value of the actual motor torque is equal to the absolute value of the vehicle control unit's requested torque, either the actual motor torque or the vehicle control unit's requested torque is selected.
[0056] For example, if the transmission is in manual mode, the absolute value of the actual torque of the motor is 4.2, and the absolute value of the torque requested by the vehicle control unit is 3.5, then the torque requested by the vehicle control unit is selected as the target torque.
[0057] The transmission is in manual mode. The absolute value of the actual torque of the motor is 3.2, and the absolute value of the torque requested by the vehicle control unit is 4.0. Therefore, the actual torque of the motor is selected as the target torque.
[0058] The automatic transmission control unit outputs the target torque to the MCU (Motor Control Unit). The MCU then adjusts the torque accordingly.
[0059] In some embodiments, performing a torque clearing operation based on the target torque includes:
[0060] Determine the clear torque slope based on the target torque;
[0061] Perform the clearing and twisting operation according to the clearing and twisting slope.
[0062] The MCU determines the torque clearing slope based on the target torque and performs torque clearing operation accordingly. The torque clearing slope refers to the rate of change of torque per unit time (or unit speed) as the torque drops from its initial value to zero (or minimum value). Torque clearing means reducing the motor's output torque to zero.
[0063] In some embodiments, determining the clearing torque slope based on the target torque includes:
[0064] Calculate the difference between the target torque and zero torque;
[0065] The clearing and twisting slope is determined based on the difference.
[0066] In some embodiments, the clear torque slope is positively correlated with the difference between the target torque and zero torque.
[0067] The greater the difference between the target torque and zero torque, the greater the torque ramp. The smaller the difference between the target torque and zero torque, the smaller the torque ramp.
[0068] In some embodiments, determining the clearing slope based on the difference includes:
[0069] Determine the preset torque range in which the difference lies;
[0070] The clearing torque slope is determined based on the preset torque range and the correspondence between the preset torque range and the clearing torque slope.
[0071] Several torque ranges are pre-defined, and a correspondence between each pre-defined torque range and the clearing torque slope is established. Based on the calculation of the difference between the target torque and zero torque, the pre-defined torque range in which the difference lies is first determined. Then, according to the pre-defined torque range in which the difference lies and the correspondence between the pre-defined torque range and the clearing torque slope, the corresponding clearing torque slope is determined.
[0072] For example, the preset torque range includes:
[0073] Preset torque range 1: [0.0, 0.4).
[0074] Preset torque range 2: [0.4, 1.2).
[0075] Preset torque range 3: [1.2, 2.5).
[0076] Preset torque range 4: [2.5, 4.0).
[0077] Preset torque range 5: [2.5, positive infinity].
[0078] The torque clearing slack rate corresponding to preset torque range 1 is 30 mA / (° / s); the torque clearing slack rate corresponding to preset torque range 2 is 70 mA / (° / s); the torque clearing slack rate corresponding to preset torque range 3 is 120 mA / (° / s); the torque clearing slack rate corresponding to preset torque range 4 is 150 mA / (° / s); and the torque clearing slack rate corresponding to preset torque range 5 is 180 mA / (° / s).
[0079] The difference between the target torque and the zero torque is 0.9, which is within the preset torque range 2. Therefore, the torque ramp rate is determined to be 70 mA / (° / s).
[0080] In some embodiments, it also includes:
[0081] Set the preset torque range and the correspondence between the preset torque range and the torque slope.
[0082] The preset torque range and the correspondence between the preset torque range and the clear torque slope can be set based on experience, or a trained machine learning model can be used to set the preset torque range and the correspondence between the preset torque range and the clear torque slope.
[0083] In some embodiments, it also includes:
[0084] After the torque clearing operation is completed, perform the disengagement, speed adjustment, and gear shifting operations in sequence.
[0085] refer to Figure 2 As shown, after completing the gear shifting operation, first perform the gear disengagement operation. Gear disengagement means removing the gear from the current gear and returning to neutral. Then perform the speed adjustment and gear shifting operation. Gear shifting means moving from neutral (or the current gear) to a specific gear.
[0086] The shifting process of an electric heavy-duty truck involves several steps: clearing torque, returning to neutral, adjusting motor speed, shifting gear, and completing the shift. Using the method provided in the embodiments of this application, driving smoothness can be ensured, the shifting and torque clearing process can be accelerated, and shifting time can be reduced.
[0087] In summary, the shift control method provided in this application determines the target torque based on the actual torque of the motor, the requested torque from the vehicle control unit (VCU), and the operating mode of the transmission. If the transmission is in automatic mode, the requested torque from the VCU is directly selected as the target torque. If the transmission is in manual mode, the absolute value of the actual motor torque is compared with the absolute value of the requested torque from the VCU. If the absolute value of the actual motor torque is greater than the absolute value of the requested torque from the VCU, the requested torque from the VCU is selected as the target torque. If the absolute value of the actual motor torque is less than the absolute value of the requested torque from the VCU, the actual motor torque is selected as the target torque. This avoids motor torque jumps caused by excessively high VCU requested torque, which could affect driving smoothness. It also speeds up the shift clearing process and improves shift time. This ensures the stability of the motor torque and the smoothness of the shift during the clearing process.
