Shift method of vehicle, vehicle, device, and storage medium

Abstract

The application discloses a gear shifting method of a vehicle, the vehicle, equipment and a storage medium, and relates to the technical field of vehicle control. The gear shifting method of the vehicle comprises the following steps: performing a mode gear shifting operation according to a mode gear shifting request; in response to identifying a signal for interrupting the mode gear shifting operation, obtaining an interruption processing strategy corresponding to the execution progress of the mode gear shifting operation; and terminating the mode gear shifting operation based on the interruption processing strategy corresponding to the execution progress. The application can match an appropriate interruption processing strategy to terminate the mode gear shifting operation in combination with the execution progress of the mode gear shifting operation, reduce the impact on the transmission system and abnormal wear of the clutch, and improve the reliability of the series-parallel mode switching process of the hybrid vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle shifting method, vehicle, device and storage medium. Background Technology

[0002] An electromagnetic clutch is a clutch that uses the electromagnetic attraction of an electromagnetic coil to separate or engage the friction pair. It has the advantages of compact structure and fast response speed, and can achieve rapid on / off control of the power transmission path.

[0003] In related technologies, relying on the rapid response characteristics of electromagnetic clutches, vehicles can perform more complex mode shifting operations. For example, if a change in operating conditions necessitates terminating a mode shifting operation midway through switching power modes, a fixed interruption and rollback procedure can be used for rollback.

[0004] However, since the mode shifting operation is a phased and continuous action process, the working state and force conditions of the clutch are different in different stages. In the fixed interruption and retraction process, there are likely to be unnecessary mechanical actions and forced disengagement of the clutch under load, which can lead to problems such as vehicle jerking, abnormal clutch wear, and reduced system reliability. Summary of the Invention

[0005] This application provides a vehicle gear shifting method, vehicle, device, and storage medium to solve the technical problems existing in related technologies. This application includes the following technical solutions: In a first aspect, this application provides a method for shifting gears in a vehicle, the method comprising: performing a mode shift operation according to a mode shift request; in response to recognizing a signal for interrupting the mode shift operation, acquiring an interruption handling strategy corresponding to the execution progress of the mode shift operation; and terminating the mode shift operation based on the interruption handling strategy corresponding to the execution progress.

[0006] In some possible implementations, the mode shift request is used to request the vehicle to switch from a series mode to a parallel mode, wherein the clutch of the vehicle is in a disengaged state in the series mode and in a engaged state in the parallel mode. The step of performing the mode shift operation according to the mode shift request includes: adjusting a first speed difference of the clutch in the disengaged state according to the mode shift request; controlling the clutch to enter a slipping state in response to the adjusted first speed difference satisfying a first verification condition; and controlling the clutch to enter the engaged state in response to a second speed difference of the clutch in the slipping state satisfying a second verification condition.

[0007] In some possible implementations, the mode shift request is used to request the vehicle to switch from parallel mode to series mode, wherein the clutch of the vehicle is in a disengaged state in the series mode and in a engaged state in the parallel mode. The mode shift operation performed according to the mode shift request includes: resetting the torque at the driving end of the clutch in the engaged state to zero according to the mode shift request; controlling the clutch to enter the disengaged state in response to the completion of the torque resetting; and completing the mode shift operation in response to a third speed difference after the clutch enters the disengaged state satisfying a third verification condition.

[0008] In some possible implementations, the execution process of the mode shifting operation includes multiple stages, and the interrupt handling strategy includes multiple candidate interrupt handling strategies corresponding one-to-one with the multiple stages. The step of obtaining the interrupt handling strategy corresponding to the execution progress of the mode shifting operation includes: obtaining the candidate interrupt handling strategy corresponding to the stage where the execution progress is located from among the multiple candidate interrupt handling strategies.

[0009] In some possible implementations, the mode shifting operation includes a first mode shifting operation where the vehicle switches from a series mode to a parallel mode. The execution process of the first mode shifting operation includes a speed control stage and a torque control stage. The step of obtaining the candidate interruption handling strategy corresponding to the stage in which the execution progress is located includes: if the execution progress is in the speed control stage, obtaining a first candidate interruption handling strategy corresponding to the speed control stage; if the execution progress is in the torque control stage, obtaining a second candidate interruption handling strategy corresponding to the torque control stage.

[0010] In some possible implementations, terminating the mode shifting operation based on the interruption handling strategy corresponding to the execution progress includes: in response to recognizing that the execution progress is in the speed control stage, switching the target speed of the driving end of the vehicle's clutch from the target speed corresponding to the parallel mode to the target speed corresponding to the series mode, so as to terminate the first mode shifting operation.

[0011] In some possible implementations, terminating the mode shifting operation based on the interruption handling strategy corresponding to the execution progress includes: in response to the execution progress being in the torque control stage, clearing the torque at the driving end of the vehicle's clutch to zero, and controlling the clutch to enter a disengaged state after the torque is cleared to terminate the first mode shifting operation.

[0012] In a second aspect, this application provides a gear shifting device for a vehicle, the device comprising an execution module and an acquisition module; the execution module is configured to execute a mode shifting operation according to a mode shifting request; the acquisition module is configured to acquire an interruption handling strategy corresponding to the execution progress of the mode shifting operation in response to recognizing a signal for interrupting the mode shifting operation; the execution module is further configured to terminate the mode shifting operation based on the interruption handling strategy corresponding to the execution progress.

