Gear shifting method, gear shifting apparatus, vehicle and storage medium

Abstract

A gear shifting method, a gear shifting apparatus, a vehicle and a storage medium. The gear shifting method specifically comprises: on the basis of a target engine gear comprised in a gear shifting instruction, determining a target gear shifting position corresponding to a gear shifting hub, and controlling the gear shifting hub to move to the target gear shifting position; determining a target speed regulation parameter on the basis of the target engine gear, and, on the basis of the target speed regulation parameter, regulating the actual motor speed of a motor to a target motor speed corresponding to the target speed regulation parameter; and when the actual motor speed of the motor reaches the target motor speed, adjusting a hybrid power system, such that a real-time engine gear of an engine is shifted to the target engine gear.

Description

Gear shifting method, gear shifting device, vehicle and storage medium

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202411765374.2, filed on December 4, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of vehicle technology, and in particular to a gear shifting method, gear shifting device, vehicle, and storage medium. Background Technology

[0004] With the continuous development of the automotive industry, new energy vehicles have become the preferred mode of transportation for more and more users in their daily travel. To meet the growing driving demands of users, an increasing number of new energy vehicles are equipped with hybrid systems that include both an engine and an electric motor, thus coping with increasingly complex driving conditions. In related technologies, when a new energy vehicle receives a gear shift command triggered by a user, it typically directly adjusts the engine speed to complete the gear shift operation, thereby shifting the engine to the user's desired gear. Summary of the Invention

[0005] This application proposes a gear shifting method, which is applied to a vehicle including a hybrid power system. The hybrid power system includes a gear shift hub, an engine, and an electric motor. The gear shifting method includes:

[0006] The target shift position corresponding to the shift hub is determined according to the target engine gear contained in the gear shift command, and the shift hub is controlled to move to the target shift position;

[0007] The target speed regulation parameter is determined based on the target engine gear, and the actual motor speed of the motor is adjusted to the target motor speed corresponding to the target speed regulation parameter based on the target speed regulation parameter.

[0008] When the actual motor speed of the motor reaches the target motor speed, the hybrid power system is adjusted so that the real-time engine gear of the engine switches to the target engine gear.

[0009] In one embodiment, the hybrid power system further includes a shift motor, and the step of controlling the shift hub to move to the target shift position includes:

[0010] Determine the shift positions at each stage corresponding to the target shift position;

[0011] The actual shift position of the shift hub is detected, and the target duty cycle parameters are determined based on the actual shift position and the shift positions of each stage.

[0012] The target duty cycle parameters are sent to the shift motor so that the shift motor controls the shift hub to move sequentially through each of the stage shift positions to the target shift position according to the target duty cycle parameters.

[0013] In one embodiment, the step of determining each target duty cycle parameter based on the actual shift position and each of the stage shift positions includes:

[0014] Each of the aforementioned stage shift positions is filtered to determine the target stage shift position that matches the actual shift position;

[0015] Determine the position deviation parameter between the actual shift position and the target stage shift position;

[0016] The target duty cycle parameter corresponding to the shift position of the target stage is determined based on the position deviation parameter.

[0017] In one embodiment, the step of determining the target speed regulation parameter based on the target engine gear includes:

[0018] The target motor speed corresponding to the motor is determined based on the target engine gear, and the first actual motor speed corresponding to the motor is detected.

[0019] The motor speed difference is calculated based on the first actual motor speed and the target motor speed, and the speed adjustment time parameter is determined based on the vehicle operating parameters.

[0020] The target speed regulation parameters are determined based on the motor speed difference and the speed regulation time parameters.

[0021] In one embodiment, the step of adjusting the actual motor speed of the motor to the target motor speed corresponding to the target speed regulation parameter according to the target speed regulation parameter includes:

[0022] Determine the motor torque intervention capability parameters corresponding to the motor;

[0023] If the target speed regulation parameter is detected to be less than the motor torque intervention capability parameter, the actual motor speed of the motor is adjusted to the target motor speed according to the target speed regulation parameter.

[0024] In one embodiment, the step of adjusting the hybrid power system to switch the real-time engine gear to the target engine gear includes:

[0025] Control the clutch within the hybrid power system to engage;

[0026] The motor torque parameter corresponding to the motor is adjusted from the first torque parameter to zero, and the engine torque parameter corresponding to the engine is adjusted from zero to the first torque parameter, so that the real-time engine gear of the engine is switched to the target engine gear.

[0027] In one embodiment, before the step of determining the target shift position corresponding to the shift hub based on the target engine gear included in the gear shift command, the method further includes:

[0028] Receive gear shifting command and detect the hybrid system to determine the corresponding power mode of the vehicle, wherein the power mode includes series mode and parallel mode;

[0029] When the power mode is detected to be the parallel mode, the hybrid system is adjusted to control the vehicle to enter the series mode, and the step of determining the target shift position corresponding to the shift hub according to the target engine gear contained in the gear shift command is executed.

[0030] In one embodiment, the step of adjusting the hybrid power system to control the vehicle to enter the series mode includes:

[0031] Adjust the engine torque parameter corresponding to the engine from the preset first torque parameter to zero;

[0032] The motor torque parameter corresponding to the motor is adjusted from zero to the first torque parameter, and the clutch in the hybrid system is controlled to disengage, so that the vehicle switches from the parallel mode to the series mode.

[0033] In one embodiment, the power mode further includes a pure electric mode, and after the step of detecting the hybrid power system to determine the power mode corresponding to the vehicle, the method further includes:

[0034] When the power mode is detected to be the pure electric mode, the real-time driving parameters of the vehicle are detected.

[0035] The target shift position is determined based on the real-time driving parameters and the gear shift command, and the shift drum is controlled to move to the target shift position.

[0036] Control the power mode to switch from the pure electric mode to the parallel mode, so that the actual engine gear of the engine switches to the target engine gear.

[0037] Furthermore, to achieve the above objectives, this application also proposes a gear shifting device, wherein the gear shifting device is applied to a vehicle including a hybrid power system, the hybrid power system including a gear shift hub, an engine, and an electric motor, and the device includes:

[0038] The shift position calculation module is used to determine the target shift position corresponding to the shift hub based on the target engine gear contained in the gear shift command, and control the shift hub to move to the target shift position;

[0039] The speed regulation parameter calculation module is used to determine the target speed regulation parameter based on the target engine gear, and adjust the actual motor speed of the motor to the target motor speed corresponding to the target speed regulation parameter based on the target speed regulation parameter;

[0040] The gear shifting control module is used to adjust the hybrid system when the actual motor speed of the motor reaches the target motor speed, so that the real-time engine gear of the engine is shifted to the target engine gear.

[0041] In addition, to achieve the above objectives, this application also proposes a vehicle comprising: a hybrid power system, a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the gear shifting method as described above.

