Gear shifting speed regulation target control method and related equipment

Abstract

The invention provides a gear shifting speed regulation target control method and related equipment, and belongs to the technical field of vehicle control. The control method comprises the steps that after gear shifting is triggered, if a mode conversion condition is met, a rotating speed replacement mode is entered, the mode conversion condition is used for judging whether the vehicle is at low speed and the rotating speed sensor signal cannot accurately reflect the real rotating speed; dividing the reference bridge motor rotating speed by the gear speed ratio to calculate the reference bridge output shaft rotating speed, and multiplying the reference bridge output shaft rotating speed by the target gear speed ratio of the gear shifting bridge to obtain the target motor rotating speed of the gear shifting bridge; according to the rotation direction of the motor, direction correction is conducted on the target motor rotation speed of the gear shifting bridge to obtain a replacement target rotation speed; and carrying out rationality verification on the calculated alternative target rotating speed, and if the verification is passed, using the alternative target rotating speed. The gear shifting stability and reliability of the multi-electric-drive-axle multi-gear electric drive system under all working conditions can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a gear shifting speed regulation target control method and related equipment. BACKGROUND

[0002] With the continuous development of new energy commercial vehicle technology, electric drive axle as a kind of efficient and integrated driving scheme has been widely used in various electric commercial vehicles. In order to meet the power and economy requirements of vehicles under different working conditions, multi-gear electric drive axle gradually becomes the mainstream configuration. Among them, double electric drive axle or multi electric drive axle system can significantly improve the climbing ability, acceleration performance and energy utilization efficiency of the whole vehicle by arranging multiple electric drive units at the middle axle, rear axle and other positions, and combining with multi-gear reduction mechanism.

[0003] In the multi-gear electric drive axle system, automatic gear shifting control is the key link to realize smooth power output. A typical gear shifting process usually includes five stages of unloading, shifting, speed regulation, engaging and re-torque. The core target of the "speed regulation" stage is to adjust the speed of the driving motor to make the engaging teeth and engaging sleeve of the gear to be engaged reach the synchronous speed (usually the speed difference is within 0-5 rpm), so as to realize the non-impact engagement, avoid the gear tooth and jerk, and ensure the good gear shifting quality (NVH performance).

[0004] At present, the target speed in the speed regulation stage is usually calculated based on the speed sensor signal installed on the output shaft of the gearbox. The sensor outputs a square wave signal by detecting the passing frequency of the signal disc teeth, and the controller calculates the output shaft speed according to the signal, and combines the speed ratio of the current or target gear to back-calculate the target speed on the motor side. However, when the vehicle is in the working condition of very low vehicle speed (such as several to tens of rpm), the output shaft rotates slowly, resulting in very low signal frequency output by the speed sensor, long sampling period, and obvious delay, low update frequency, large fluctuation and even distortion of the calculated speed value. Under this condition, the speed regulation target value calculated based on the signal deviates seriously from the true demand, which easily leads to gear engaging failure, gear tooth abnormal noise or gear shifting impact, and seriously affects the driving comfort and system reliability. SUMMARY

[0005] The present application aims to solve at least one of the technical problems existing in the prior art, and proposes a gear shifting speed regulation target control method and related equipment to solve the problem of gear shifting quality decline caused by insufficient signal accuracy under low speed working condition. Especially for vehicles equipped with double electric drive axle or multi electric drive axle, if one of the axles fails to shift at low speed, it will directly affect the power response and safety of the whole vehicle. The present application can accurately obtain the speed regulation target speed under low vehicle speed condition, and improve the gear shifting smoothness and reliability of the multi electric drive axle multi-gear electric drive system under all working conditions.

