CN110067853B - Vehicle gear shifting method, device and equipment - Google Patents
Vehicle gear shifting method, device and equipment Download PDFInfo
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- CN110067853B CN110067853B CN201910312588.7A CN201910312588A CN110067853B CN 110067853 B CN110067853 B CN 110067853B CN 201910312588 A CN201910312588 A CN 201910312588A CN 110067853 B CN110067853 B CN 110067853B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/14—Inputs being a function of torque or torque demand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/36—Inputs being a function of speed
- F16H59/44—Inputs being a function of speed dependent on machine speed of the machine, e.g. the vehicle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/36—Inputs being a function of speed
- F16H59/46—Inputs being a function of speed dependent on a comparison between speeds
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/36—Inputs being a function of speed
- F16H2059/366—Engine or motor speed
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Transmission Device (AREA)
Abstract
The invention relates to a vehicle gear shifting method, a vehicle gear shifting device and vehicle gear shifting equipment, wherein when a gear shifting request is received, a rotating speed difference value of an output shaft of a gearbox and a rotating speed change rate of the output shaft of the gearbox are obtained; determining the estimated time according to the rotating speed difference value and the rotating speed change rate; judging whether the estimated time is greater than a preset lag time or not; if the estimated time is not greater than the delay time, shifting gears according to the gear shifting request; if the estimated time is larger than the delay time, acquiring the current speed of the vehicle; judging whether the vehicle speed is less than a preset gear shifting point vehicle speed or not; if the vehicle speed is less than the vehicle speed of the gear shifting point, maintaining the current gear; and if the vehicle speed is not less than the gear shifting point vehicle speed, obtaining the wheel end torque of the vehicle, and judging whether to shift according to the gear shifting request or not based on the wheel end torque. According to the invention, the lag time is introduced as a judgment condition and the wheel end torque is used as an upshift limiting requirement, so that the gear shifting process can be completed in advance, and the gear shifting smoothness is improved.
Description
Technical Field
The invention relates to the technical field of vehicle power systems, in particular to a vehicle gear shifting method, device and equipment.
Background
Along with the exhaustion of traditional energy, novel energy is generally applied, and especially in the automobile industry, many big automobile manufacturers choose hybrid to replace traditional fuel oil system, and skill fuel saving reduces the consumption of the energy, can guarantee the duration of a motor vehicle again.
Existing hybrid systems may be powered by an internal combustion engine as the primary propulsion device and an electric motor as the secondary propulsion device. Single motor hybrid schemes can be divided into five broad categories, designated P0, P1, P2, P3 and P4, respectively, depending on the location of the motor relative to the conventional power system.
Wherein the electric machine is equipped with at least one energy storage, e.g. an electrochemical energy storage for storing electric energy, and a control unit to control the flow of electric energy between the energy storage and the electric machine. The electric machine may thus be operated alternately as a motor and a generator based on the operating conditions of the vehicle. When the vehicle is braking, the electric machine generates electric energy that is stored in the energy storage. The stored electrical energy may later be used to propel the vehicle, and the automatic shifting process typically involves controlling the powertrain so that the internal combustion engine maintains an optimal engine speed, i.e., a target engine speed. If the engine speed is too high, an upshift is performed and the engine speed is therefore reduced. Similarly, if the engine speed is too low, a downshift is performed and the engine speed is increased. The optimal engine speed may be determined based on desired fuel consumption, performance, or the like. Engine speed affects fuel consumption and it is therefore desirable to keep engine speed as low as possible while maintaining the driver demanded drive torque.
Common hybrid power systems are P2 and P3, but when a motor in the P2 system drives a vehicle, electric energy cannot be recovered at the same time, and a bottleneck exists in efficiency; the motor in the P3 system must be connected with the axle, so the motor cannot be used for starting the engine, and the motor cannot be integrated with the gearbox or the engine, and the extra volume is occupied. Therefore, a P2.5 system is developed, which can combine the advantages of the P2 system and the P3 system and avoid the disadvantages of the P2 system and the P3 system.
A7 DCTH speed changer is used by a hybrid vehicle in a P2.5 system, a motor is integrated on a two-shaft of the speed changer, and the whole vehicle is driven to run by the motor. When the pure electric operating mode of whole car in-process shifts up, have following problem: (1) the rotating speed of the motor is too high, the maximum rotating speed can reach more than 11000rpm, the rotating speed of a double shaft of a gearbox and a clutch combined with the motor is too high, the maximum allowable input rotating speed of the clutch is about 6500rpm, the hardware protection of the motor and the clutch needs to be considered, and the rotating speeds of the motor and the clutch are reduced in a mode of gear-up in advance; (2) under the acceleration working condition of continuously stepping on the accelerator, the rotating speed response of the motor is very fast, certain gear shifting time is needed for coaxial gear shifting limited by hardware, and gear shifting impact is easy to occur in the gear shifting process.