[0013] In some possible implementations, the mode shift request is used to request the vehicle to switch from a series mode to a parallel mode, wherein the clutch of the vehicle is in a disengaged state in the series mode and in a engaged state in the parallel mode. When the execution module performs a mode shift operation according to the mode shift request, it is configured to: adjust a first speed difference of the clutch in the disengaged state according to the mode shift request; control the clutch to enter a slipping state in response to the adjusted first speed difference satisfying a first verification condition; and control the clutch to enter the engaged state in response to a second speed difference of the clutch in the slipping state satisfying a second verification condition.

[0014] In some possible implementations, the mode shift request is used to request the vehicle to switch from parallel mode to series mode, wherein the clutch of the vehicle is in a disengaged state in the series mode and in a engaged state in the parallel mode. When the execution module performs a mode shift operation according to the mode shift request, it is configured to: clear the torque of the driving end of the clutch in the engaged state to zero according to the mode shift request; control the clutch to enter the disengaged state in response to the completion of the torque clearing; and complete the mode shift operation in response to the third speed difference after the clutch enters the disengaged state satisfying a third verification condition.

[0015] In some possible implementations, the execution process of the mode shifting operation includes multiple stages, and the interrupt handling strategy includes multiple candidate interrupt handling strategies corresponding one-to-one with the multiple stages. When the acquisition module acquires the interrupt handling strategy corresponding to the execution progress of the mode shifting operation, it is configured to: acquire the candidate interrupt handling strategy corresponding to the stage where the execution progress is located from among the multiple candidate interrupt handling strategies.

[0016] In some possible implementations, the mode shifting operation includes a first mode shifting operation where the vehicle switches from a series mode to a parallel mode. The execution process of the first mode shifting operation includes a speed control phase and a torque control phase. When the acquisition module acquires the candidate interrupt handling strategy corresponding to the stage of the execution progress, it is configured to: if the execution progress is in the speed control phase, acquire the first candidate interrupt handling strategy corresponding to the speed control phase; if the execution progress is in the torque control phase, acquire the second candidate interrupt handling strategy corresponding to the torque control phase.

[0017] In some possible implementations, when the execution module terminates the mode shifting operation based on the interrupt handling strategy corresponding to the execution progress, it is configured to: in response to recognizing that the execution progress is in the speed control stage, switch the target speed of the driving end of the vehicle's clutch from the target speed corresponding to the parallel mode to the target speed corresponding to the series mode, so as to terminate the first mode shifting operation.

[0018] In some possible implementations, when the execution module terminates the mode shifting operation based on the interrupt handling strategy corresponding to the execution progress, it is configured to: in response to the execution progress being in the torque control stage, clear the torque at the driving end of the vehicle's clutch to zero, and after the torque is cleared to zero, control the clutch to enter the disengaged state to terminate the first mode shifting operation.

[0019] In a third aspect, this application provides a vehicle including a clutch and a controller, the clutch being used to change the power transmission path of the vehicle to enable the vehicle to operate in different power modes, and the controller being used to control the disengagement or engagement of the clutch based on the method described in the first aspect of this application to control the gear shifting process of the vehicle.

[0020] In a fourth aspect, this application provides an electronic device for controlling vehicle gear shifting, comprising: a memory storing at least one program instruction for controlling vehicle gear shifting; and a processor, wherein when the program instruction is executed by the processor, the electronic device implements the method described in the first aspect of this application.

[0021] In a fifth aspect, this application provides a computer program (product) comprising computer program / instructions that are executed by a processor to enable a computer to perform the method described in the first aspect of this application.

[0022] In a sixth aspect, this application provides a computer-readable storage medium having stored thereon program instructions for controlling gear shifting in a vehicle, which, when executed by one or more processors, cause the computer to implement the method described in the first aspect of this application.

[0023] The beneficial effects of the technical solution provided in this application include at least the following: The technical solution provided in this application embodiment, during the process of a vehicle performing a mode shift operation according to a mode shift request, that is, before the mode shift operation is completed, not only enables the vehicle to terminate the mode shift operation according to real-time operating conditions, but also enables the vehicle to terminate the mode shift operation by matching an appropriate interruption handling strategy with the execution progress of the mode shift operation. This avoids problems such as unnecessary clutch mechanism actions and forced disengagement under load during the termination of the mode shift operation, reduces transmission system shock and abnormal clutch wear, and takes into account the response speed of the shift interruption process, the smoothness of the vehicle's ride, and the service life of components, thereby improving the reliability of the series-parallel mode switching process of hybrid vehicles. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of an implementation scenario provided in the embodiments of this application; Figure 2 This is a flowchart of a vehicle shifting method provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of the gear shifting device of the vehicle provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of an electronic device for controlling vehicle gear shifting provided in an embodiment of this application. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0028] Figure 1 This is a schematic diagram of an implementation scenario provided in an embodiment of this application. (Reference) Figure 1 The implementation scenarios provided in this application include, for example, a clutch 11 and a control unit 12.

[0029] The clutch 11 is used, but is not limited to, to change the power transmission path of the vehicle by disengaging or engaging the internal friction pairs, so as to put the vehicle in different power modes. The power transmission path of the vehicle indicates the path of torque transmission from the power source in the vehicle to the wheels.