[0006] In a first aspect, an embodiment of the present application provides a shift speed regulation target control method, comprising: after triggering a shift, if a mode conversion condition is met, entering a speed replacement mode, the mode conversion condition being used to determine whether a current is at a low vehicle speed and a speed sensor signal cannot accurately reflect a real speed; calculating a reference bridge output shaft speed by dividing a reference bridge motor speed by a gear speed ratio, and then multiplying the target gear speed ratio of the shift bridge to obtain a target motor speed of the shift bridge; correcting the target motor speed of the shift bridge in a direction according to a motor rotation direction to obtain a replacement target speed; and performing rationality verification on the calculated replacement target speed, and if the verification is passed, using the replacement target speed.

[0007] In a second aspect, an embodiment of the present application provides a shift speed regulation target control device, comprising a mode conversion module, a speed calculation module, a direction correction module and a verification module.

[0008] The mode conversion module is used to, after triggering a shift, if a mode conversion condition is met, enter a speed replacement mode, the mode conversion condition being used to determine whether a current is at a low vehicle speed and a speed sensor signal cannot accurately reflect a real speed.

[0009] The speed calculation module is used to calculate a reference bridge output shaft speed by dividing a reference bridge motor speed by a gear speed ratio, and then multiplying the target gear speed ratio of the shift bridge to obtain a target motor speed of the shift bridge.

[0010] The direction correction module is used to correct the target motor speed of the shift bridge in a direction according to a motor rotation direction to obtain a replacement target speed.

[0011] The verification module is used to perform rationality verification on the calculated replacement target speed, and if the verification is passed, use the replacement target speed.

[0012] In a third aspect, an electronic device is provided, comprising: a memory for storing instructions; and a processor for calling the instructions stored in the memory to implement the shift speed regulation target control method of the first aspect.

[0013] In a fourth aspect, an embodiment of the present application provides a vehicle comprising the shift speed regulation target control device of the second aspect or the electronic device of the third aspect.

[0014] In a fifth aspect, a computer readable storage medium is provided, and the computer readable storage medium stores computer instructions, and the computer instructions are executed by a processor to implement the shift speed regulation target control method of the first aspect.

[0015] In a sixth aspect, a computer program product is provided, and the computer program product stores instructions, and the instructions are executed by a computer to implement the shift speed regulation target control method of the first aspect.

[0016] In a seventh aspect, a chip is provided, comprising at least one processor and an interface; the interface is configured to provide program instructions or data for the at least one processor; the at least one processor is configured to execute the program instructions to implement the shift speed target control method of the first aspect.

[0017] The shift speed target control method and related device provided by the application, when the system determines that the vehicle is at low speed and the sensor signal is unreliable, uses the characteristic that the output shafts of the double electric drive bridges have the same speed, uses the reference bridge motor speed after the shift is completed and the vehicle is running stably as a reference, reverses the actual gear ratio to deduce the real output shaft speed, and calculates the target motor speed of the shift bridge according to the real output shaft speed, so that the high-precision estimation of the speed target is realized. Meanwhile, the direction correction is performed by introducing the motor rotation direction coefficient, so that the phase correctness of the target speed is ensured, and the synchronization failure caused by the difference in rotation direction is avoided. Overall, the scheme significantly improves the calculation accuracy of the target speed in the shift speed stage at low vehicle speed, reduces the speed synchronization difficulty in the gear engagement process, effectively suppresses the gear tooth abnormal noise and shift impact, greatly improves the shift smoothness and NVH performance of the multi-electric drive bridge commercial vehicle in the low speed region, and has good practicability and popularization value. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A double electric drive bridge vehicle schematic diagram provided by the embodiment of the application;

[0019] Figure 2 A double electric drive bridge structure schematic diagram provided by the embodiment of the application;

[0020] Figure 3 A shift speed target control method flowchart provided by the embodiment of the application;

[0021] Figure 4 A shift speed target control method flowchart provided by another embodiment of the application;

[0022] Figure 5 A control device structure block diagram provided by the embodiment of the application;

[0023] Figure 6 A structure block diagram of an electronic device provided by the embodiment of the application. DETAILED DESCRIPTION

[0024] For a better understanding of the technical solutions of the present application, the exemplary embodiments of the present application are described below in conjunction with the drawings, which include various details of the embodiments of the present application to help understanding, and should be considered as merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Also, for the sake of clarity and conciseness, the description below omits the description of well-known functions and structures.