[0042] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the gear shifting method described above.

[0043] The gear shifting method provided in this application is applied to a vehicle containing a hybrid power system. The hybrid power system includes a gear shift hub, an engine, and a motor. The method determines a target shift position corresponding to the gear shift hub based on a target engine gear included in a gear shifting command, and controls the gear shift hub to move to the target shift position. A target speed regulation parameter is determined based on the target engine gear, and the actual motor speed of the motor is adjusted to the target motor speed corresponding to the target speed regulation parameter. When the actual motor speed reaches the target motor speed, the hybrid power system is adjusted to cause the real-time engine gear of the engine to shift to the target engine gear.

[0044] In this embodiment, during vehicle operation, the vehicle first identifies the received gear shift command to determine the target engine gear contained in the command, and then determines the target shift position for controlling the shift drum based on the target engine gear. The vehicle then controls the shift drum to move to the target shift position. After that, the vehicle calculates the target speed adjustment parameters for speed adjustment based on the target engine gear, and adjusts the actual motor speed of the electric motor to the target motor speed that matches the target speed adjustment parameters. Finally, with the actual motor speed adjusted to the target motor speed, the vehicle adjusts the hybrid system to switch the real-time engine gear to the target engine gear.

[0045] Thus, this application solves the technical problem of significant impact during vehicle gear shifting in related technologies. Specifically, this application calculates the target shift position and target speed adjustment parameters based on the target engine gear, thereby controlling the shift drum to move to the target shift position and controlling the actual motor speed of the motor to reach the target motor speed according to the target speed adjustment parameters. This allows the engine to accurately switch to the target engine gear during gear shifting, thereby achieving the technical effect of enabling the vehicle to complete gear shifting operations more smoothly and further improving the vehicle's driving performance. Attached Figure Description

[0046] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 is a schematic diagram of the hybrid power system structure involved in an embodiment of the gear shifting method of this application;

[0049] Figure 2 is a flowchart of the gear switching method provided in Embodiment 1 of this application;

[0050] Figure 3 is a schematic diagram of the target shifting position involved in an embodiment of the gear shifting method of this application;

[0051] Figure 4 is a schematic diagram of each gear shifting stage involved in an embodiment of the gear shifting method of this application;

[0052] Figure 5 is a flowchart of the gear switching method according to Embodiment 2 of this application;

[0053] Figure 6 is a schematic diagram of the module structure of the gear shifting device of this application;

[0054] Figure 7 is a schematic diagram of the hardware operating environment involved in the gear shifting method in the embodiments of this application.

[0055] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0056] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0057] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0058] In this embodiment, for ease of description, please refer to Figure 1. Figure 1 is a schematic diagram of the hybrid power system structure involved in an embodiment of the gear shifting method of this application. The following description uses a vehicle with an internal hybrid power system, or a mobile terminal, data storage control terminal, PC, or other terminal connected to the vehicle's electronic control unit as the execution subject. As shown in Figure 1, the hybrid system includes an engine, a shift hub, a P1 motor, a P3 motor, a clutch, and a shift motor.

[0059] Based on the aforementioned vehicle, the overall concept of the gear shifting method of this application is proposed.

[0060] With the continuous development of the automotive industry, new energy vehicles have become the preferred mode of transportation for more and more users in their daily travel. To meet the growing driving demands of users, an increasing number of new energy vehicles are equipped with hybrid systems that include both an engine and an electric motor, thus coping with increasingly complex driving conditions. In related technologies, when a new energy vehicle receives a gear shift command triggered by a user, it typically directly adjusts the engine speed to complete the gear shift, thus shifting the engine to the user's desired gear. However, during the gear shifting process, the vehicle often performs the speed adjustment operation without fully disengaging the clutch, resulting in significant shocks during gear changes and greatly reducing the driver's driving experience.

[0061] To address the above issues, this application provides a gear shifting method applied to a vehicle containing a hybrid powertrain. The hybrid powertrain includes a gear shift hub, an engine, and a motor. The gear shifting method comprises: determining a target shift position corresponding to the gear shift hub based on a target engine gear contained in a gear shifting command, and controlling the gear shift hub to move to the target shift position; determining a target speed regulation parameter based on the target engine gear, and adjusting the actual motor speed of the motor to the target motor speed corresponding to the target speed regulation parameter; and adjusting the hybrid powertrain when the actual motor speed reaches the target motor speed, so that the real-time engine gear of the engine shifts to the target engine gear.

[0062] Thus, this application solves the technical problem of significant impact during vehicle gear shifting in related technologies. Specifically, this application calculates the target shift position and target speed adjustment parameters based on the target engine gear, thereby controlling the shift drum to move to the target shift position and controlling the actual motor speed of the motor to reach the target motor speed according to the target speed adjustment parameters. This allows the engine to accurately switch to the target engine gear during gear shifting, thereby achieving the technical effect of enabling the vehicle to complete gear shifting operations more smoothly and further improving the vehicle's driving performance.

[0063] Based on the overall concept of the gear shifting method of this application, this application provides a gear shifting method. Referring to Figure 2, which is a flowchart of the first embodiment of the gear shifting method of this application, in this embodiment, the gear shifting method is applied to a vehicle including a hybrid power system. The hybrid power system includes a gear shift hub, an engine, and a motor. The gear shifting method includes steps S10 to S30:

[0064] Step S10: Determine the target shift position corresponding to the shift hub according to the target engine gear contained in the gear shifting command, and control the shift hub to move to the target shift position;

[0065] It should be noted that the target shift position is the position where the shift hub needs to be moved. Specifically, please refer to Figure 3, which is a schematic diagram of the target shift position involved in an embodiment of the gear shifting method of this application. As shown in Figure 3, each target engine gear N1, G1, N12, G2, N23, G3, and N3 corresponds to a different target shift position. For example, when the user needs to shift to gear N3, the shift hub needs to be moved to position 4786 before the engine will enter gear N3.

[0066] In this embodiment, if the driver controls the clutch to change the engine gear during vehicle operation, the engine controller configured in the vehicle first generates a gear shifting command and sends it to the vehicle controller configured in the vehicle. The vehicle controller inputs the gear shifting command to the transmission controller, which reads the target engine gear contained in the gear shifting command and calculates the target shift position for controlling the shift drum based on the target engine gear. The transmission controller then sends the target shift position to the shift motor configured in the vehicle, which controls the shift drum to move to the target shift position.

[0067] For example, when the vehicle is in motion, if the driver adjusts the clutch to trigger a gear shift command, the EMC (Engine Control Module) configured in the vehicle will send the generated gear shift command to the VCU (Vehicle Control Unit) configured in the vehicle. The VCU will then send the gear shift request to the PCM (Powertrain Control Module). The PCM will determine the target shift position for controlling the shift hub based on the target engine gear contained in the gear shift request. The PCM will then send the target shift position to the shift motor, which will control the shift hub to move it from its current position to the target shift position.