[0030] For example, when the clutch is engaged, the power transmission path of the vehicle is: the engine outputs torque to the wheels through the clutch 11. At this time, the vehicle is in parallel mode, that is, the engine and the drive motor jointly participate in driving the wheels.

[0031] When the clutch is disengaged, the vehicle's power transmission path is as follows: the mechanical energy transmission path from the engine to the wheels is cut off, and the mechanical energy output by the engine can only be used to generate electricity for the generator. At this time, the vehicle is in series mode, that is, the drive motor drives the wheels to move alone, and the engine drives the generator to generate electricity to supply electrical energy.

[0032] Optionally, the clutch 11 is an electromagnetic clutch, which uses electromagnetic attraction generated by energizing the electromagnetic coil to achieve the engagement of the friction pair, and relies on the elastic force of the return spring to achieve the separation of the internal friction pair after de-energization.

[0033] The control unit 12 is connected to the clutch via wired or wireless means, for example, so that the control unit 12 controls the friction pair inside the clutch by outputting control signals to perform the vehicle's mode shifting operation, or terminates the mode shifting operation in the middle of the execution of the vehicle's mode shifting operation.

[0034] Optionally, the control unit 12 may be a terminal controller installed in the vehicle, such as a VCU (vehicle control unit), MCU (motor control unit), or a cloud server, cloud service cluster, etc. This application does not impose any restrictions in this regard.

[0035] Those skilled in the art should understand that the above-described clutch 11 and control unit 12 are merely examples, and other existing or future clutches and control units that are applicable to this application should also be included within the scope of protection of this application, and are hereby incorporated by reference.

[0036] Figure 2 This is a flowchart of a vehicle shifting method provided in an embodiment of this application. This method can, for example, be... Figure 1The control unit in the system executes this. See also Figure 2 The vehicle shifting method provided in this application embodiment may include steps S210-S230 as shown below.

[0037] Step S210: Perform a mode shift operation according to the mode shift request.

[0038] For example, a mode shift request is used to request the vehicle to switch power modes. The vehicle's power mode indicates the state of the power transmission path within the vehicle. For instance, the vehicle's power modes include series mode and parallel mode. When the vehicle is in parallel mode, the clutches in the vehicle are engaged, and the torque output from the engine can be transmitted to the wheels via the clutches. When the vehicle is in series mode, the clutches in the vehicle are disengaged, the torque transmission path between the engine and the wheels is cut off, and the mechanical energy output from the engine can only be used to generate electricity through the generator.

[0039] The mode shift request can be automatically generated by the controller installed in the vehicle based on the current operating conditions of the vehicle, or it can be actively input by the driver. This application does not impose any limitations in this regard. For example, when the vehicle speed increases and the demand for driving power increases, requiring the engine to participate in driving the wheels, the vehicle autonomously generates a first mode shift request; or, when the vehicle speed decreases and the demand for driving power decreases, requiring no engine to drive the wheels, the vehicle autonomously generates a second mode shift request.

[0040] Mode shifting operations are used, but are not limited to, to switch a vehicle between series and parallel modes to change the power path within the vehicle. For example, mode shifting operations include a first mode shifting operation that switches the vehicle from series to parallel mode, and a second mode shifting operation that switches the vehicle from parallel to series mode.

[0041] In this case, the mode shift request may include, for example, a first mode shift request for requesting the vehicle to perform a first mode shift operation, and a second mode shift request for requesting the vehicle to perform a second mode shift operation. The method for performing a mode shift operation based on the mode shift request for requesting the vehicle to switch power modes includes: if a first mode shift request is received, performing a first mode shift operation based on the first mode shift request; if a second mode shift request is received, performing a second mode shift operation based on the second mode shift request.

[0042] As mentioned earlier, when the clutch is engaged, the vehicle is in parallel mode; when the clutch is disengaged, the vehicle is in series mode. In other words, the process of the vehicle performing a first-mode gear shift is the process of changing the clutch from a disengaged state to an engaged state, and the process of the vehicle performing a second-mode gear shift is the process of changing the clutch from an engaged state to a disengaged state.

[0043] Based on this, if the mode shift request is used to request the vehicle to switch from series mode to parallel mode, i.e., the mode shift request is a first mode shift request, the method for performing the mode shift operation according to the mode shift request includes, for example,: adjusting a first speed difference of the clutch in the disengaged state according to the mode shift request; controlling the clutch to enter a slipping state in response to the adjusted first speed difference satisfying a first verification condition; and controlling the clutch to enter an engaged state in response to a second speed difference of the clutch in the slipping state satisfying a second verification condition. Wherein, the vehicle's clutch is in the disengaged state in series mode and in the engaged state in parallel mode.

[0044] If a first-mode shift request is received, it indicates that the vehicle's power mode needs to be switched from series mode to parallel mode, meaning the clutch needs to move from disengaged to engaged. In this case, the speed difference between the clutch, i.e., the speed difference between the driving and driven ends of the clutch, needs to be adjusted to bring the speed difference between the driving and driven ends into a suitable speed difference range for clutch engagement, thereby reducing transmission shock and wear of the friction pair during engagement.