[0025] In the case of no conflict, each embodiment of the present application and each feature in the embodiments can be combined with each other.

[0026] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0027] The terms used herein are only used to describe specific embodiments, and are not intended to limit the present application. As used herein, the singular forms "a" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the terms "comprise" and / or "consist of", when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. The terms "connected" or "coupled" and / or similar terms are not limited to a physical or mechanical connection, but can include an electrical connection, whether direct or indirect.

[0028] Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present application, and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0029] In the technical solutions of the present application, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in the technical solutions comply with relevant laws and regulations and do not violate public order and good customs. The use of user data in the technical solutions complies with relevant national laws and regulations (for example, "Information Security Technology Personal Information Security Specification" and the like). For example, appropriate measures are taken for personal information access control; restrictions are given for the display of personal information; the use purpose of personal information does not exceed the direct or reasonably related range; the identity of the personal information is eliminated when it is used, avoiding precise positioning to a specific individual.

[0030] In the commercial vehicle sector, electric drive axles are a common drive unit. Multiple electric drive axles can be installed on a single vehicle to provide sufficient power. An electric drive axle mainly consists of a drive motor and a reduction gear mechanism. The reduction gear mechanism can have a single speed ratio or multiple speed ratios. If multiple speed ratios are used, a shift actuator is required for gear shifting control. This invention uses a dual electric drive axle with two speed ratios as an example for illustration. Figure 1 As shown.

[0031] Two electric drive axles are located on the two axles, namely the middle axle and the rear axle. Each electric axle has two gears, which are shifted in a specific sequence by a shift actuator to achieve different speed ratios. For example... Figure 2 As shown, it includes a drive motor 1, a first-gear drive gear 2, a second-gear drive gear 3, a first-gear driven gear 4, a second-gear driven gear 5, engagement teeth and engagement sleeves 6, a second differential 7, wheels 8, a speed sensor 9, and an output shaft 10.

[0032] The gear shifting process typically involves five steps: disengaging torque, disengaging the gear, adjusting the speed, engaging the gear, and returning torque. For vehicles equipped with two electric drive axles, one electric drive axle is shifted first, and then the other electric drive axle is shifted after the shift is complete.

[0033] During the speed adjustment phase, the rotational speed of the 1st / 2nd gear is obtained by multiplying the speed sensor's reading by the gear ratio. Then, the drive motor speed is adjusted to synchronize the rotational speeds of the engaging teeth and the engaging sleeve. The speed sensor outputs a square wave electrical signal by sensing the teeth of a rotating signal disk on the gearbox output shaft sweep across its probe. The controller calculates the rotational speed based on the frequency of this electrical signal.

[0034] When shifting gears at extremely low vehicle speeds, the output shaft speed is very low, sometimes only a few to a dozen rpm. The low frequency of the teeth on the signal disc sweeping across the speed sensor probe makes speed calculation difficult, resulting in slow or even distorted speed updates that differ from the actual value. Since the required speed difference for engagement of the gears / sleeves is generally within 0-5 rpm, the speed sensor signal accuracy will be insufficient for gear engagement, leading to grinding noises and jerking during subsequent gear shifts.

[0035] In related technologies, gear shifting under any operating condition uses the speed sensor signal to calculate the target speed for the speed adjustment phase. At low vehicle speeds, the speed sensor signal cannot accurately calculate the speed, resulting in inaccurate speed adjustment targets and causing grinding noises and jerking during gear shifting.

[0036] To address the aforementioned technical problems, this invention provides a gear shifting speed regulation target control method. Figure 3 This is a flowchart illustrating a gear shifting speed regulation target control method provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the gear shifting speed regulation target control method includes S301-S304.

[0037] In S301, after triggering the gear shift, if the mode conversion condition is met, the speed replacement mode is entered, and the mode conversion condition is used to determine whether the current is at low vehicle speed and the speed sensor signal cannot accurately reflect the real speed.