[0068] In this way, the vehicle can determine the target shift position corresponding to the target engine gear according to the gear request command, and ensure that the shift drum moves to the target shift position while the clutch is fully disengaged by switching the power mode to series mode. This avoids the situation where the shift drum performs a shift operation while the clutch is not fully disengaged, which would cause a large impact during the shift operation, and thus completes the shift operation accurately.

[0069] In one feasible implementation, the hybrid power system further includes a shift motor, and the step of "controlling the shift hub to move to the target shift position" in step S10 above may specifically include steps S101 to S103:

[0070] Step S101: Determine the shift positions at each stage corresponding to the target shift position;

[0071] Step S102: Detect the actual shift position of the shift hub, and determine the target duty cycle parameters based on the actual shift position and the shift positions of each stage;

[0072] Step S103: Send the target duty cycle parameters to the shift motor so that the shift motor controls the shift hub to move to the target shift position by passing through each of the stage shift positions in sequence according to the target duty cycle parameters.

[0073] It should be noted that, referring to Figure 4, which is a schematic diagram of the various shifting stages involved in an embodiment of the gear shifting method of this application, during the gear shifting process, when the shift hub is in position O, it is in neutral. Similarly, when the shift hub is in position A, the GA mechanism enters the pre-synchronization start stage, at which time the gear sleeve slider and the synchronization ring are in contact. Similarly, when the shift hub enters position B, the shift hub enters the synchronization position. Similarly, when the shift hub enters position C, the synchronizer gear sleeve and the engagement teeth begin to contact, entering the secondary impact stage. Similarly, when the shift hub enters position D, the gear shifting operation is completed, that is, position D is the target shifting position. In addition, the shifting position at this stage is a displacement parameter used to determine the shifting stage in which the gear shifting operation is located. It can be understood that by controlling the shift hub to move to different shifting positions, the gear shifting operation can be made to switch to different shifting stages more smoothly, thereby further improving the driving performance of the vehicle. Furthermore, the target duty cycle parameter is the ratio between the upper-level software signal and the shift motor interface signal. It can be understood that the magnitude of this target duty cycle parameter directly affects the shift motor speed and the shift motor phase current, and thus affects whether the shift motor can control the shift hub to enter the target shift position.

[0074] In this embodiment, after determining the target shift position, the transmission controller first reads the storage module configured in the vehicle to determine the shift positions of each stage corresponding to the target shift position. Then, the transmission controller detects the actual shift position of the shift hub and compares the actual shift position with the shift positions of each stage. Based on the actual shift position of the shift hub and the shift positions of each stage, the transmission controller determines the shift stages corresponding to the shift hub and determines the target duty cycle parameters corresponding to each shift stage. Finally, the transmission controller sends the acquired target duty cycle parameters to the shift motor in the hybrid system. The shift motor then controls the shift hub to move sequentially through each shift position according to the target duty cycle parameters, and finally arrives at the target shift position.

[0075] For example, after determining the target shift position D, the PCM first reads the storage module configured in the vehicle to determine the shift stages OA, AB, BC, and CD corresponding to the target shift position D, and determines the stage shift position A corresponding to shift stage OA, the stage shift position B corresponding to shift stage AB, the stage shift position C corresponding to shift stage BC, and the stage shift position D corresponding to shift stage CD. Then, the PCM detects the shift hub to determine the actual shift position of the shift hub, and determines the target duty cycle parameter OutPID corresponding to each shift stage OA, AB, BC, and CD based on the actual shift position and each stage shift position. Finally, the PCM sends each target duty cycle parameter OutPID to the shift motor in the hybrid system, and the shift motor controls the shift hub to move from its actual position O according to each target duty cycle parameter OutPID, and sequentially passes through stage shift positions A, B, C, and D, finally reaching the target shift position D.

[0076] In this way, the vehicle can determine the stage shift position of the shift hub at different shift stages based on the target shift position, and determine the duty cycle parameters that the shift motor should use when the shift hub moves to different stage shift positions. Thus, during the shift stage, the shift motor can accurately control the shift hub to pass through each stage shift position in sequence, avoiding large impacts during the shift process and further improving the accuracy of the shift operation.

[0077] In one feasible implementation, the step of "determining each target duty cycle parameter based on the actual shift position and each stage shift position" in step S102 above may specifically include steps S1021 to S1023:

[0078] Step S1021: Filter the shift positions of each stage to determine the target stage shift position that matches the actual shift position;

[0079] Step S1022: Determine the position deviation parameter between the actual shift position and the target stage shift position;

[0080] Step S1023: Determine the target duty cycle parameter corresponding to the target stage shift position based on the position deviation parameter.

[0081] In this embodiment, after determining the shift positions at each stage, the transmission controller first selects the target shift position that the shift hub will reach next from the shift positions at each stage. Then, the transmission controller calculates the position deviation parameter between the actual shift position and the target shift position. Finally, the transmission controller reads the aforementioned storage module to obtain a preset position deviation parameter threshold and compares the position deviation parameter with the position deviation parameter threshold to obtain a first comparison result. If the transmission controller determines that the position deviation parameter is greater than the position deviation parameter threshold in the first comparison result, it calculates the target duty cycle parameter corresponding to the target shift position based on the position deviation parameter.

[0082] For example, after determining the stage shift positions A, B, C, and D, the PCM first filters the stage shift positions A, B, C, and D. If the actual position of the shift hub is O at this time, the PCM calculates the displacement distance between the actual position O and each of the stage shift positions A, B, C, and D. When the stage shift position A is determined to be the closest to the actual position O based on each displacement distance, the stage shift position A is determined as the target stage shift position that the shift hub needs to go to next. Then, the PCM calculates the first shift position deviation parameter between the actual shift position O and the target stage shift position A. Finally, the PCM reads the aforementioned storage module to obtain a preset position deviation parameter threshold and compares the first shift position deviation parameter with the position deviation parameter threshold to obtain a first comparison result. When the PCM determines that the first comparison result is that the first shift position deviation parameter is greater than the position deviation parameter threshold, it performs PID calculation based on the position deviation parameter to calculate the target duty cycle parameter OutPID used to control the shift hub to move accurately to position A.