[0045] Among them, the driving end of the clutch is, for example, connected to the vehicle's engine. The generator end is connected to the drive mechanism. When the clutch is disengaged, the speed of the driving end follows the engine. The driven end of the clutch is connected to the wheel side of the vehicle. When the clutch is engaged, the speed of the driven end follows the wheel. When the clutch is engaged, the speeds of the driving and driven ends are the same or nearly the same, and both follow the wheel.

[0046] The first speed difference is, for example, the speed difference of the clutch in a disengaged state before the vehicle's power mode switches from series mode to parallel mode. That is, during the first mode shift operation based on the first mode shift request, the clutch speed difference is before it begins to engage. The second speed difference is, for example, the speed difference of the clutch after the first speed difference meets the first verification condition and enters a slipping state. The slipping state indicates that the clutch friction pairs are in close contact, but the driving and driven ends have not yet achieved speed synchronization, relying on friction torque to transmit part of the torque, and exhibiting a relative slipping intermediate transitional working state.

[0047] For example, the method for adjusting the first speed difference is as follows: determining a first target speed based on the ratio of the speed of the drive motor to the speed of the driven end of the clutch; controlling the engine of the vehicle to adjust the speed of the driving end of the clutch based on the first target speed, so as to adjust the first speed difference and make the first speed difference meet the first verification condition.

[0048] The clutch, for example, is an electromagnetic clutch. Controlling the clutch from a disengaged state to a slipping state, or from a slipping state to an engaged state, is achieved, for example, by inputting an engagement current into the electromagnetic clutch. This engagement current causes the electromagnetic coil in the electromagnetic clutch to generate a large electromagnetic attraction force, overcoming the return spring force and causing the friction pairs to press tightly against each other, thus bringing the clutch into the slipping state. After the clutch enters the engaged state, the vehicle shifting method provided in this application further includes: inputting a holding current into the electromagnetic clutch. This holding current maintains sufficient electromagnetic attraction force in the electromagnetic coil to keep the friction pairs pressed together, ensuring reliable clutch engagement and transmission of drive torque.

[0049] Among these, the holding current is less than the closing current, and the magnitudes of the holding current and the closing current can be determined based on the temperature of the electromagnetic coil. The resistance characteristics and coil hardware parameters are determined, and this application does not impose any restrictions in this regard. For example, if the input voltage of the electromagnetic coil is 9V-16V (volts), and the temperature-resistance characteristic of the electromagnetic coil is that the resistance is 2Ω-4.3Ω (ohms) when the temperature is -40℃ to 150℃ (degrees Celsius), then the combined current is 3.8A (amperes), and the holding current is 2.4A.

[0050] As mentioned earlier, the clutch generates transmission shock and friction wear during engagement, and the degree of transmission shock and friction wear during engagement is positively correlated with the clutch speed difference. Based on this, the first and second verification conditions are, for example, pre-configured verification conditions. The first verification condition is used, but is not limited to, verifying whether the adjusted first speed difference falls within a speed difference window suitable for the clutch to enter the slipping state; that is, the first verification condition is the entry condition allowing the clutch to enter the slipping state. The second verification condition is used, but is not limited to, verifying whether the second speed difference falls within a speed difference window for clutch synchronous engagement; that is, the second verification condition is used to verify whether the second speed difference converges to the synchronously allowed speed difference range, thereby determining the end of the slipping process and controlling the clutch to achieve reliable engagement.

[0051] In some embodiments, the first verification condition is that the adjusted first speed difference falls within a first speed difference range, and the duration of falling within the first speed difference range is not less than a first duration threshold. For example, the first verification condition is that the first speed difference is located in the range of 30rpm-80rpm and is maintained for at least 200ms.

[0052] The second verification condition is, for example, that the second speed difference falls within the second speed difference range, and the duration of falling within the second speed difference range is not less than the second duration threshold. For example, the second verification condition is that the second speed difference falls within the range of -10rpm to -10rpm and remains there for at least 200ms.

[0053] The midpoint value of the second speed difference interval is less than the midpoint value of the first speed difference interval. The interval length and range of values ​​of the first and second speed difference intervals can be adjusted according to the actual application scenario. The first and second time duration thresholds can be the same or different, and this application does not impose any restrictions in this regard.

[0054] Optionally, the speed of the driving end of the clutch is lower than that of the driven end to reduce transmission shock and wear of the friction pair.

[0055] In other embodiments, the vehicle shifting method provided in this application further includes: responding to the second speed difference not meeting the second verification condition, controlling the clutch to enter a disengaged state; readjusting the first speed difference and controlling the clutch to enter a slipping state until the second speed difference meets the second verification condition, controlling the clutch to enter an engaged state and determining that the first mode shifting operation is completed; or, responding to the number of readjustments reaching a first threshold, the first mode shifting operation fails. The value of the first threshold can be adjusted according to the actual application scenario; for example, after three readjustments, a message indicating that the first mode shifting operation has failed is displayed.

[0056] Alternatively, if the mode shift request is used to request the vehicle to switch from parallel mode to series mode, i.e., the received mode shift request is a second mode shift request, the method for performing the mode shift operation according to the mode shift request includes, for example,: resetting the torque at the driving end of the clutch in the engaged state to zero according to the mode shift request; controlling the clutch to enter the disengaged state in response to the completion of the torque resetting; and completing the mode shift operation in response to the third speed difference after the clutch enters the disengaged state satisfying a third verification condition. In this case, the vehicle's clutch is in the disengaged state in series mode and in the engaged state in parallel mode.

