Method, apparatus, electronic device and program for controlling shift of vehicle

Abstract

The embodiment of the invention relates to a method and device for controlling gear shifting of a vehicle, electronic equipment and a program. The method comprises the steps of determining that a target gear of a gearbox is changed to a second target gear during a gear shifting period when the gearbox of the vehicle is switched from an initial gear to a first target gear; determining whether an immediate shift to a second target gear is allowed based at least on a shift state of the transmission; and in response to determining that the immediate shift to the second target gear is allowed, immediately performing an operation of shifting to the second target gear. According to the method, frequent gear shifting and prolonging of gear shifting time are avoided, so that the service life of the gearbox is prolonged, and the drivability of the whole vehicle is improved.

Description

Technical Field

[0001] Embodiments of this disclosure relate to automotive technology, and more specifically, to methods, apparatus, electronic devices, vehicles, computer-readable storage media, and computer program products for controlling vehicle gear shifting. Background Technology

[0002] With the transformation of the global energy structure, new energy vehicles (such as electric vehicles) have become an inevitable trend in the development of the automotive industry. Depending on their drive structure, electric vehicles have different shifting methods. Single-axle drive electric vehicles have only one gearbox, employing a multi-speed transmission without a clutch or synchronizer ring. Power is interrupted during gear shifts, which is noticeable to the driver. Dual-axle drive electric vehicles have two drive axles, each with its own drive motor and gearbox. When the gearbox on one drive axle is shifting, the motor on the other drive axle increases torque to compensate for the power loss.

[0003] One problem with electric vehicles on the current market is that if the target gear changes during a gear shift, the current shift process does not end; the current shift action must be completed before responding to the new target gear and starting a new shift process. This leads to frequent shifts and longer shift times, affecting the lifespan of the transmission and the overall drivability of the vehicle. Summary of the Invention

[0004] In view of this, the embodiments of this disclosure provide a technical solution for controlling vehicle gear shifting, which can quickly respond to new gear shifting requests generated during the gear shifting process, reduce the frequency of gear shifting, and at the same time improve the service life of the electric drive axle and the drivability of the vehicle.

[0005] According to a first aspect of this disclosure, a method for controlling gear shifting in a vehicle is provided. The method includes: determining, during a gear shift from an initial gear to a first target gear, that the target gear of the transmission changes to a second target gear; determining, at least based on the gear shifting state of the transmission, whether immediate shifting to the second target gear is permitted; and immediately performing a shift to the second target gear operation in response to determining that immediate shifting to the second target gear is permitted.

[0006] According to a second aspect of this disclosure, an apparatus for controlling gear shifting in a vehicle is provided, comprising: a target gear control unit configured to determine, during a gear shift from an initial gear to a first target gear, that the target gear of the transmission changes to a second target gear; a shift determination unit configured to determine, at least based on the shift state of the transmission, whether immediate shifting to the second target gear is permitted; and a shift execution unit configured to immediately perform a shift to the second target gear in response to determining that immediate shifting to the second target gear is permitted.

[0007] According to a third aspect of this disclosure, an electronic device is provided, comprising: a processing unit and a memory, the memory being coupled to the processing unit and storing instructions for execution by the processing unit, the instructions, when executed by the processing unit, causing the electronic device to perform the method according to a first aspect of this disclosure.

[0008] According to a fourth aspect of this disclosure, a vehicle is provided, including: an electric motor; a transmission; and a transmission control unit configured to perform the method described according to a first aspect of this disclosure.

[0009] According to a fourth aspect of this disclosure, a computer-readable storage medium is provided, including machine-executable instructions that, when executed by a device, cause the device to perform the method described according to a first aspect of this disclosure.

[0010] According to a fifth aspect of this disclosure, a computer program product is provided, including machine-executable instructions that, when executed by a device, cause the device to perform the method described according to a first aspect of this disclosure.