[0083] Similarly, if the actual position of the shift hub is at shift stage AB, the PCM can filter the shift positions B, C, and D based on the aforementioned displacement distances. When the shift position B is determined to be closest to the actual position O based on the displacement distances, the PCM determines shift position B as the target shift position the shift hub needs to move to next. Then, the PCM calculates the second shift position deviation parameter between the actual shift position and the target shift position B. Finally, the PCM compares the second shift position deviation parameter with the position deviation parameter threshold to obtain a second comparison result. If the PCM determines that the second comparison result is that the second shift position deviation parameter is greater than the position deviation parameter threshold, it performs PID calculation based on the position deviation parameter to calculate the target duty cycle parameter OutPID used to control the shift hub to move accurately to position B. Understandably, if the actual position of the shift hub is in shift stage AB and the target shift position is D, it means that the shift hub has passed stage shift position A. The PCM then determines stage shift position A as the stage shift position that has been passed and only filters stage shift positions B, C, and D.

[0084] In this way, the vehicle can determine the stage shift position of the shift hub at different shift stages based on the target shift position, and determine the duty cycle parameters that the shift motor should use when the shift hub moves to different stage shift positions. Thus, during the shift stage, the shift motor can accurately control the shift hub to pass through each stage shift position in sequence, avoiding large impacts during the shift process and further improving the accuracy of the shift operation.

[0085] Step S20: Determine the target speed regulation parameter according to the target engine gear, and adjust the actual motor speed of the motor to the target motor speed corresponding to the target speed regulation parameter according to the target speed regulation parameter;

[0086] In this embodiment, after the transmission controller moves the shift hub to the target shift position by controlling the shift motor, it further calculates the target speed regulation parameter based on the target engine gear. The transmission controller then adjusts the actual motor speed of the target motor according to the target speed regulation parameter so as to adjust the actual motor speed to the target motor speed that matches the target speed regulation parameter.

[0087] For example, after the PCM controls the shift hub to move to the target shift position D via the shift motor, the PCM further calculates the target speed regulation intervention torque parameter for adjusting the speed of the P1 motor based on the target engine gear. The PCM then adjusts the actual speed of the P1 motor according to the target speed regulation intervention torque parameter to adjust the actual speed of the P1 motor to the target motor speed that matches the target speed regulation intervention torque.

[0088] In this way, the vehicle can calculate the torque adjustment parameters after adjusting the shift hub to the target shift position, and adjust the motor speed according to the torque adjustment parameters.

[0089] In one feasible implementation, the step of "determining the target speed regulation parameter according to the target engine gear" in step S20 above may specifically include steps S201 to S203:

[0090] Step S201: Determine the target motor speed corresponding to the motor based on the target engine gear, and detect the first actual motor speed corresponding to the motor;

[0091] Step S202: Calculate the motor speed difference based on the first actual motor speed and the target motor speed, and determine the speed adjustment time parameter based on the vehicle operating parameters;

[0092] Step S203: Determine the target speed regulation parameters based on the motor speed difference and the speed regulation time parameters.

[0093] In this embodiment, after the transmission controller moves the shift drum to the target shift position via the shift motor, it first calculates the target motor speed based on the target engine gear. Simultaneously, the transmission controller detects the first actual motor speed of the target motor connected to the engine. Then, the transmission controller calculates the difference between the first actual motor speed and the target motor speed to obtain the motor speed difference. At the same time, the transmission controller reads vehicle-connected operating condition parameters such as the vehicle's motion mode and driver behavior parameters, and determines the target speed adjustment time based on the vehicle-connected operating condition parameters. Finally, the transmission controller calculates the target speed adjustment intervention torque parameter based on the target speed adjustment time and the motor speed difference.

[0094] For example, after the PCM controls the shift hub to move to the target shift position D via the shift motor, it first detects the hybrid system to determine the P1 motor connected to the engine. The PCM then detects the first actual motor speed of the P1 motor. Simultaneously, the PCM calculates the target motor speed of the P1 motor after the vehicle switches to the target gear by multiplying the output shaft speed of the P1 motor by the speed ratio of the target engine gear. Then, the PCM calculates the difference between the first actual motor speed and the target motor speed to obtain the target speed difference. At the same time, the PCM reads the driver mode and driver behavior data, and queries a preset speed adjustment time mapping table based on the preset driver mode and driver behavior data to determine the corresponding target speed adjustment time. Finally, the PCM calculates the angular acceleration based on the target speed difference and the target speed adjustment time, and multiplies the angular acceleration by the moment of inertia to obtain the target speed adjustment intervention torque parameter.

[0095] In this way, the vehicle can calculate the torque adjustment parameters after adjusting the shift hub to the target shift position, and adjust the motor speed according to the torque adjustment parameters.

[0096] In one feasible implementation, the step S20 above, "adjusting the actual motor speed of the motor to the target motor speed corresponding to the target speed regulation parameter according to the target speed regulation parameter," may specifically include steps S204 to S205:

[0097] Step S204: Determine the motor torque intervention capability parameters corresponding to the motor;

[0098] Step S205: If the target speed regulation parameter is detected to be less than the motor torque intervention capability parameter, the actual motor speed of the motor is adjusted to the target motor speed according to the target speed regulation parameter.

[0099] It should be noted that, since motors have the characteristics of fast response and high precision, after the target speed regulation intervention torque is calculated, the target speed regulation intervention torque should be allocated to the motor first to enable the motor to perform torque increase and decrease operations.

[0100] In this embodiment, after calculating the target speed regulation intervention torque parameter, the transmission controller first determines the motor torque intervention capability parameter corresponding to the target motor. Then, the transmission controller compares the target speed regulation intervention torque parameter with the motor torque intervention capability parameter. If it detects that the target speed regulation intervention torque parameter is less than the motor torque intervention capability parameter, it performs a torque distribution operation to distribute all the target speed regulation intervention torque to the target motor, thereby adjusting the actual motor speed of the target motor to the aforementioned target motor speed.

[0101] For example, after calculating the target speed regulation intervention torque parameters, the PCM first determines the uninterrupted P1 requested torque and the maximum torque capacity of motor P1. Then, based on the uninterrupted P1 requested torque and the maximum torque capacity of P1, the PCM calculates the motor torque intervention capability parameters corresponding to motor P1 as follows:

[0102] max(P1 requested torque without intervention, P1 maximum torque capacity) - P1 requested torque without intervention;

[0103] The PCM then compares the acquired target speed regulation intervention torque with the motor torque intervention capability parameter to obtain a second comparison result. If the PCM determines that the target speed regulation intervention torque is less than the motor torque intervention capability parameter, it determines to allocate all torque adjustment parameters to motor P1. Motor P1 can still process the speed regulation intervention torque. The PCM then performs a torque allocation operation to allocate the target speed regulation intervention torque to motor P1, thereby causing motor P1 to perform a torque increase / decrease operation to change the first actual motor speed of motor P1 to the aforementioned target motor speed.