[0057] For example, the torque at the driving end of the clutch in the engaged state is used to indicate the drive torque transmitted by the engine to the driven end through the clutch. A method for zeroing the torque at the driving end of the clutch in the engaged state is, for example, to apply a reverse compensation torque through a generator to counteract the drive torque output by the engine, thereby reducing the transmitted torque between the driving and driven ends of the clutch to zero and eliminating the squeezing and shearing forces between the friction pairs. The value of the compensation torque can be adjusted according to the actual application scenario, and this application does not impose any limitations in this regard.

[0058] If a second-mode shift request is received, it indicates that the vehicle's power mode needs to be switched from parallel mode to series mode, meaning the clutch needs to move from engaged to disengaged. In this case, the torque on the clutch's driving end needs to be reset to zero before performing the clutch disengagement action to avoid disengaging the clutch under load and prevent issues such as transmission system shock and abnormal slippage wear of the friction pairs.

[0059] The third speed difference, for example, is the real-time speed difference between the driving and driven ends of the clutch after the clutch disengages during the transition from parallel to series power mode. When the clutch disengages from the engaged state, the mechanical transmission path between the engine and wheels is broken, and the speeds of the driving and driven ends are no longer synchronized. The speeds at both ends will change independently according to their respective operating conditions, resulting in speed deviations. Therefore, by verifying the third speed difference after the disengagement action, it is possible to accurately identify whether the friction pairs are completely disengaged and whether the clutch has successfully entered the disengagement state, i.e., whether the second-mode gear shift operation has been completed.

[0060] Based on this, the third verification condition is, for example, a pre-configured steady-state verification condition for determining complete clutch disengagement. Optionally, the third verification condition is that the third speed difference falls within a third speed difference range, and the duration of falling within the third speed difference range is not less than a third duration threshold. For example, the third verification condition is that the third speed difference is greater than 100 rpm, and the duration of being greater than 100 rpm is not less than 200 ms. The values ​​of the third speed difference and the third duration threshold can be adjusted according to the actual application scenario, and this application does not impose any restrictions in this regard.

[0061] Considering that in practical applications, the clutch may fail to disengage when transitioning from an engaged to a disengaged state, preventing it from reaching the disengaged state. For example, even after the holding current of the electromagnetic clutch is released, the friction pairs may still stick, and the speeds of the driving and driven ends may remain synchronized, failing to meet the disengagement requirement due to insufficient speed difference, causing the shifting process to stall. Therefore, fault-tolerant control logic is needed to assist the clutch in completing disengagement when the clutch fails to perform the disengagement action.

[0062] In some embodiments, the vehicle shifting method provided in this application further includes: in response to the third speed difference not meeting the third verification condition, inputting a zero-crossing jitter torque to the driving end of the clutch until the third speed difference meets the third verification condition, then the second mode shifting operation is completed; or, if the number of zero-crossing jitter torque inputs reaches the second threshold and the third speed difference still does not meet the third verification condition, then the second mode shifting operation fails.

[0063] The zero-crossing jitter torque is used to indicate alternating torque with a small amplitude, periodic positive and negative alternation, and an average torque approaching zero. It is used to break static friction lock-up between friction pairs without affecting the vehicle's drive output. For example, it completes three cycles of alternating positive and negative torque output within 300ms. The value of the second threshold can be adjusted according to the actual application scenario; this application does not impose any restrictions in this regard.

[0064] Step S220: In response to the detection of a signal for interrupting the mode shift operation, an interrupt handling strategy corresponding to the execution progress of the mode shift operation is obtained.

[0065] Step S230: Terminate the mode shift operation based on the interrupt handling strategy corresponding to the execution progress.

[0066] For example, the execution process of a mode shift operation is a continuous process comprising multiple stages (also called execution stages). Terminating the mode shift operation indicates that the mode shift operation has not yet been completed; that is, when a mode shift request has been triggered, the clutch has not yet completed its state transition, and the vehicle has not yet stably entered the target power operating mode, the mode shift operation is terminated. For example, for a first mode shift operation, the clutch needs to transition from a disengaged state to an engaged state. In this case, the execution process of the first mode shift operation may include, for example, a speed control stage for adjusting the speed difference of the clutch, whereby the speed control stage needs to ensure that the first speed difference meets a first verification condition, and that the second speed difference meets a second verification condition, etc.; and a torque control stage for establishing torque transmission through the clutch.

[0067] Alternatively, for the second mode shift operation, the clutch needs to go from the engaged state to the disengaged state. In this case, the execution process of the second mode shift operation includes, for example, the active end torque zeroing stage, the clutch disengagement execution stage, and the disengagement verification and fault tolerance stage.

[0068] Optionally, the signal used for interrupt mode shifting (hereinafter referred to as the interrupt signal) may be generated by the vehicle's controller based on real-time changes in operating conditions, or it may be actively triggered by the vehicle's driver through driving operations. For example, if the drive torque demand changes or the battery's SOC (state of charge) fluctuates significantly during driving, the vehicle controller generates an interrupt signal.