[0011] This content section is provided to present the selection of concepts in a simplified form, which will be further described in the detailed embodiments below. This content section is not intended to identify key or essential features of this disclosure, nor is it intended to limit the scope of this disclosure. Attached Figure Description

[0012] The above and other objects, features and advantages of this disclosure will become more apparent from the accompanying drawings, in which like reference numerals generally denote like parts.

[0013] Figure 1A A schematic diagram of an exemplary vehicle with multiple drive axles is shown;

[0014] Figure 1B It shows Figure 1A A schematic diagram of the drive system of an exemplary vehicle shown;

[0015] Figure 2 This diagram illustrates the shifting process of an existing vehicle when the target gear changes during the shifting process.

[0016] Figure 3 A schematic flowchart of a method for controlling vehicle gear shifting according to some embodiments of the present disclosure is shown.

[0017] Figure 4A and 4B A schematic diagram of a vehicle shifting process is shown according to some embodiments of the present disclosure when the target gear changes during the torque reduction phase.

[0018] Figure 5A and 5B A schematic diagram of a vehicle shifting process is shown according to some embodiments of the present disclosure when the target gear changes during the gear disengagement stage.

[0019] Figure 6A and 6B A schematic diagram of a vehicle shifting process is shown according to some embodiments of the present disclosure when the target gear changes during the speed synchronization phase.

[0020] Figure 7 A schematic block diagram of a device for controlling vehicle gear shifting according to some embodiments of the present disclosure is shown;

[0021] Figure 8 A schematic block diagram of an example device that can be used to implement embodiments of the present disclosure is shown. Detailed Implementation

[0022] It is understood that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and related provisions.

[0023] Preferred embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0024] The term "comprising" and its variations as used herein signify open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0025] It should be noted that the numbers or values ​​used in this document are for the purpose of facilitating understanding of the technology disclosed herein, and are not intended to limit the scope of this disclosure.

[0026] Driven by technological advancements and increasingly stringent environmental regulations, new energy vehicles are experiencing rapid growth. Electric commercial vehicles are electric vehicles specifically designed for commercial use. Compared to ordinary passenger electric vehicles, electric commercial vehicles have more powerful and complex drive systems, typically featuring multiple drive axles, each equipped with an electric motor and a multi-speed gearbox.

[0027] Figure 1A A schematic diagram of an exemplary vehicle with multiple drive axles is shown. As shown, the vehicle includes a tractor unit 10 and an optional cargo box 20, and the vehicle has multiple axles, wherein the second and third axles are drive axles 30. The drive axles 30 can provide wheel torque, including driving torque and braking torque, enabling the vehicle to move forward or brake.

[0028] Figure 1B It shows Figure 1A The diagram illustrates a drive system for an exemplary vehicle. As shown, in the drive system, each drive axle can be configured with a corresponding gearbox 40 and motor 50. In some implementations, the gearbox 40 can be a multi-gearbox (e.g., 1 to 4 gears, which is not limited in this disclosure), with each gear having a corresponding gear ratio. Generally, lower gears have higher gear ratios, and higher gears have lower gear ratios. The vehicle can be an electric vehicle with one or more motors 50; for example, one motor can be configured for each drive axle, or one motor can be used to provide wheel torque to multiple drive axles. When the vehicle is operating, the control system (not shown) can determine the total torque (also referred to as the demand torque) to be applied to the drive axles and the wheel torque applied to each drive axle based on the depth and acceleration of the accelerator and brake pedals. Simultaneously, the control system can also determine the target gear for each gearbox based on the current state of the vehicle (e.g., vehicle speed). It should be noted that... Figure 1A and 1B The multi-drive axle vehicles shown are merely illustrative, and some embodiments of this disclosure are also applicable to single-drive axle vehicles.

[0029] One problem with current electric vehicles is that if the target gear changes during a gear shift, the current shift process does not end; the current shift action must be completed before responding to the new target gear and starting a new shift process.