[0104] Furthermore, in this embodiment and another embodiment, after calculating the motor torque intervention capability parameters, the PCM can also determine the uninterrupted engine request torque corresponding to the engine, and calculate the engine torque intervention capability parameters corresponding to the engine based on the uninterrupted engine request torque and the aforementioned maximum torque capability of P1:

[0105] Max (Uninterrupted engine requested torque, P1 maximum torque capability) - Uninterrupted engine requested torque;

[0106] If the PCM determines that the target speed regulation intervention torque is greater than the motor torque intervention capability parameter in the second comparison result, it will allocate the target speed regulation intervention torque to the P1 motor and calculate the first remaining speed regulation intervention torque. The PCM will then allocate the first remaining speed regulation intervention torque to the engine to adjust the first actual motor speed of the P1 motor to the target engine speed through the engine.

[0107] Furthermore, in this embodiment and another embodiment, after calculating the first remaining speed regulation intervention torque, the PCM can first compare the first remaining speed regulation intervention torque with the engine torque intervention capability parameter to obtain a third comparison result. If the PCM determines that the third comparison result is that the first remaining speed regulation intervention torque is greater than the engine torque intervention capability parameter, it determines that after allocating the target speed regulation torque parameter to the P1 motor and the engine to change the engine speed, there is still a remaining speed regulation torque parameter, and at this time the actual speed of the P1 motor has not yet reached the target motor speed. Then, the PCM calculates the second remaining speed regulation intervention torque parameter based on the first remaining speed regulation intervention torque and the engine torque intervention capability parameter. The PCM then allocates the second remaining speed regulation intervention torque parameter to the clutch, so that the clutch performs torque lifting and lowering operations to further increase the first actual speed of the P1 motor to the target motor speed.

[0108] Furthermore, in this embodiment and another embodiment, after the PCM adjusts the P1 motor to the target motor speed, it determines the target motor speed as the second actual motor speed. The PCM further subtracts the requested speed of the P1 motor from the second actual motor speed of the P1 motor to obtain the speed difference of the P1 motor. At the same time, the PCM calculates the second motor speed difference generated between the second actual motor speed of the P1 motor after adjustment and the actual speed of the P3 motor. Then, when the PCM detects that the speed difference of the P1 motor is less than a preset P1 motor speed difference threshold and the second motor speed difference is less than a preset P3 motor speed difference threshold, it determines that the speed adjustment operation is completed and continues to control the VCU to switch the power mode.

[0109] In this way, the vehicle can calculate the torque adjustment parameters after adjusting the shift hub to the target shift position, and adjust the motor speed according to the torque adjustment parameters. At the same time, when the torque intervention capability of the motor is insufficient to process the torque adjustment parameters, the vehicle can also distribute the remaining torque adjustment parameters to other motors and clutches in the hybrid system, thereby completing the adjustment of motor speed more efficiently and further improving the stability of the shifting process.

[0110] Step S30: When the actual motor speed of the motor reaches the target motor speed, the hybrid power system is adjusted so that the real-time engine gear of the engine is switched to the target engine gear.

[0111] In this embodiment, after adjusting the actual motor speed of the target motor to the target motor speed, the transmission controller adjusts the clutch in the hybrid system to switch the power mode from parallel mode to series mode, and performs torque interaction operation on the hybrid system, thereby causing the actual gear of the engine to switch to the target engine gear.

[0112] For example, after the PCM adjusts the P1 motor to the target motor speed, the PCM controls the clutch to switch the vehicle's power mode from series mode to parallel mode. At the same time, the PCM controls the P1 motor, P3 motor, and engine to perform torque interaction operation to distribute the first torque parameter on the P3 motor to the engine, thereby switching the actual engine gear to the target engine gear.

[0113] In one feasible implementation, step S30 above may specifically include steps S301 to S302:

[0114] Step S301: Control the clutch in the hybrid power system to enter the engagement state;

[0115] Step S302: Adjust the motor torque parameter corresponding to the motor from the first torque parameter to zero, and adjust the engine torque parameter corresponding to the engine from zero to the first torque parameter, so that the real-time engine gear of the engine switches to the target engine gear.

[0116] In this embodiment, after adjusting the actual motor speed of the target motor to the target motor speed, the transmission controller first controls the clutch to make the clutch engage. Then, the transmission controller controls the motor and the engine to perform torque interaction operation to change the motor torque parameter corresponding to the motor from the first torque parameter to 0, and to change the engine torque parameter from 0 to the first torque parameter, thereby causing the real-time engine gear to switch to the target engine gear.

[0117] For example, after the PCM adjusts the actual motor speed of the P1 motor to the target motor speed, the PCM further controls the clutch in the hybrid system to make the clutch engage, thereby switching the vehicle's power mode from parallel mode to series mode. Then, the PCM controls the P1 motor, P3 motor, and engine to perform torque interaction operation to compensate the first torque on the P3 motor to the engine, thereby switching the actual engine gear to the target engine gear, and then ending the gear shifting operation.

[0118] In this embodiment, if the driver controls the clutch to change the engine gear while the vehicle is in motion, the engine controller installed in the vehicle first generates a gear shifting command and sends it to the vehicle controller. When the vehicle controller detects that the vehicle's power mode is parallel mode, it controls the transmission controller according to the gear shifting command to switch the vehicle's power mode from parallel mode to series mode. After determining that the vehicle's power mode has switched from parallel mode to series mode, the transmission controller reads the target engine gear contained in the gear shifting command and calculates the target shift point for controlling the shift drum based on the target engine gear. The transmission controller then sends the target shift position to the shift motor located in the vehicle. The shift motor controls the shift hub to move to the target shift position. Subsequently, the transmission controller calculates the target speed regulation parameters based on the target engine gear. The transmission controller then adjusts the actual motor speed of the target motor according to the target speed regulation parameters to match the target motor speed. Finally, the transmission controller adjusts the clutch in the hybrid system to switch the power mode from parallel mode to series mode and performs torque interaction operation on the hybrid system, thereby shifting the actual engine gear to the target engine gear.

[0119] Thus, this application solves the technical problem of significant impact during vehicle gear shifting in related technologies. Specifically, this application calculates the target shift position and target speed adjustment parameters based on the target engine gear, controls the shift drum to move according to the target shift position, and adjusts the actual motor speed of the electric motor according to the target speed adjustment parameters. When the shift drum moves to the target shift position and the actual motor speed of the electric motor reaches the target motor speed, the hybrid system is adjusted to enable the engine to complete the gear shift, thereby achieving the technical effect of enabling the vehicle to complete gear shifting operations more smoothly and further improving the vehicle's driving performance.

[0120] Based on the first embodiment of this application, a second embodiment of this application is proposed herein. In this second embodiment, content that is the same as or similar to the above embodiments can be referred to the above description and will not be repeated hereafter. Furthermore, before step S10 above, the gear shifting method of this application may further include steps A10 to A20:

[0121] Step A10: Receive a gear shift command and detect the hybrid power system to determine the corresponding power mode of the vehicle, wherein the power mode includes series mode and parallel mode;

[0122] Step A20: When the power mode is detected to be the parallel mode, the hybrid system is adjusted to control the vehicle to enter the series mode, and the step of determining the target shift position corresponding to the shift hub according to the target engine gear contained in the gear shift command is executed.