[0069] Considering the varying force states of the friction pairs, torque transmission states, and clutch physical states at different stages of a mode shift operation, the risks of terminating the mode shift operation also differ. Therefore, if an interruption signal is detected during the execution of a mode shift operation, a corresponding interruption handling strategy needs to be matched to the current execution stage. This interruption handling strategy indicates a complete set of safe reversal procedures to be performed based on the current progress of the mode shift operation, aiming to terminate the mode shift operation while avoiding impact and component damage.

[0070] In some embodiments, the execution process of the mode shifting operation includes multiple stages, and the interrupt handling strategy includes multiple candidate interrupt handling strategies corresponding one-to-one with the multiple stages. Obtaining the interrupt handling strategy corresponding to the execution progress of the mode shifting operation includes: among the multiple candidate interrupt handling strategies, obtaining the candidate interrupt handling strategy corresponding to the stage where the execution progress is located.

[0071] For example, the power modes include a series mode where the vehicle's clutch is disengaged and a parallel mode where the clutch is engaged. The mode shifting operation includes a first mode shifting operation that switches from the series mode to the parallel mode. The execution process of the first mode shifting operation includes a speed control stage for adjusting the speed difference of the clutches and a torque control stage for establishing torque transmission through the clutches. Multiple candidate interruption processing strategies include a first candidate interruption processing strategy corresponding to the speed control stage and a second candidate interruption processing strategy corresponding to the torque control stage.

[0072] In this case, the method for obtaining the candidate interrupt handling strategy corresponding to the stage of the execution progress of the mode shifting operation includes, for example: if the execution progress of the first mode shifting operation is in the speed control stage, obtaining the first candidate interrupt handling strategy corresponding to the speed control stage; if the execution progress is in the torque control stage, obtaining the second candidate interrupt handling strategy corresponding to the torque control stage.

[0073] The first candidate interrupt handling strategy is used to switch the target speed of the clutch's driving end from the target speed corresponding to the parallel mode to the target speed corresponding to the series mode. That is, it switches the target speed of the clutch's driving end from the target speed corresponding to clutch engagement and synchronization in parallel mode to the target speed for power generation in series mode. The second candidate interrupt handling strategy is used to clear the torque of the clutch's driving end to zero, and after the torque is cleared to zero, it controls the clutch to enter the disengagement state.

[0074] In this case, the method for terminating the mode shifting operation based on the interrupt handling strategy corresponding to the execution progress includes, for example,: in response to recognizing that the execution progress is in the speed control stage, switching the target speed of the driving end of the vehicle's clutch from the target speed corresponding to the parallel mode to the target speed corresponding to the series mode, so as to terminate the first mode shifting operation.

[0075] Alternatively, a method for terminating the mode shifting operation based on the interrupt handling strategy corresponding to the execution progress may include, for example, resetting the torque at the driving end of the vehicle's clutch to zero in response to the execution progress being in the torque control stage, and controlling the clutch to enter the disengaged state after the torque is reset to zero, thereby terminating the first mode shifting operation.

[0076] In some possible scenarios, the power mode includes a series mode with the clutch disengaged and a parallel mode with the clutch engaged. The mode shifting operation includes a second-mode shifting operation switching from parallel mode to series mode. The execution process of the second-mode shifting operation includes multiple stages such as a torque zeroing stage, a clutch disengagement execution stage, and a disengagement verification and fault tolerance stage. The interruption handling strategy includes multiple candidate interruption handling strategies corresponding one-to-one with each stage of the second-mode shifting operation. These candidate interruption handling strategies include a third candidate interruption handling strategy corresponding to the torque zeroing stage, a fourth candidate interruption handling strategy corresponding to the clutch disengagement execution stage, and a fifth candidate interruption handling strategy corresponding to the disengagement verification and fault tolerance stage.

[0077] In this case, the method for obtaining the interrupt handling strategy corresponding to the execution progress of the mode shifting operation includes, for example, obtaining a third candidate interrupt handling strategy corresponding to the torque zeroing stage if the execution progress of the second mode shifting operation is in the torque zeroing stage. Based on this, the method for terminating the mode shifting operation based on the interrupt handling strategy corresponding to the execution progress includes, for example, maintaining torque zeroing control in response to the execution progress being in the torque zeroing stage, keeping the clutch engaged, abandoning the switch to the series mode, and reverting to the parallel mode to terminate the second mode shifting operation.

[0078] Alternatively, a method for obtaining an interrupt handling strategy corresponding to the execution progress of a mode shifting operation may include, for example, obtaining a fourth candidate interrupt handling strategy corresponding to the clutch disengagement execution stage if the execution progress of the second mode shifting operation is in the clutch disengagement execution stage. Based on this, a method for terminating the mode shifting operation based on the interrupt handling strategy corresponding to the execution progress may include, for example, maintaining clutch disengagement control in response to the execution progress being in the clutch disengagement execution stage, and directly entering the serial mode after completing the disengagement verification. In this case, the control flow for terminating the second mode shifting operation fails, meaning the vehicle has already completed the second mode shifting operation and cannot continue to terminate it.