[0030] Figure 2 This diagram illustrates the shifting process of an existing vehicle when the target gear changes during the shifting process. Figure 2 In the middle, from top to bottom, are: a curve showing the target gear position of the transmission of the first drive axle changing over time, where the first drive axle can be... Figure 1A Any one of the drive axles 30 shown; a graph showing the current gear position of the gearbox of the first drive axle changing over time; a graph showing the torque of the motor of the first drive axle changing over time; a graph showing the torque of the motor of the second drive axle changing over time; a graph showing the speed of the motor of the first drive axle changing over time.

[0031] The gear shifting process can include five stages: ① torque reduction stage; ② gear disengagement stage; ③ speed synchronization stage; ④ gear engagement stage; ⑤ torque recovery stage. The gear shift is complete after the torque recovery stage ends. Figure 2 As shown, the initial gear of the transmission is 1st gear, and then the target gear is 2nd gear, initiating the shift process. First, it enters the torque reduction phase, where the motor coupled to the transmission reduces torque, aiming to reduce it to zero before entering the gear disengagement phase. Simultaneously, the motor on the second drive axle increases torque to ensure vehicle power.

[0032] refer to Figure 2 During the torque reduction phase, the target gear of the transmission changes from 2nd gear to 1st gear. For example, the vehicle's transmission control unit changes the target gear to 1st gear based on the vehicle's driving conditions, such as speed, vehicle weight, gradient, and the status of the drive and brake pedals. Current shifting methods require the transmission to switch to 2nd gear (i.e., execute all stages ① to ⑤) before re-executing the shift from 2nd to 1st gear. In other words, if the target gear changes during the shifting process, the vehicle actually completes two shift operations (1st to 2nd gear, 2nd to 1st gear). This leads to frequent shifts and prolonged shift times, affecting the transmission's lifespan and overall vehicle drivability. It also causes the other non-shift axle to operate at high torque for extended periods, reducing its lifespan.

[0033] In view of this, embodiments of the present disclosure are provided, wherein responding to a new gear during gear shifting reduces the frequency of gear shifts, thereby reducing the total shift time. In some embodiments, it can be determined whether to stop the current gear shift and immediately shift to the new target gear based on the current shift state. In some embodiments, it can also be determined whether to allow the shift to the new target gear or continue the original shift operation based on other vehicle state information, such as shift fork position, output shaft speed, torque and speed of the motor coupled to the transmission. The following references... Figures 3 to 8 Further details describe embodiments of this disclosure.

[0034] Figure 3 A schematic flowchart of a method 300 for controlling vehicle gear shifting according to some embodiments of the present disclosure is shown. Method 300 can be implemented by any electronic device with computing capabilities. The electronic device can be located on the vehicle as a transmission control unit or a component thereof.

[0035] In box 310, during the shift from the initial gear to the first target gear in the vehicle's transmission, it is determined that the target gear of the transmission has changed to the second target gear. The transmission may be the transmission of one drive axle (hereinafter referred to as the first drive axle) in a multi-drive axle vehicle. Generally, the transmission shifting process may include a torque reduction phase, a gear disengagement phase, a speed synchronization phase, a gear engagement phase, and a torque recovery phase. After the torque recovery phase, the shift to the first target gear can be considered complete. Before this, the shift is not yet complete. The second target gear can be generated in any of the above phases.

[0036] In practice, the shifting logic may generate a new target gear, i.e., a second target gear, before the current shift is completed. The second target gear may be the same as or different from the initial gear. For example, the initial gear may be 1st gear, the first target gear may be 2nd gear, and during the shift from 1st to 2nd gear, the generated second target gear may be 1st gear, i.e., the expectation is to return to the initial gear, or it may be 3rd gear, i.e., the expectation is to shift up more quickly.