[0123] It should be noted that the series mode is the power mode in which the vehicle drives the wheels through the aforementioned P3 motor. In this mode, the clutch is in a disengaged state where the driving and driven discs are not engaged. At this time, the engine charges the battery in the hybrid system through the P1 motor, and the battery powers the P3 motor to drive the wheels. Conversely, the parallel mode is the power mode in which the vehicle directly drives the wheels through the aforementioned engine. In this mode, the clutch is in an engaged state where the driving and driven discs are engaged, and the engine can directly drive the wheels.

[0124] In this embodiment, if the driver controls the clutch to change the engine gear during vehicle operation, the engine controller configured in the vehicle first generates a gear shifting command and sends it to the vehicle controller configured in the vehicle. The vehicle controller detects the hybrid system in the vehicle to determine whether the vehicle's power mode is series or parallel. Then, the vehicle controller sends a series request to the transmission controller configured in the vehicle. The transmission controller controls the hybrid system to switch the vehicle's power mode from parallel to series. After controlling the power mode to switch to series, it reads the target engine gear contained in the gear shifting command and calculates the target shift position for controlling the shift drum based on the target engine gear.

[0125] For example, if a user adjusts the clutch to trigger a gear shift command while the vehicle is in motion, the EMC (Engine Control Module) in the vehicle sends the generated gear shift command to the VCU (Vehicle Control Unit). The VCU then detects the clutch in the hybrid system and determines whether the vehicle's power mode is series or parallel based on the clutch's status. If the VCU detects that the vehicle's power mode is parallel, it further performs torque interaction operations on the P1 motor, P3 motor, and engine in the hybrid system. Simultaneously, the VCU generates a series request and sends it to the PCM (Power Control Module) in the vehicle. The PCM adjusts the clutch, switching the vehicle's power mode from parallel to series. Upon confirming the switch to series mode, the PCM sends feedback information to the VCU. The VCU then detects this feedback information via the CAN (Controller Area Code). If the delay of the Network (Controller Area Network) meets the preset delay judgment threshold, the gear shift request is sent to the PCM so that the PCM can determine the target shift position for controlling the shift drum based on the target engine gear contained in the gear shift request.

[0126] In this way, when the vehicle receives a gear shifting command from the driver, it first detects the hybrid system to determine its own power mode, and then determines the appropriate gear shifting process based on the power mode. At the same time, during the gear shifting operation, the vehicle can completely disengage the clutch before controlling the vehicle's power mode to switch to series mode, so as to avoid large shocks caused by the clutch not being completely disengaged during speed adjustment.

[0127] In one feasible implementation, step A20 above may specifically include steps A201 to A202:

[0128] Step A201: Adjust the engine torque parameter corresponding to the engine from the preset first torque parameter to zero;

[0129] Step A202: Adjust the motor torque parameter corresponding to the motor from zero to the first torque parameter, and control the clutch in the hybrid system to disengage, so that the vehicle switches from the parallel mode to the series mode.

[0130] In this embodiment, when the vehicle controller determines that the power mode is parallel mode, it first controls the first motor, the second motor, and the engine in the hybrid system to perform torque interaction operation to adjust the engine torque parameter from a preset first torque parameter to 0. Then, the vehicle controller supplements the torque parameter lost by the engine to the second motor, thereby adjusting the motor torque parameter of the second motor from 0 to the first torque parameter. At the same time, the vehicle controller generates a series request and sends the series request to the transmission controller, which controls the clutch to enter the disengaged state, so that the vehicle's power mode switches from parallel mode to series mode.

[0131] For example, when the VCU detects that the vehicle's power mode is parallel mode, it first performs torque interaction processing on the P1 motor, P3 motor, and engine in the hybrid system to adjust the engine's torque parameter from a preset first torque parameter to 0. Then, the VCU compensates for the lost torque parameter from the engine to the P3 motor, adjusting the P3 motor's torque parameter from 0 to the first torque parameter. When the VCU determines that the engine torque is 0, it generates a series request and sends it to the PCM. The PCM then controls the clutch to disengage according to the series request, allowing the P3 motor to directly control the wheels, thus switching the vehicle's power mode from parallel mode to series mode. It is understood that the specific value of this first torque parameter is consistent with the value of the first torque parameter compensated to the engine when the P3 motor performs torque interaction operation.

[0132] In this way, the vehicle can control the engine torque to zero during gear shifting, thereby ensuring that the clutch can be fully disengaged and avoiding the situation where the clutch is forcibly disengaged when the engine torque is not zero, which could lead to clutch damage.

[0133] Based on the first and / or second embodiments of this application, a third embodiment of this application is proposed herein. In this third embodiment, content that is the same as or similar to the above embodiments can be referred to the above description and will not be repeated hereafter. Based on this, please refer to Figure 5, which is a flowchart illustrating the gear shifting method according to Embodiment 2 of this application. As shown in Figure 5, after step A10 above, the gear shifting method of this application may further include steps B10 to B30:

[0134] Step B10: When the power mode is detected to be the pure electric mode, the real-time driving parameters of the vehicle are detected;

[0135] Step B20: Determine the target shift position based on the real-time driving parameters and the gear shift command, and control the shift drum to move to the target shift position;

[0136] Step B30: Control the power mode to switch from the pure electric mode to the parallel mode, so that the actual engine gear of the engine switches to the target engine gear.

[0137] In this embodiment, when the vehicle controller detects that the vehicle's power mode is pure electric mode, it first reads the vehicle's real-time driving parameters. Then, the vehicle controller queries a preset gear mapping table to determine the target shift position corresponding to the real-time driving parameters. The vehicle controller then sends the target shift position to the aforementioned transmission controller, which controls the shift hub to move to the target shift position. Finally, the transmission controller adjusts the aforementioned transmission to control the vehicle's power mode to switch from pure electric mode to parallel mode, thereby causing the engine's actual engine gear to switch to the target engine gear contained in the gear shift command.

[0138] For example, after the VCU detects the vehicle's power mode, if it determines that the power mode is EV (Electric Vehicle) mode, the VCU first detects the vehicle's actual speed parameter. Then, when the VCU detects that the actual speed parameter is less than 70 km / h, it determines that the vehicle is in a low-speed condition and determines that the target engine gear in the low-speed condition is N1 / N12 / N23. Then, the VCU sends the target engine gear to the aforementioned PCM, which controls the shift drum to move to the target shift position according to the target engine gear. Finally, after the PCM determines that the shift drum has moved to the target shift position, it controls the clutch in the hybrid system to engage, thereby switching the power mode from EV mode to parallel mode, and thus switching the actual engine gear to the target engine gear to complete the shift operation.