[0088] This application also provides a shift control device, which is described below and can be referred to in conjunction with the method described above. Please refer to... Figure 3 , Figure 3 This is a schematic diagram of a shift control device provided in an embodiment of this application, combined with... Figure 3 As shown, the device includes:
[0089] The acquisition module 10 is used to acquire the actual torque of the motor, the requested torque of the vehicle control unit, and the operating mode of the transmission.
[0090] The first selection module 20 is used to select the requested torque of the vehicle control unit as the target torque if the working mode of the transmission is automatic mode.
[0091] The comparison module 30 is used to compare the absolute value of the actual torque of the motor with the absolute value of the requested torque of the vehicle control unit if the working mode of the transmission is manual mode.
[0092] The second selection module 40 is used to select the requested torque of the vehicle control unit as the target torque if the absolute value of the actual torque of the motor is greater than the absolute value of the requested torque of the vehicle control unit.
[0093] The third selection module 50 is used to select the actual torque of the motor as the target torque if the absolute value of the actual torque of the motor is less than the absolute value of the requested torque of the vehicle control unit.
[0094] Torque clearing module 60 is used to perform torque clearing operation according to the target torque.
[0095] Based on the above embodiments, as a specific implementation method, the clearing module 60 includes:
[0096] A clear torque slope determination unit is used to determine the clear torque slope based on the target torque;
[0097] The clearing and twisting unit is used to perform clearing and twisting operations according to the clearing and twisting slope.
[0098] Based on the above embodiments, as a specific implementation method, the clearing slope determination unit includes:
[0099] The difference calculation subunit is used to calculate the difference between the target torque and zero torque;
[0100] The slope determination subunit is used to determine the clearing slope based on the difference.
[0101] Based on the above embodiments, as a specific implementation method, the clear torque slope is positively correlated with the difference between the target torque and zero torque.
[0102] Based on the above embodiments, as a specific implementation method, the slope determination subunit includes:
[0103] The interval determination subunit is used to determine the preset torque interval in which the difference lies;
[0104] The slope determination subunit is used to determine the clearing torque slope based on the preset torque range and the correspondence between the preset torque range and the clearing torque slope.
[0105] Based on the above embodiments, as a specific implementation method, it further includes:
[0106] The setting module is used to set the preset torque range and the correspondence between the preset torque range and the torque slope.
[0107] Based on the above embodiments, as a specific implementation method, it further includes:
[0108] The shift, speed adjustment, and shift module is used to sequentially perform shift, speed adjustment, and shift operations after the torque clearing operation is completed.
[0109] The shift control device provided in this application determines the target torque based on the actual torque of the motor, the requested torque from the vehicle control unit (VCU), and the operating mode of the transmission. If the transmission is in automatic mode, the requested torque from the VCU is directly selected as the target torque. If the transmission is in manual mode, the absolute value of the actual motor torque is compared with the absolute value of the requested torque from the VCU. If the absolute value of the actual motor torque is greater than the absolute value of the requested torque from the VCU, the requested torque from the VCU is selected as the target torque. If the absolute value of the actual motor torque is less than the absolute value of the requested torque from the VCU, the actual motor torque is selected as the target torque. This avoids motor torque jumps caused by excessive VCU requested torque, which could affect driving smoothness. It also speeds up the shift clearing process and improves shift time. This ensures the stability of the motor torque and the smoothness of the shift during the clearing process.
[0110] This application also provides an electronic device, referenced... Figure 4 As shown, the device includes a memory 1 and a processor 2.
[0111] Memory 1 is used to store computer programs;
[0112] Processor 2 is used to execute computer programs to perform the following steps:
[0113] The system acquires the actual torque of the motor, the requested torque from the vehicle control unit, and the operating mode of the transmission. If the transmission is in automatic mode, the requested torque from the vehicle control unit is selected as the target torque. If the transmission is in manual mode, the absolute value of the actual motor torque is compared with the absolute value of the requested torque from the vehicle control unit. If the absolute value of the actual motor torque is greater than the absolute value of the requested torque from the vehicle control unit, the requested torque from the vehicle control unit is selected as the target torque. If the absolute value of the actual motor torque is less than the absolute value of the requested torque from the vehicle control unit, the actual motor torque is selected as the target torque. A torque clearing operation is then performed based on the target torque.
[0114] For a description of the equipment provided in this application, please refer to the above method embodiments; further details will not be provided here.
[0115] Embodiments of this application also provide a computer program product, which includes a computer program that, when executed by a processor, performs the following steps:
[0116] The system acquires the actual torque of the motor, the requested torque from the vehicle control unit, and the operating mode of the transmission. If the transmission is in automatic mode, the requested torque from the vehicle control unit is selected as the target torque. If the transmission is in manual mode, the absolute value of the actual motor torque is compared with the absolute value of the requested torque from the vehicle control unit. If the absolute value of the actual motor torque is greater than the absolute value of the requested torque from the vehicle control unit, the requested torque from the vehicle control unit is selected as the target torque. If the absolute value of the actual motor torque is less than the absolute value of the requested torque from the vehicle control unit, the actual motor torque is selected as the target torque. A torque clearing operation is then performed based on the target torque.