[0079] Alternatively, a method for obtaining an interrupt handling strategy corresponding to the execution progress of a mode shifting operation could include, for example, obtaining a fifth candidate interrupt handling strategy corresponding to the separation and verification fault tolerance stage if the execution progress of the second mode shifting operation is in the separation and verification fault tolerance stage. Based on this, a method for terminating the mode shifting operation according to the interrupt handling strategy corresponding to the execution progress could include, for example, maintaining zero-crossing jitter torque output until the third verification condition is met in response to the execution progress being in the separation and verification fault tolerance stage, thus successfully terminating the second mode shifting operation; otherwise, if the number of attempts reaches a threshold, terminating the second mode shifting operation fails.

[0080] The technical solution provided in this application embodiment, during the process of a vehicle performing a mode shift operation according to a mode shift request, that is, before the mode shift operation is completed, not only enables the vehicle to terminate the mode shift operation according to real-time operating conditions, but also enables the vehicle to terminate the mode shift operation by matching an appropriate interruption handling strategy with the execution progress of the mode shift operation. This avoids problems such as unnecessary clutch mechanism actions and forced disengagement under load during the termination of the mode shift operation, reduces transmission system shock and abnormal clutch wear, and takes into account the response speed of the shift interruption process, the smoothness of the vehicle's ride, and the service life of components, thereby improving the reliability of the series-parallel mode switching process of hybrid vehicles.

[0081] In some other possible implementations, this application also provides a vehicle gear shifting device. Figure 3 This is a schematic diagram of the vehicle shifting device provided in the embodiments of this application. See also: Figure 3 The vehicle shifting device provided in this application embodiment includes: an execution module 310 and an acquisition module 320.

[0082] Execution module 310 is configured to perform a mode shift operation based on a mode shift request.

[0083] The acquisition module 320 is configured to acquire an interrupt handling strategy corresponding to the execution progress of the mode shift operation in response to the recognition of a signal for interrupt mode shift operation.

[0084] The execution module 310 is also configured to terminate the mode shift operation based on the interrupt handling strategy corresponding to the execution progress.

[0085] In some possible implementations, the mode shift request is used to request the vehicle to switch from a series mode to a parallel mode. The vehicle's clutch is in a disengaged state in the series mode and in a engaged state in the parallel mode. When the execution module 310 performs a mode shift operation according to the mode shift request, it is configured to: adjust a first speed difference of the clutch in the disengaged state according to the mode shift request; control the clutch to enter a slipping state in response to the adjusted first speed difference satisfying a first verification condition; and control the clutch to enter an engaged state in response to a second speed difference of the clutch in the slipping state satisfying a second verification condition.

[0086] In some possible implementations, the mode shift request is used to request the vehicle to switch from parallel mode to series mode. The vehicle's clutch is in a disengaged state in series mode and in a engaged state in parallel mode. When the execution module 310 performs a mode shift operation according to the mode shift request, it is configured to: clear the torque of the driving end of the clutch in the engaged state to zero according to the mode shift request; control the clutch to enter the disengaged state in response to the completion of the torque clearing; and complete the mode shift operation in response to the third speed difference after the clutch enters the disengaged state satisfying the third verification condition.

[0087] In some possible implementations, the execution process of the mode shifting operation includes multiple stages, and the interrupt handling strategy includes multiple candidate interrupt handling strategies corresponding to each of the multiple stages. When the acquisition module 320 acquires the interrupt handling strategy corresponding to the execution progress of the mode shifting operation, it is configured to: acquire the candidate interrupt handling strategy corresponding to the stage in which the execution progress is located among the multiple candidate interrupt handling strategies.

[0088] In some possible implementations, the mode shifting operation includes a first mode shifting operation where the vehicle switches from a series mode to a parallel mode. The execution process of the first mode shifting operation includes a speed control stage and a torque control stage. When the acquisition module 320 acquires the candidate interrupt handling strategy corresponding to the stage in which the execution progress is located, it is configured to: acquire the first candidate interrupt handling strategy corresponding to the speed control stage if the execution progress is in the speed control stage; and acquire the second candidate interrupt handling strategy corresponding to the torque control stage if the execution progress is in the torque control stage.

[0089] In some possible implementations, when the execution module 310 terminates the mode shifting operation based on the interrupt handling strategy corresponding to the execution progress, it is configured to: in response to recognizing that the execution progress is in the speed control stage, switch the target speed of the driving end of the vehicle's clutch from the target speed corresponding to the parallel mode to the target speed corresponding to the series mode, so as to terminate the first mode shifting operation.

[0090] In some possible implementations, when the execution module 310 terminates the mode shifting operation based on the interrupt handling strategy corresponding to the execution progress, it is configured to: in response to the execution progress being in the torque control stage, clear the torque at the driving end of the vehicle's clutch to zero, and after the torque is cleared to zero, control the clutch to enter the disengagement state to terminate the first mode shifting operation.

[0091] It should be understood that the vehicle shifting device and the vehicle shifting method provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the vehicle shifting method embodiments.

[0092] In some other possible implementations, this application also provides an electronic device for controlling vehicle gear shifting. Figure 4 This is a schematic diagram of the structure of an electronic device for controlling vehicle gear shifting provided in an embodiment of this application. See also... Figure 4 The electronic device for controlling vehicle gear shifting provided in this application embodiment includes: The memory 410 stores at least one program instruction for controlling the vehicle's gear shifting. When the processor 420 executes the above program instructions, it enables the electronic device to achieve the above-mentioned combination. Figure 2 The steps of the described method and its various embodiments.