[0139] In this way, the vehicle can directly control the shift hub to enter the target shift position in pure electric mode, and thus quickly complete the gear shifting operation without the need to adjust the clutch, further improving the efficiency of the gear shifting operation.

[0140] Furthermore, in this embodiment and another embodiment, when the VCU detects that the vehicle's power mode is parallel mode, it can first control the P1 motor, P3 motor, and engine in the hybrid system to perform torque interaction, so as to reduce the engine torque to 0 and compensate the engine torque to the P3 motor. Then, the VCU generates a series request and sends the series request to the PCM. The PCM adjusts the clutch to enter the disengaged state according to the series request, so as to switch the power mode from parallel mode to series mode. Then, in series mode, the target engine gear is determined according to the gear shifting command, and the target shift position is determined according to the target engine gear. The PCM then controls the shift drum to move to the target shift position so that the actual engine gear is switched to the target engine gear, thereby completing the gear shifting operation.

[0141] In this way, the vehicle can directly control the wheels via the P3 motor after completing the gear shifting operation.

[0142] This application also provides a gear shifting device, as shown in Figure 6. The gear shifting device is applied to a vehicle including a hybrid power system, the hybrid power system including a gear shift hub, an engine, and an electric motor. The device includes...

[0143] The shift position calculation module 10 is used to determine the target shift position corresponding to the shift hub according to the target engine gear contained in the gear shift command, and control the shift hub to move to the target shift position;

[0144] The speed regulation parameter calculation module 20 is used to determine the target speed regulation parameter according to the target engine gear, and adjust the actual motor speed of the motor to the target motor speed corresponding to the target speed regulation parameter according to the target speed regulation parameter;

[0145] The gear shifting control module 30 is used to adjust the hybrid system when the actual motor speed of the motor reaches the target motor speed, so that the real-time engine gear of the engine is switched to the target engine gear.

[0146] In one feasible implementation, the hybrid power system further includes a shift motor, and the shift position calculation module 10 is further configured to:

[0147] Determine the shift positions at each stage corresponding to the target shift position;

[0148] The actual shift position of the shift hub is detected, and the target duty cycle parameters are determined based on the actual shift position and the shift positions of each stage.

[0149] The target duty cycle parameters are sent to the shift motor so that the shift motor controls the shift hub to move sequentially through each of the stage shift positions to the target shift position according to the target duty cycle parameters.

[0150] In one feasible implementation, the shift position calculation module 10 is further used for:

[0151] Each of the aforementioned stage shift positions is filtered to determine the target stage shift position that matches the actual shift position;

[0152] Determine the position deviation parameter between the actual shift position and the target stage shift position;

[0153] The target duty cycle parameter corresponding to the shift position of the target stage is determined based on the position deviation parameter.

[0154] In one feasible implementation, the speed regulation parameter calculation module 20 is further used for:

[0155] The target motor speed corresponding to the motor is determined based on the target engine gear, and the first actual motor speed corresponding to the motor is detected.

[0156] The motor speed difference is calculated based on the first actual motor speed and the target motor speed, and the speed adjustment time parameter is determined based on the vehicle operating parameters.

[0157] The target speed regulation parameters are determined based on the motor speed difference and the speed regulation time parameters.

[0158] In one feasible implementation, the speed regulation parameter calculation module 20 is further used for:

[0159] Determine the motor torque intervention capability parameters corresponding to the motor;

[0160] If the target speed regulation parameter is detected to be less than the motor torque intervention capability parameter, the actual motor speed of the motor is adjusted to the target motor speed according to the target speed regulation parameter.

[0161] In one feasible implementation, the gear shifting control module 30 is further used for:

[0162] Control the clutch within the hybrid power system to engage;

[0163] The motor torque parameter corresponding to the motor is adjusted from the first torque parameter to zero, and the engine torque parameter corresponding to the engine is adjusted from zero to the first torque parameter, so that the real-time engine gear of the engine is switched to the target engine gear.

[0164] In one feasible implementation, the shift position calculation module 10 is further used for:

[0165] Receive gear shifting command and detect the hybrid system to determine the corresponding power mode of the vehicle, wherein the power mode includes series mode and parallel mode;

[0166] When the power mode is detected to be the parallel mode, the hybrid system is adjusted to control the vehicle to enter the series mode, and the step of determining the target shift position corresponding to the shift hub according to the target engine gear contained in the gear shift command is executed.

[0167] In one feasible implementation, the shift position calculation module 10 is further used for:

[0168] Adjust the engine torque parameter corresponding to the engine from the preset first torque parameter to zero;

[0169] The motor torque parameter corresponding to the motor is adjusted from zero to the first torque parameter, and the clutch in the hybrid system is controlled to disengage, so that the vehicle switches from the parallel mode to the series mode.

[0170] In one feasible implementation, the shift position calculation module 10 is further used for:

[0171] When the power mode is detected to be the pure electric mode, the real-time driving parameters of the vehicle are detected.

[0172] The target shift position is determined based on the real-time driving parameters and the gear shift command, and the shift drum is controlled to move to the target shift position.

[0173] Control the power mode to switch from the pure electric mode to the parallel mode, so that the actual engine gear of the engine switches to the target engine gear.

[0174] The gear shifting device provided in this application, employing the gear shifting method described in the above embodiments, can solve the technical problem of significant impact during vehicle gear shifting in related technologies. Compared with the prior art, the beneficial effects of the gear shifting device provided in this application are the same as those of the gear shifting method provided in the above embodiments, and other technical features of the gear shifting device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0175] This application provides a vehicle, the vehicle including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the gear shifting method in the first embodiment described above.

[0176] Referring now to Figure 7, a structural schematic diagram of a vehicle suitable for implementing embodiments of this application is shown. The vehicle in the embodiments of this application may include, but is not limited to, vehicles equipped with a hybrid power system, or terminals such as mobile terminals, data storage control terminals, and PCs connected to an electronic control unit associated with the vehicle. The vehicle shown in Figure 7 is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0177] As shown in Figure 7, the vehicle may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for vehicle operation. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. The communication device 1009 allows the vehicle to communicate wirelessly or wiredly with other devices to exchange data. Although vehicles with various systems are shown in the figures, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0178] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0179] The vehicle provided in this application, employing the gear shifting method described in the above embodiments, can solve the technical problem of significant impact during gear shifting in related technologies. Compared with the prior art, the beneficial effects of the vehicle provided in this application are the same as those of the gear shifting method provided in the above embodiments, and other technical features of the vehicle are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0180] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0181] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0182] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the gear shifting method in the above embodiments.