[0037] In box 320, it is determined, at least based on the transmission's shift state, whether immediate shifting to a second target gear is permitted. In this document, the shift state may include the time when the new second target gear is generated, such as a torque reduction phase, gear disengagement phase, speed synchronization phase, gear engagement phase, or torque recovery phase. In some embodiments, the shift state may include current gear information, shift fork position, the speed and torque of the motor coupled to the transmission (i.e., on the same drive axle), the transmission output shaft speed, etc. Some of this information may come from Controller Area Network (CAN) messages from the vehicle controller (VCU), and others may come from sensors.

[0038] In some embodiments, if the transmission is currently in a torque reduction phase, gear disengagement phase, or speed synchronization phase, it can be determined that an immediate shift to the second target gear is permissible. When it is determined that the transmission is in a torque reduction phase, gear disengagement phase, or speed synchronization phase, further reference can be made to the current gear information, shift fork position, motor torque, and speed to determine whether to immediately shift to the second target gear; that is, more stringent conditions are applied if an immediate shift to the second target gear is desired. This may depend on whether the second target gear is a return to the initial gear or a different gear.

[0039] If the transmission is currently in the gear engagement or torque recovery phase, it can be determined that immediately shifting to the second target gear is not permitted. In this case, the shift from the first target gear to the second target gear will be performed after the transmission has completed the shift to the first target gear.

[0040] In box 330, in response to determining that immediate shifting to the second target gear is permitted, the operation of switching to the second target gear is immediately executed. The gearbox currently shifting is the gearbox of the first drive axle, while the gearbox of the second drive axle is not shifting. During the shift, the second drive axle and the first drive axle work together to complete the shift to the second target gear. Different operations are performed based on the stage of the shift operation when the current second target gear is generated, and the relationship between the second target gear and the initial and first target gears. The following is combined with... Figures 4A to 6B Detailed explanation.

[0041] Figure 4A and 4B A schematic diagram of a vehicle shifting process is shown when the target gear changes in the first stage (i.e., the torque reduction stage) according to some embodiments of the present disclosure. Figure 4A and Figure 4B The image shows, from top to bottom, the target gear of the first drive axle's transmission, the current gear of the first drive axle's transmission, the torque of the first drive axle's motor, the torque of the second drive axle's motor, and the rotational speed of the first drive axle's motor.

[0042] As an example, the initial gear is 1st gear, and the first target gear is 2nd gear. Figure 4A This illustrates the scenario where the second target gear is the same as the initial gear, i.e., returning to 1st gear. When generating the new target gear, the torque of the motor coupled to the transmission is decreasing, but not yet at zero. Simultaneously, the motor on the second drive axle is increasing torque to compensate for the power loss. Considering that the second target gear is also 1st gear, there's no need to change the transmission shift fork position. Therefore, the motor on the first drive axle can immediately stop decreasing torque and restore it to its original torque level, and the motor on the second drive axle can immediately stop increasing torque and restore it to its original torque level. In other words, stage ⑤, the torque restoration stage, is executed. After both motors have returned to their original torque levels, the transmission operates in the same way as before the shift, thus completing the shift to 1st gear.

[0043] Figure 4BThis illustrates a scenario where the second target gear differs from the initial gear, specifically, third gear. When generating the new target gear, the torque of the motor coupled to the transmission is decreasing but not yet at zero. Simultaneously, the motor of the second drive axle is increasing torque to compensate for the power loss. Since the new target gear is third gear, the shift fork position needs to be changed, thus reducing the torque of the motor of the first drive axle to zero. The motor of the second drive axle continues to increase torque, completing the torque reduction phase. Next, the operations of the gear disengagement phase, speed synchronization phase, and gear engagement phase are executed. During the speed synchronization phase, the speed of the motor of the first drive axle changes to the speed corresponding to third gear. During the gear engagement phase, the shift fork moves to the position corresponding to third gear. Then, the torque recovery phase is executed, restoring the torque of the first drive axle to the torque corresponding to third gear.