[0117] Embodiments of this application also provide another computer program product, including a non-volatile computer-readable storage medium storing a computer program, which, when executed by a processor, performs the following steps:
[0118] The system acquires the actual torque of the motor, the requested torque from the vehicle control unit, and the operating mode of the transmission. If the transmission is in automatic mode, the requested torque from the vehicle control unit is selected as the target torque. If the transmission is in manual mode, the absolute value of the actual motor torque is compared with the absolute value of the requested torque from the vehicle control unit. If the absolute value of the actual motor torque is greater than the absolute value of the requested torque from the vehicle control unit, the requested torque from the vehicle control unit is selected as the target torque. If the absolute value of the actual motor torque is less than the absolute value of the requested torque from the vehicle control unit, the actual motor torque is selected as the target torque. A torque clearing operation is then performed based on the target torque.
[0119] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the following steps:
[0120] The system acquires the actual torque of the motor, the requested torque from the vehicle control unit, and the operating mode of the transmission. If the transmission is in automatic mode, the requested torque from the vehicle control unit is selected as the target torque. If the transmission is in manual mode, the absolute value of the actual motor torque is compared with the absolute value of the requested torque from the vehicle control unit. If the absolute value of the actual motor torque is greater than the absolute value of the requested torque from the vehicle control unit, the requested torque from the vehicle control unit is selected as the target torque. If the absolute value of the actual motor torque is less than the absolute value of the requested torque from the vehicle control unit, the actual motor torque is selected as the target torque. A torque clearing operation is then performed based on the target torque.
[0121] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0122] For a description of the computer-readable storage medium provided in this application, please refer to the above method embodiments; further details will not be repeated here.
[0123] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatuses, devices, and computer-readable storage media disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant details can be found in the method section.
[0124] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0125] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.
[0126] The shift control method, apparatus, device, and computer-readable storage medium provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and its core ideas. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of this application.
Claims
1. A shift control method characterized by, The method comprises: acquiring an actual torque of a motor, a requested torque of a vehicle control unit, and an operating mode of a gearbox; if the operating mode of the gearbox is an automatic mode, selecting the requested torque of the vehicle control unit as a target torque; if the operating mode of the gearbox is a manual mode, comparing an absolute value of the actual torque of the motor with an absolute value of the requested torque of the vehicle control unit; if the absolute value of the actual torque of the motor is greater than the absolute value of the requested torque of the vehicle control unit, selecting the requested torque of the vehicle control unit as the target torque; if the absolute value of the actual torque of the motor is less than the absolute value of the requested torque of the vehicle control unit, selecting the actual torque of the motor as the target torque; performing a torque clearing operation according to the target torque.
2. The gear control method according to claim 1, characterized by, The torque clearing operation according to the target torque comprises: determining a torque clearing slope according to the target torque; performing the torque clearing operation according to the torque clearing slope.
3. The shift control method according to claim 2, characterized by, The determination of the torque clearing slope according to the target torque comprises: calculating a difference between the target torque and a zero torque; determining the torque clearing slope according to the difference.
4. The shift control method according to claim 3, characterized by, The torque clearing slope is positively correlated with the difference between the target torque and the zero torque.
5. The shift control method according to claim 3, characterized by, The determination of the torque clearing slope according to the difference comprises: determining a preset torque interval in which the difference is located; determining the torque clearing slope according to the preset torque interval and a correspondence between preset torque intervals and torque clearing slopes.
6. The shift control method according to claim 5, characterized by, The method further comprises: setting the preset torque interval and the correspondence between preset torque intervals and torque clearing slopes.
7. The shift control method according to claim 1, characterized by, The method further comprises: after the torque clearing operation is completed, sequentially performing a gear selecting operation, a speed adjusting operation, and a gear engaging operation.
8. A shift control device characterized by comprising: The method comprises: an acquiring module, configured to acquire an actual torque of a motor, a requested torque of a vehicle control unit, and an operating mode of a gearbox; a first selecting module, configured to, if the operating mode of the gearbox is an automatic mode, select the requested torque of the vehicle control unit as a target torque; a comparing module, configured to, if the operating mode of the gearbox is a manual mode, compare an absolute value of the actual torque of the motor with an absolute value of the requested torque of the vehicle control unit; a second selecting module, configured to, if the absolute value of the actual torque of the motor is greater than the absolute value of the requested torque of the vehicle control unit, select the requested torque of the vehicle control unit as the target torque; a third selecting module, configured to, if the absolute value of the actual torque of the motor is less than the absolute value of the requested torque of the vehicle control unit, select the actual torque of the motor as the target torque; a torque clearing module, configured to perform a torque clearing operation according to the target torque.
9. An electronic device, comprising: The method comprises: a memory, configured to store a computer program; a processor, configured to, when the computer program is executed, implement steps of the gear shifting control method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that, The computer program is stored on the computer readable storage medium and is executed by the processor to implement steps of the gear shifting control method according to any one of claims 1 to 7.