[0093] Depending on the implementation, the processor 420 can be one or more types of processors, including but not limited to CPU (central processing unit), GPU (graphics processing unit), or other general-purpose and / or special-purpose processors. These processors include, but are not limited to, DSP (digital signal processor), ASIC (application specific integrated circuit), FPGA (field-programmable gate array), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., and their number can be determined according to actual needs.

[0094] In some other possible implementations, this application also provides a computer program (product) comprising computer programs / instructions, which are executed by a processor to enable the computer to perform the above-described combination. Figure 2 The steps of the described method and its various embodiments.

[0095] In some other possible implementations, this application also provides a computer-readable storage medium storing program instructions for controlling vehicle gear shifting, which, when executed by one or more processors, implement the above-mentioned combination. Figure 2 The steps of the described method and its various embodiments. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a readable storage medium (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory, optical fiber, compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0096] In some other possible implementations, this application also provides a vehicle including a clutch and a controller. The clutch is used to change the power transmission path of the vehicle to enable the vehicle to operate in different power modes, and the controller is used to... Figure 2 The described method and its various embodiments control the disengagement or engagement of the clutch to control the vehicle's gear shifting process.

[0097] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0098] The term "and / or" in the embodiments of this application is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0099] The above description is only for the purpose of enabling those skilled in the art to understand the technical solution of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the scope of protection of this application.

Claims

1. A method for shifting gears in a vehicle, characterized in that, The method includes: Execute the mode shift operation according to the mode shift request; In response to the detection of a signal for interrupting the mode shifting operation, an interruption handling strategy corresponding to the execution progress of the mode shifting operation is obtained; The mode shifting operation is terminated based on the interrupt handling strategy corresponding to the execution progress.

2. The method according to claim 1, characterized in that, The mode shift request is used to request the vehicle to switch from series mode to parallel mode. The clutch of the vehicle is disengaged in series mode and engaged in parallel mode. The step of performing the mode shift operation according to the mode shift request includes: According to the mode shift request, adjust the first speed difference of the clutch in the disengaged state; In response to the adjusted first speed difference satisfying the first verification condition, the clutch is controlled to enter the slipping state; In response to the second speed difference of the clutch in the slipping state satisfying the second verification condition, the clutch is controlled to enter the engagement state.

3. The method according to claim 1, characterized in that, The mode shift request is used to request the vehicle to switch from parallel mode to series mode. The clutch of the vehicle is disengaged in series mode and engaged in parallel mode. The step of performing the mode shift operation according to the mode shift request includes: The torque at the driving end of the clutch in the engaged state is cleared to zero according to the mode shift request. In response to the completion of the torque clearing, the clutch is controlled to enter the disengaged state; If the third speed difference after the clutch enters the disengaged state satisfies the third verification condition, then the mode shifting operation is completed.

4. The method according to claim 1, characterized in that, The execution process of the mode shifting operation includes multiple stages, and the interrupt handling strategy includes multiple candidate interrupt handling strategies corresponding one-to-one with the multiple stages. The step of obtaining the interrupt handling strategy corresponding to the execution progress of the mode shifting operation includes: Among the multiple candidate interruption handling strategies, the candidate interruption handling strategy corresponding to the stage of the execution progress is obtained.

5. The method according to claim 4, characterized in that, The mode shifting operation includes a first mode shifting operation where the vehicle switches from series mode to parallel mode. The execution process of the first mode shifting operation includes a speed control stage and a torque control stage. The step of obtaining the candidate interrupt handling strategy corresponding to the current stage of the execution progress includes: If the execution progress is in the speed control stage, obtain the first candidate interrupt handling strategy corresponding to the speed control stage; If the execution progress is in the torque control stage, obtain the second candidate interrupt handling strategy corresponding to the torque control stage.

6. The method according to claim 5, characterized in that, The termination of the mode shifting operation based on the interrupt handling strategy corresponding to the execution progress includes: In response to the detection that the execution progress is in the speed control stage, the target speed of the driving end of the vehicle's clutch is switched from the target speed corresponding to the parallel mode to the target speed corresponding to the series mode, so as to terminate the first mode shifting operation.

7. The method according to claim 5, characterized in that, The termination of the mode shifting operation based on the interrupt handling strategy corresponding to the execution progress includes: In response to the execution progress being in the torque control phase, the torque at the driving end of the vehicle's clutch is cleared to zero, and after the torque is cleared to zero, the clutch is controlled to enter the disengagement state to terminate the first mode shifting operation.

8. A vehicle, characterized in that, The vehicle includes a clutch and a controller, the clutch being used to change the power transmission path of the vehicle to enable the vehicle to operate in different power modes, and the controller being used to control the disengagement or engagement of the clutch based on the method of any one of claims 1-7 to control the gear shifting process of the vehicle.

9. An electronic device, characterized in that, include: A memory that stores program instructions for controlling the vehicle's gear shifting; as well as A processor, when the program instructions are executed by the processor, causes the electronic device to perform the method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, It stores program instructions for controlling vehicle gear shifting, which, when executed by one or more processors, cause the computer to implement the method described in any one of claims 1-7.

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