[0183] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0184] The aforementioned computer-readable storage medium may be included in the vehicle or may exist independently and not installed in the vehicle.

[0185] The aforementioned computer-readable storage medium carries one or more programs that, when executed by a vehicle, cause the vehicle to: receive a gear shifting command and detect the hybrid power system to determine the corresponding power mode of the vehicle, wherein the power mode includes a series mode and a parallel mode; if the power mode is detected to be the parallel mode, adjust the hybrid power system to control the vehicle to enter the series mode; determine a target shift position corresponding to the shift hub according to the target engine gear contained in the gear shifting command, and control the shift hub to move to the target shift position; determine a target speed regulation parameter according to the target engine gear, and adjust the actual motor speed of the motor to the target motor speed corresponding to the target speed regulation parameter according to the target speed regulation parameter; adjust the hybrid power system to control the vehicle to enter the parallel mode, thereby causing the real-time engine gear of the engine to switch to the target engine gear.

[0186] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed 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 remote computers, the remote computer can 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 can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0187] 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 this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated 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, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0188] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0189] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described gear shifting method, which can solve the technical problem of significant impact during vehicle gear shifting in related technologies. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the gear shifting method provided in the above embodiments, and will not be repeated here.

[0190] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the gear shifting method described above.

[0191] The computer program product provided in this application can solve the technical problem of significant impact during vehicle gear shifting in related technologies. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the gear shifting method provided in the above embodiments, and will not be repeated here.

[0192] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A gear shift method, wherein, The gear shifting method is applied to a vehicle comprising a hybrid power system, the hybrid power system comprising a shift hub, an engine and a motor, and the gear shifting method comprises: determining a target shift position of the shift hub corresponding to a target engine gear according to the target engine gear contained in the gear shifting instruction, and controlling the shift hub to move to the target shift position; determining a target speed regulation parameter according to the target engine gear, and adjusting an actual motor speed of the motor to a target motor speed corresponding to the target speed regulation parameter according to the target speed regulation parameter; in the case that the actual motor speed of the motor reaches the target motor speed, adjusting the hybrid power system to switch a real-time engine gear of the engine to the target engine gear.

2. The gear shift method according to claim 1, wherein, The hybrid power system further comprises a shift motor, and the step of controlling the shift hub to move to the target shift position comprises: determining each stage shift position corresponding to the target shift position; detecting an actual shift position of the shift hub, and determining each target duty cycle parameter according to the actual shift position and each stage shift position; sending the target duty cycle parameters to the shift motor to control the shift motor to control the shift hub to move to the target shift position through each stage shift position according to each target duty cycle parameter.

3. The gear shift method according to claim 2, wherein, The step of determining each target duty cycle parameter according to the actual shift position and each stage shift position comprises: screening each stage shift position to determine a target stage shift position matched with the actual shift position; determining a position deviation parameter generated between the actual shift position and the target stage shift position; determining a target duty cycle parameter corresponding to the target stage shift position according to the position deviation parameter.

4. The gear shift method according to any one of claims 1 to 3, wherein, The step of determining a target speed regulation parameter according to the target engine gear comprises: determining a target motor speed corresponding to the motor according to the target engine gear, and detecting a first actual motor speed corresponding to the motor; calculating a motor speed difference value according to the first actual motor speed and the target motor speed, and determining a speed regulation time parameter according to a vehicle working condition parameter of the vehicle; determining a target speed regulation parameter based on the motor speed difference value and the speed regulation time parameter.

5. The gear shift method according to any one of claims 1 to 4, wherein, The step of adjusting the actual motor speed of the motor to the target motor speed corresponding to the target speed regulation parameter according to the target speed regulation parameter comprises: determining a motor torque intervention capability parameter corresponding to the motor; in the case that the target speed regulation parameter is detected to be less than the motor torque intervention capability parameter, adjusting the actual motor speed of the motor to the target motor speed according to the target speed regulation parameter.

6. The gear shift method according to any one of claims 1 to 5, wherein, The step of adjusting the hybrid power system to switch the real-time engine gear of the engine to the target engine gear comprises: controlling a clutch in the hybrid power system to enter a sticking state; The motor torque parameter corresponding to the motor is adjusted from the first torque parameter to zero, and the engine torque parameter corresponding to the engine is adjusted from zero to the first torque parameter, so that the real-time engine gear of the engine is switched to the target engine gear.

7. The gear shift method according to any one of claims 1 to 6, wherein, Before the step of determining the target shift position corresponding to the shift hub based on the target engine gear contained in the gear shift command, the method further includes: Receive gear shifting command and detect the hybrid system to determine the corresponding power mode of the vehicle, wherein the power mode includes series mode and parallel mode; When the power mode is detected to be the parallel mode, the hybrid system is adjusted to control the vehicle to enter the series mode, and the step of determining the target shift position corresponding to the shift hub according to the target engine gear contained in the gear shift command is executed.

8. The gear shift method according to claim 7, wherein, The step of adjusting the hybrid power system to control the vehicle to enter the series mode includes: Adjust the engine torque parameter corresponding to the engine from the preset first torque parameter to zero; The motor torque parameter corresponding to the motor is adjusted from zero to the first torque parameter, and the clutch in the hybrid system is controlled to disengage, so that the vehicle switches from the parallel mode to the series mode.

9. The gear shift method according to claim 7 or 8, wherein, The power mode also includes a pure electric mode. After the step of detecting the hybrid power system to determine the corresponding power mode of the vehicle, the method further includes: When the power mode is detected to be the pure electric mode, the real-time driving parameters of the vehicle are detected. The target shift position is determined based on the real-time driving parameters and the gear shift command, and the shift drum is controlled to move to the target shift position. Control the power mode to switch from the pure electric mode to the parallel mode, so that the actual engine gear of the engine switches to the target engine gear.

10. A gear shift device, wherein, The gear shifting device is used in a vehicle containing a hybrid system, the hybrid system including a gear shift hub, an engine, and an electric motor, and the device includes: The shift position calculation module is configured to determine the target shift position corresponding to the shift hub based on the target engine gear contained in the gear shift command, and control the shift hub to move to the target shift position; The speed regulation parameter calculation module is configured to determine the target speed regulation parameter based on the target engine gear, and adjust the actual motor speed of the motor to the target motor speed corresponding to the target speed regulation parameter based on the target speed regulation parameter. The gear shifting control module is configured to adjust the hybrid system when the actual motor speed of the motor reaches the target motor speed, so that the real-time engine gear of the engine is switched to the target engine gear.

11. A vehicle, wherein, The vehicle includes: a hybrid power system, a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the gear shifting method as described in any one of claims 1 to 9.

12. A storage medium, wherein, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the gear shifting method as described in any one of claims 1 to 9.

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