[0038] When the vehicle control system detects that the target gear position is inconsistent with the current actual gear position, the gear shifting process is started. Then it is determined whether the condition for entering the "speed replacement mode" is met, and the core is to identify whether the current is in low speed working condition (such as the output shaft speed is lower than 200 rpm), at which time the speed sensor cannot accurately reflect the real speed due to the too low signal frequency. At the same time, it is necessary to ensure that the reference bridge gear shifting has been completed, there is no fault, and there is no slip, etc., to ensure the reliability of subsequent calculation. If all conditions are met, switch to the speed replacement mode to avoid relying on distorted sensor data.

[0039] In some embodiments, the gear shift is triggered when the target gear position is inconsistent with the actual gear position.

[0040] In S302, the reference bridge output shaft speed is calculated by dividing the reference bridge motor speed by the gear ratio, and then multiplied by the target gear ratio of the gear shifting bridge to obtain the target motor speed of the gear shifting bridge.

[0041] By using the physical characteristics that the output shaft speeds of the two electric drive bridges are the same, the reference bridge (not the bridge being shifted) that is running stably is selected, the measured motor speed of the reference bridge is divided by the speed ratio of the current gear to obtain a relatively accurate output shaft speed of the reference bridge. Then, the output shaft speed is multiplied by the target gear ratio of the gear shifting bridge to calculate the target motor speed required by the gear shifting bridge. This method bypasses the unreliable speed sensor at low speed and uses the more accurate motor rotary variable signal for indirect calculation, improving the accuracy of the target value.

[0042] In S303, the target motor speed of the gear shifting bridge is directionally corrected according to the motor rotation direction to obtain the replacement target speed.

[0043] In some embodiments, the target motor speed of the gear shifting bridge is directionally corrected according to the motor rotation direction, including: if the motor rotation directions of the middle bridge and the rear bridge are the same when the vehicle is moving forward, the direction of the target motor speed of the gear shifting bridge is not changed; if the motor rotation directions of the middle bridge and the rear bridge are different when the vehicle is moving forward, the direction of the target motor speed of the gear shifting bridge is adjusted to the opposite direction.

[0044] Since the installation layout of the middle bridge and the rear bridge motors may cause different rotation directions, a direction coefficient (+1 or -1) is introduced to correct the direction of the calculated target motor speed, to ensure that the rotation direction of the gear shifting bridge motor during speed regulation is consistent with the actual driving demand, avoiding synchronization failure or mechanical impact due to phase error.

[0045] In S304, the calculated alternative target rotating speed is checked for rationality, and if the check passes, the alternative target rotating speed is used.

[0046] In some embodiments, the rationality check of the calculated alternative target rotating speed includes: if the rotating speed difference between the target motor rotating speed calculated based on the rotating speed sensor and the alternative target rotating speed is less than or equal to a speed difference threshold, the alternative target rotating speed is used.

[0047] The calculated alternative target rotating speed is compared with the result calculated by the traditional sensor method, and if the difference between the two is within an acceptable range (e.g. ≤ 5 rpm), it is determined that the alternative value is reasonable and is put into use; otherwise, it is rejected for use to prevent abnormal data from causing shift failure. This step enhances the safety and robustness of the system.

[0048] The present application overcomes the problem of inaccurate speed regulation caused by distorted rotating speed sensor signals at low vehicle speed by identifying low-speed operating conditions and enabling the rotating speed replacement mode, indirectly calculating the target rotating speed of the shift bridge by using the reference bridge motor rotating speed. Combined with direction correction and rationality check, the accuracy and reliability of target rotating speed calculation are improved. The overall scheme significantly improves the synchronization efficiency of the low-speed shift process, reduces the gear impact and shift jerk, improves the shift smoothness and NVH performance of the multi-electric drive bridge commercial vehicle, and enhances the control robustness under complex working conditions.