[0044] Figure 5A and 5B A schematic diagram of a vehicle shifting process is shown when the target gear changes in stage ② (i.e., gear disengagement stage) according to some embodiments of the present disclosure. Figure 5A and Figure 5B The image shows, from top to bottom, the target gear of the first drive axle's transmission, the current gear of the first drive axle's transmission, the torque of the first drive axle's motor, the torque of the second drive axle's motor, and the rotational speed of the first drive axle's motor.

[0045] As an example, the initial gear is 1st gear, and the first target gear is 2nd gear. Figure 5A This illustrates the scenario where the second target gear is the same as the initial gear, i.e., returning to 1st gear. During the generation of the new second target gear, the gearbox gears are disengaging. After the gear disengagement phase, the operations of the speed synchronization phase, gear engagement phase, and torque recovery phase continue, controlling the speed and torque of the first drive axle motor to match 1st gear, and restoring the torque of the second drive axle motor.

[0046] Figure 5B This illustrates a scenario where the second target gear differs from the initial gear, specifically, gear 3. During the generation of the new target gear, the gearbox gears are disengaging. After the gear disengagement phase, the operations continue with the speed synchronization phase, gear engagement phase, and torque recovery phase. During the speed synchronization phase, the speed of the motor on the first drive axle can be controlled to match gear 3. During the torque recovery phase, the torque of the motors on both the first and second drive axles is restored, with the torque of the first drive axle motor returning to match gear 3.

[0047] Figure 6A and 6B A schematic diagram of a vehicle shifting process is shown when the target gear changes in stage ③ (i.e., the speed synchronization stage) according to some embodiments of the present disclosure. Figure 6Aand Figure 6B The image shows, from top to bottom, the target gear of the first drive axle's transmission, the current gear of the first drive axle's transmission, the torque of the first drive axle's motor, the torque of the second drive axle's motor, and the rotational speed of the first drive axle's motor.

[0048] As an example, the initial gear is 1st gear, and the first target gear is 2nd gear. Figure 6A This illustrates the scenario where the second target gear is the same as the initial gear, i.e., returning to first gear. When generating the new second target gear, the motor of the first drive axle is adjusting its speed. When the second target gear is first gear, the speed of this motor is immediately restored to match first gear. Then, the operations of the gear engagement phase and torque recovery phase continue.

[0049] Figure 6B This illustrates a scenario where the second target gear differs from the initial gear, specifically gear 3. In this case, the motor speed is immediately adjusted to match gear 3. Then, the gear engagement and torque recovery phases continue.

[0050] The above is for reference only. Figures 1A to 6B Embodiments of this disclosure are described. According to these embodiments, it is possible to quickly respond to new shift requests generated during gear shifting, reduce shift frequency, and simultaneously improve the lifespan of the electric drive axle and the drivability of the vehicle.

[0051] Figure 7 A schematic block diagram of an apparatus 700 for determining an energy optimization strategy according to some embodiments of the present disclosure is shown. The apparatus 700 can be implemented in an on-board electronic device, such as a transmission control unit. The apparatus 700 includes a target gear control unit 710, a shift determination unit 720, and a shift execution unit.

[0052] The target gear control unit 710 can be configured to determine, during a gear shift from an initial gear to a first target gear, that the target gear of the transmission has changed to a second target gear. The shift determination unit 720 can be configured to determine, at least based on the transmission's shift state, whether an immediate shift to the second target gear is permissible. The shift execution unit 730 can be configured to immediately execute the shift to the second target gear operation in response to determining that an immediate shift to the second target gear is permissible.

[0053] In some embodiments, the shifting state may include at least one of the following: a torque reduction phase; a gear disengagement phase; a speed synchronization phase; a gear engagement phase; and a torque recovery phase.

[0054] In some embodiments, the shift determination unit 720 may also be configured to: determine that immediate shifting to a second target gear is permitted in response to the transmission being in any of the following stages: a torque reduction stage, a gear disengagement stage, or a speed synchronization stage; and disallow immediate shifting to a first target gear in response to the transmission being in the gear engagement stage or the torque recovery stage.

[0055] In some embodiments, the shift determination unit 720 may also be configured to: when the transmission is in any of the torque reduction phase, gear disengagement phase, or speed synchronization phase, determine whether it is permissible to immediately shift to the second gear based on at least one of the transmission shift fork position, output shaft speed, and the torque and speed of the motor coupled to the transmission.

[0056] In some embodiments, the shift execution unit 730 may be configured to perform an operation to switch from the first target gear to the second target gear after the transmission has completed shifting to the first target gear, in response to determining that immediate shifting to the second target gear is not permitted.

[0057] In some embodiments, the vehicle may include a first drive axle and a second drive axle, the first drive axle including a first motor and a first gearbox, and the second drive axle including a second motor and a second gearbox.

[0058] In some embodiments, the gearbox that is shifting gears is the first gearbox of the first drive axle, and the second gearbox of the second drive axle is not shifting gears, so that the second drive axle and the first drive axle cooperate to complete the gearbox shifting.

[0059] In some embodiments, the shift execution unit 730 can be configured to: if the second target gear is the same as the initial gear, control the first motor to immediately restore torque and the second motor to immediately reduce torque; or if the second target gear is different from the initial gear, control the first motor to continue reducing torque to zero and the second motor to continue increasing torque.

[0060] In some embodiments, the shift execution unit 730 may be configured to: when the shift state is in the gear disengagement stage, after the gear disengagement stage ends, control the speed and torque of the first motor to change to match the second target gear, and restore the torque of the second motor.

[0061] In some embodiments, the shift execution unit 730 can be configured to: when the shift state is in the speed separation stage, if the second target gear is the same as the initial gear, control the speed of the first motor to immediately restore it to match the initial gear; or if the second target gear is different from the initial gear, control the speed of the first motor to immediately change to match the second target gear.

[0062] Figure 8A schematic block diagram of an example device 800 that can be used to implement embodiments of the present disclosure is shown. For example, method 300 according to an embodiment of the present disclosure can be implemented by device 800. As shown, device 800 includes a central processing unit (CPU) 801, which can be configured to determine the current operating range of the vehicle based on the vehicle's current speed and required wheel torque, according to a stored operating range determination unit; and

[0063] The optimal operating mode determination unit is configured to determine, based on an energy optimization strategy, the optimal operating mode corresponding to the current operating range, wherein the optimal operating mode defines the distribution of wheel torque on the plurality of drive axles and the optimal combination of gears in the plurality of gearboxes of each drive axle; and

[0064] The application unit is configured to apply the optimal operating mode to computer program instructions stored in the read-only memory (ROM) 802 or loaded from the storage unit 808 into the random access memory (RAM) 803 to perform various appropriate actions and processes. The RAM 803 may also store various programs and data required for the operation of the device 800. The CPU 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0065] Multiple components in device 800 are connected to I / O interface 805. The types of I / O interfaces include, but are not limited to, PCIe, USB, HDMI, and SAS. Components based on I / O interface 805 may include, but are not limited to: input units 806, such as keyboards and mice; output units 807, such as displays and speakers of various types; storage units 808, such as hard disks and optical disks; and communication units 809, such as network adapters, modems, and wireless transceivers. Communication unit 809 allows device 800 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0066] The various processes and procedures described above, such as method 300, can be executed by processing units in device 800, such as processing unit 801 and / or other processing units (e.g., a microprocessor on the motherboard of device 800). For example, in some embodiments, method process 300 can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed on device 800 via ROM 802 and / or communication unit 809. When the computer program is loaded into RAM 803 and executed, one or more actions of process 300 described above can be performed.

[0067] This disclosure can be a method, apparatus, system, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for performing various aspects of this disclosure.