[0049] In some embodiments, the mode conversion condition includes: the output shaft rotating speed is lower than a first threshold, and the vehicle speed is higher than a second threshold; the actual gear position of the electric drive bridge is an effective gear position; the shift state of the reference electric bridge is a completed state; the reference electric bridge has no motor rotating variable related fault; and neither of the two electric drive bridge wheel ends detects slip.

[0050] In some embodiments, after triggering the shift, if the mode conversion condition is not met, the output shaft rotating speed sensor is used to calculate the speed regulation target value.

[0051] The following will be described in detail Figure 4 The shift speed regulation target control method provided by the present application is described in detail.

[0052] The present application is aimed at commercial vehicles equipped with double electric drive bridges. When shifting at low vehicle speed, the calculation method of the speed regulation target of the present application can improve the accuracy of the speed regulation target calculation and improve the quality of NVH during gear engagement.

[0053] Step 1 starts the shift.

[0054] When the target gear position and the actual gear position are inconsistent, the shift is triggered.

[0055] Step 2 enters the rotating speed replacement mode.

[0056] When all the following conditions are met, enter the speed replacement mode. Otherwise, still use the output shaft speed sensor to calculate the target value.

[0057] Condition 1: True when the output shaft speed is lower than the first threshold value; False when the vehicle speed is higher than the second threshold value. For example, the first threshold value is generally 200 rpm, and the second threshold value is generally 250 rpm.

[0058] Condition 2: The actual gear of the electric drive axle is the effective gear, such as 1st gear or 2nd gear.

[0059] Condition 3: The referenced electric axle shift state is complete.

[0060] Condition 4: The referenced electric axle has no motor rotation variable related faults.

[0061] Condition 5: Both electric drive axles have no detected slip.

[0062] Step 3: Calculate the replacement speed.

[0063] For a two-axle vehicle, the torque needs to be transferred from one axle to the other before shifting, and then the torque needs to be transferred back from the other axle after the shift is complete. After both electric drive axles are shifted, the driving torque is distributed between the two electric drive axles. Generally, the axle with lower torque is shifted first to shorten the torque transfer time.

[0064] Based on the same output shaft speed of the two electric drive axles, the reference axle motor speed is divided by the gear ratio to calculate the reference axle output shaft speed, and then multiplied by the target gear ratio of the shifting axle to obtain the target motor speed of the shifting axle.

[0065] The following table lists all the shifting conditions and speed calculation methods for a two-gear electric drive axle.

[0066] Table 1

[0067]

[0068] Front Target: Front axle target motor speed.

[0069] Rear Target: Rear axle target motor speed.

[0070] Front Actual: Front axle actual motor speed.

[0071] Rear Actual: Rear axle actual motor speed.

[0072] : The ratio of the motor speed to the output shaft speed in the 1st gear of the middle axle.

[0073] : The ratio of the motor speed to the output shaft speed in the 1st gear of the rear axle.

[0074] : The ratio of the motor speed to the output shaft speed in the 2nd gear of the middle axle.

[0075] : The ratio of the motor speed to the output shaft speed in the 2nd gear of the rear axle.

[0076] : The direction of the motor speed, which is 1 if the directions of the motor rotation of the middle axle and the rear axle are the same when the vehicle is moving forward, otherwise -1.

[0077] Step 4: Rationality check.

[0078] The calculated alternative target speed is checked for rationality to avoid calculation abnormalities that may cause gear engagement difficulties and gear teeth.

[0079] The checking method is:

[0080]

[0081]

[0082] wherein, is the target motor speed calculated based on the speed sensor, is the output shaft speed sensor speed, is the target gear ratio, is the alternative speed, which is selected according to different gear shifting conditions in Table 1, is the calibratable speed difference threshold value, which is generally 5 rpm.

[0083] When the speed difference between the target motor speed calculated based on the speed sensor and the alternative speed is less than or equal to the threshold value , the calculated alternative speed is used, otherwise it is not used.