[0068] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0069] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0070] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0071] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0072] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processing unit of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0073] Computer-readable program instructions may 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 data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0074] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0075] Various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for controlling gear shifting in a vehicle, comprising: During the gear shifting process of the vehicle's transmission from an initial gear to a first target gear, it is determined that the target gear of the transmission changes to a second target gear; Based at least on the shifting state of the transmission, determine whether it is permissible to immediately shift to the second target gear; as well as In response to determining that it is permissible to immediately shift to the second target gear, the operation of switching to the second target gear is immediately performed.

2. The method according to claim 1, wherein the shifting state includes one of the following: Torque reduction phase; Gear separation stage; Speed ​​synchronization phase; The gear meshing stage; and Torque recovery phase.

3. The method of claim 2, wherein determining whether immediate shifting to the second target gear is permitted includes: In response to the transmission being in any of the following stages: torque reduction stage, gear disengagement stage, or speed synchronization stage, it is determined that immediate shifting to the second target gear is permitted. as well as In response to the transmission being in the gear engagement phase or the torque recovery phase, it is not permitted to immediately shift to the first target gear.

4. The method of claim 2, wherein determining whether immediate shifting to the second target gear is permitted further comprises: When the transmission is in any of the torque reduction phase, gear disengagement phase, or speed synchronization phase, it is determined whether it is permissible to immediately shift to the second gear based on at least one of the transmission shift fork position, output shaft speed, and torque and speed of the motor coupled to the transmission.

5. The method according to claim 1, further comprising: In response to determining that immediate shifting to the second target gear is not permitted, an operation to switch from the first target gear to the second target gear is performed after the transmission has completed shifting to the first target gear.

6. The method according to claim 1, wherein the vehicle includes a first drive axle and a second drive axle, the first drive axle includes a first motor and a first gearbox, and the second drive axle includes a second motor and a second gearbox.

7. The method of claim 6, wherein the gearbox being shifted is the first gearbox of the first drive axle, and the second gearbox of the second drive axle is not shifting, such that the second drive axle and the first drive axle cooperate to complete the gearbox shift.

8. The method of claim 7, wherein immediately performing the operation of switching to the second target gear includes: When the shift state is the torque reduction phase If the second target gear is the same as the initial gear, then the first motor is controlled to immediately restore torque, and the second motor is controlled to immediately reduce torque; or If the second target gear is different from the initial gear, the first motor is controlled to continue reducing torque to zero, while the second motor continues to increase torque.

9. The method of claim 7, wherein immediately performing the operation of switching to the second target gear includes: When the shifting state is the gear disengagement stage After the gear separation phase is completed, the speed and torque of the first motor are controlled to match the second target gear, and the torque of the second motor is restored.

10. The method of claim 7, wherein immediately performing the operation of switching to the second target gear comprises: When the shifting state is in the speed synchronization stage If the second target gear is the same as the initial gear, then the speed of the first motor is immediately restored to match the initial gear; or If the second target gear is different from the initial gear, the speed of the first motor is immediately changed to match the second target gear.

11. A device for controlling gear shifting in a vehicle, comprising: The target gear control unit is configured to determine, during a gear shift from an initial gear to a first target gear, that the target gear of the transmission in the vehicle changes to a second target gear; The shift determination unit is configured to determine, at least based on the shift state of the transmission, whether it is permissible to immediately shift to the second target gear. as well as The shift execution unit is configured to immediately perform the operation of switching to the second target gear in response to determining that immediate shifting to the second target gear is permitted.

12. An electronic device, comprising: Processing unit; and A memory coupled to the processing unit and storing instructions for execution by the processing unit, which, when executed by the processing unit, cause the electronic device to perform the method according to any one of claims 1 to 11.

13. A vehicle comprising: Electric motor; gearbox; as well as A transmission control unit configured to perform the method as described in any one of claims 1 to 11.

14. A computer-readable storage medium comprising machine-executable instructions that, when executed by a device, cause the device to perform the method according to any one of claims 1 to 11.

15. A computer program product comprising machine-executable instructions that, when executed by a device, cause the device to perform the method according to any one of claims 1 to 14.

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