[0084] The present application is aimed at commercial vehicles equipped with double electric drive axles. When shifting at low vehicle speed, the calculation method of the speed regulation target of the present application can improve the accuracy of the calculation of the speed regulation target and improve the quality of NVH during gear engagement. The present application is suitable for vehicles equipped with double electric axles and above, and is also suitable for electric drive axles with two gears and above. If the multi-electric drive axle vehicle has one electric drive axle with single gear and another electric drive axle with multiple gears, it is also applicable.

[0085] Based on the same inventive concept, the application also provides a shift speed regulation target control device, as shown in the figure, which comprises a mode conversion module 501, a rotation speed calculation module 502, a direction correction module 503 and a verification module 504. Figure 5

[0086] The mode conversion module 501 is used to trigger the shift, and if the mode conversion condition is met, the rotation speed replacement mode is entered. The mode conversion condition is used to determine whether the current is at a low vehicle speed and the rotation speed sensor signal cannot accurately reflect the real rotation speed.

[0087] The rotation speed calculation module 502 is used to calculate the reference bridge output shaft rotation speed by dividing the reference bridge motor rotation speed by the gear ratio, and then multiplying the target gear ratio of the shift bridge to obtain the target motor rotation speed of the shift bridge.

[0088] The direction correction module 503 is used to correct the direction of the target motor rotation speed of the shift bridge according to the motor rotation direction to obtain the replacement target rotation speed.

[0089] The verification module 504 is used to verify the rationality of the calculated replacement target rotation speed, and if the verification is passed, the replacement target rotation speed is used.

[0090] In some embodiments, the mode conversion condition includes that the output shaft rotation speed is lower than a first threshold value, and the vehicle speed is higher than a second threshold value; the actual gear of the electric drive bridge is an effective gear; the shift state of the referenced electric bridge is a completion state; the referenced electric bridge has no motor rotation variable related fault; and neither of the two electric drive bridge wheel ends detects slip.

[0091] In some embodiments, the mode conversion module 501 is also used to trigger the shift, and if the mode conversion condition is not met, the output shaft rotation speed sensor is used to calculate the speed regulation target value.

[0092] In some embodiments, the direction correction module 503 is used to if the middle bridge and the rear bridge motor rotation directions are the same when the vehicle is moving forward, the direction of the target motor rotation speed of the shift bridge is not changed; if the middle bridge and the rear bridge motor rotation directions are different when the vehicle is moving forward, the direction of the target motor rotation speed of the shift bridge is adjusted to the opposite direction.

[0093] In some embodiments, the verification module 504 is used to if the rotation speed difference between the target motor rotation speed calculated based on the rotation speed sensor and the replacement target rotation speed is less than or equal to a speed difference threshold value, the replacement target rotation speed is used.

[0094] In some embodiments, the shift is triggered when the target gear and the actual gear are inconsistent.

[0095] ​As to the shift speed target control device in the above-mentioned embodiments, the specific manner in which each module performs the operation has been described in detail in the embodiments of the shift speed target control method, and thus will not be described in detail here.

[0096] Based on the same inventive concept, the embodiments of the present application also provide an electronic device. Figure 6 A structural block diagram of an electronic device provided by the embodiments of the present application is shown in FIG. 1. As shown in FIG. 1, the electronic device provided by the embodiments of the present application includes one or more processors 601, a memory 602, and one or more I / O interfaces 603. The memory 602 stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the shift speed target control method of any of the above-mentioned embodiments. The one or more I / O interfaces 603 are connected between the processor and the memory, and are configured to realize the information interaction between the processor and the memory. Figure 6

[0097] The processor 601 is a device with data processing capability, including but not limited to a central processing unit (CPU) and the like. The memory 602 is a device with data storage capability, including but not limited to a random access memory (RAM, more specifically, SDRAM, DDR, etc.), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), and a flash memory (FLASH). The I / O interface (read-write interface) 603 is connected between the processor 601 and the memory 602, and can realize the information interaction between the processor 601 and the memory 602, including but not limited to a data bus (Bus) and the like.

[0098] In some embodiments, the processor 601, the memory 602, and the I / O interface 603 are connected to each other and to other components of the computing device through a bus 604.

[0099] In some embodiments, the one or more processors 601 include a field programmable gate array.

[0100] Based on the same inventive concept, the embodiments of the present application also provide a vehicle, which includes the shift speed target control device introduced in the above-mentioned embodiments, or includes the electronic device introduced in the above-mentioned embodiments, and can realize the functions and effects of the shift speed target control device introduced in the above-mentioned embodiments, or realize the functions and effects of the electronic device introduced in the above-mentioned embodiments, and thus will not be described in detail here.

[0101] ​Based on the same inventive concept, the embodiments of the present application further provide a computer readable medium. The computer readable medium stores a computer program, wherein the program is executed by a processor to implement the steps in the shift speed target control method of any of the above embodiments. The computer readable storage medium can be a volatile or non-volatile computer readable storage medium.

[0102] Based on the same inventive concept, the embodiments of the present application further provide a computer program product, comprising computer readable code, or a non-volatile computer readable storage medium carrying the computer readable code, when the computer readable code is run in a processor of an electronic device, the processor in the electronic device executes the shift speed target control method.

[0103] Based on the same inventive concept, the embodiments of the present application further provide a chip, comprising at least one processor and an interface; the interface is configured to provide program instructions or data for the at least one processor; the at least one processor is configured to execute the program instructions to implement the shift speed target control method described in the above method embodiments.

[0104] In some embodiments, the chip can further comprise a memory, the memory is configured to save program instructions and data, and the memory is located in the processor or outside the processor.

[0105] Those skilled in the art can understand that all or some of the steps in the above disclosed method, the functions of the modules / units in the system and the device can be implemented as software, firmware, hardware or appropriate combination thereof. In the hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be performed by several physical components in cooperation. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on a computer readable storage medium, which can include computer storage media (or non-transitory media) and communication media (or transitory media).

[0106] As those skilled in the art will appreciate, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable program instructions, data structures, program modules or other data. Computer storage media include, but are not limited to, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), static random access memory (SRAM), flash memory or other memory technology, portable compact disc read only memory (CD-ROM), digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Further, as those skilled in the art will appreciate, communication media typically embodies computer readable program instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. The term "modulated data signal" means a signal that has one or more of its characteristics changed or set in a manner so as to encode information in the signal. By way of example, and not limitation, communication media includes wired media such as a wired network or direct-wired connection, and wireless media such as wireless networks, cellular telephone networks, code division multiple access (CDMA) networks, and other terrestrial and satellite radio frequency communication networks. Thus the computer readable program instructions and / or other program modules can be embodied in a computer readable storage medium, which can be any device or article that is enab!ed to store and / or carry computer readable program instructions and / or data structures. The computer readable storage medium can also be distributed over networked computer systems so that the computer readable program instructions and / or other program modules are stored and executed in a distributed fashion.

[0107] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0108] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0109] The computer program product described herein can be embodied in a specific manner by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied in a specific manner as a computer storage medium, and in another optional embodiment, the computer program product is embodied in a specific manner as a software product, such as a software development kit (SDK) or the like.

[0110] The computer program product described herein can be embodied in a specific manner by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied in a specific manner as a computer storage medium, and in another optional embodiment, the computer program product is embodied in a specific manner as a software product, such as a software development kit (SDK) or the like.

[0111] The computer program product described herein can be embodied in a specific manner by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied in a specific manner as a computer storage medium, and in another optional embodiment, the computer program product is embodied in a specific manner as a software product, such as a software development kit (SDK) or the like.

[0112] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include a non-transitory computer readable storage medium that can be a computer- readable storage medium having no data storage cycles that change state. The instructions can be executed by one or more processors of a computer, other programmable data processing apparatus, or other devices to produce a computer-implemented process such that the instructions which execute via the one or more processors of the computer or other programmable data processing devices create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0113] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0114] The flow diagrams and the block diagrams in the drawings are presented to illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to the present application. In this regard, each block in the flow diagrams and the block diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical functions ("instructions"). In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and

[0115] Example embodiments have been disclosed herein and, although specific terms are employed, they are used in a generic and descriptive sense only and not for purposes of limitation. In some instances, it will be apparent to those skilled in the art that features, characteristics or aspects described in relation to one embodiment can be applied to other embodiments, unless otherwise clearly stated. It will also be apparent to one skilled in the art that various modifications, changes, additions and omissions can be made without departing from the scope of the present application as defined by the claims.

Claims

1. A shift speed control target control method characterized by, The method comprises: After triggering the gear shifting, if the mode conversion condition is met, the speed replacement mode is entered, and the mode conversion condition is used to determine whether the current is at a low vehicle speed and the speed sensor signal cannot accurately reflect the real speed; The reference bridge motor speed is divided by the gear ratio to calculate the reference bridge output shaft speed, and then the target gear ratio of the gear shifting bridge is multiplied to obtain the target motor speed of the gear shifting bridge; The target motor speed of the gear shifting bridge is directionally corrected according to the motor rotation direction to obtain a replacement target speed; The calculated replacement target speed is reasonably checked, and if the check is passed, the replacement target speed is used.

2. The method of claim 1, wherein, The mode conversion condition comprises: The output shaft speed is lower than a first threshold value, and the vehicle speed is higher than a second threshold value; The actual gear of the electric drive bridge is an effective gear; The gear shifting state of the reference electric bridge is a completion state; The reference electric bridge has no motor rotation variable related fault; Both electric drive bridges do not detect slip.

3. The method of claim 1 or 2, wherein, The method further comprises: After triggering the gear shifting, if the mode conversion condition is not met, the output shaft speed sensor is used to calculate the speed target value.

4. The method of claim 1, wherein, The target motor speed of the gear shifting bridge is directionally corrected according to the motor rotation direction, which comprises: If the motor rotation directions of the middle bridge and the rear bridge are the same when the vehicle is moving forward, the direction of the target motor speed of the gear shifting bridge is not changed; If the motor rotation directions of the middle bridge and the rear bridge are different when the vehicle is moving forward, the direction of the target motor speed of the gear shifting bridge is adjusted to the opposite direction.

5. The method of claim 1, wherein, The calculated replacement target speed is reasonably checked, which comprises: If the speed difference between the target motor speed calculated based on the speed sensor and the replacement target speed is less than or equal to a speed difference threshold value, the replacement target speed is used.

6. The method of claim 1, wherein, The method further comprises: When the target gear and the actual gear are inconsistent, the gear shifting is triggered.

7. A shift speed control target control device characterized by comprising: The method comprises: A mode conversion module is used to trigger the gear shifting, and if the mode conversion condition is met, the speed replacement mode is entered, and the mode conversion condition is used to determine whether the current is at a low vehicle speed and the speed sensor signal cannot accurately reflect the real speed; A speed calculation module is used to calculate the reference bridge output shaft speed by dividing the reference bridge motor speed by the gear ratio, and then multiply the target gear ratio of the gear shifting bridge to obtain the target motor speed of the gear shifting bridge; A direction correction module is used to directionally correct the target motor speed of the gear shifting bridge according to the motor rotation direction to obtain a replacement target speed; A check module is used to reasonably check the calculated replacement target speed, and if the check is passed, the replacement target speed is used.

8. An electronic device, comprising: The method comprises: One or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the gear shifting speed target control method as claimed in any one of claims 1 to 6.

9. A vehicle characterized by comprising: The gear shifting speed target control device as claimed in claim 7, or the electronic device as claimed in claim 8.

10. A computer program product, characterised in that, The computer program product stores instructions, which when executed by a computer, cause the computer to implement the gear shifting speed target control method as claimed in any one of claims 1 to 6.

Images