In order to solve the problems, a new gear shifting method needs to be developed in a P2.5 system, so that the automobile can be ensured to protect hardware such as a clutch or a motor and the like under a pure electric driving working condition, and meanwhile, the gear shifting smoothness of the automobile is improved.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a gear shifting method, apparatus and device for a hybrid vehicle, which introduce a hysteresis time as a determination condition and introduce a requirement of a wheel end torque on gear-up limitation, and can achieve gear-up in advance, complete a gear-shifting process, and improve smoothness of gear-shifting.
In order to solve the above problems, the present invention provides a vehicle shift method including:
when a gear shifting request is received, acquiring a rotating speed difference value of an output shaft of the gearbox and a rotating speed change rate of the output shaft of the gearbox;
determining the estimated time according to the rotating speed difference value and the rotating speed change rate;
judging whether the estimated time is greater than a preset lag time or not;
if the estimated time is not greater than the delay time, shifting gears according to the gear shifting request;
if the estimated time is larger than the delay time, acquiring the current speed of the vehicle;
judging whether the vehicle speed is less than a preset gear shifting point vehicle speed or not;
if the vehicle speed is less than the vehicle speed of the gear shifting point, maintaining the current gear;
and if the vehicle speed is not less than the gear shifting point vehicle speed, acquiring the wheel end torque of the vehicle, and judging whether to shift according to the gear shifting request or not based on the wheel end torque.
Further, the difference in rotational speed comprises:
acquiring a rotating speed limit value of overdrive of an output shaft of the gearbox and the current rotating speed of the output shaft of the gearbox;
and determining a rotation speed difference value of the output shaft of the gearbox according to the rotation speed limit value and the rotation speed.
Further, the rotation speed limit value includes:
acquiring the current motor rotating speed;
determining the maximum rotating speed of an output shaft of the gearbox according to the transmission ratio of the gearbox and the rotating speed of the motor;
and selecting a low rotating speed value between the maximum rotating speed and the maximum rotating speed allowed by the clutch as a rotating speed limit value of the overdrive of the output shaft of the gearbox.
Further, the rotation speed includes:
acquiring the vehicle speed;
and determining the current rotating speed of the output shaft of the gearbox according to the vehicle speed and the transmission ratio of the transmission system.
Further, the rate of change of the rotational speed includes:
acquiring the rotating speed and the rotating speed at intervals of preset time;
and determining the change rate of the rotating speed of the output shaft of the gearbox according to the rotating speed and the rotating speed at the preset time interval.
Further, the estimated time is obtained by calculating the rotating speed difference value and the rotating speed change rate, and the estimated time is used for representing and estimating the time of the current gearbox for executing the gear shifting request.
Further, the wheel end torque determination includes:
judging whether the wheel end torque is larger than the maximum torque set to allow gear shifting or not;
if the wheel end torque is not larger than the maximum torque, shifting according to the gear shifting request;
and if the wheel end torque is larger than the maximum torque, maintaining the current gear.
In another aspect of the present invention, a vehicle shift device is further protected, including:
the information acquisition unit is used for acquiring a rotating speed difference value of the output shaft of the gearbox and a rotating speed change rate of the output shaft of the gearbox when a gear shifting request is received;
the time determining unit is used for determining the estimated time according to the rotating speed difference value and the rotating speed change rate;
the first judgment unit is used for judging whether the estimated time is greater than a preset lag time or not;
the first execution unit is used for shifting according to the gear shifting request when the estimated time is not more than the lag time;
the second execution unit is used for acquiring the current speed of the vehicle when the estimated time is greater than the lag time;
the second judgment unit is used for judging whether the vehicle speed is smaller than a preset gear shifting point vehicle speed or not;
the third execution unit is used for maintaining the current gear when the vehicle speed is less than the vehicle speed of the gear shifting point;
and the fourth execution unit is used for acquiring the wheel end torque of the vehicle when the vehicle speed is not less than the gear shifting point vehicle speed, and judging whether to shift according to the gear shifting request or not based on the wheel end torque.
The invention also protects a vehicle gear shifting device in another aspect, comprising: the system comprises a data acquisition device, a motor controller, a gearbox controller and a clutch controller;
the data acquisition device is used for acquiring the current vehicle speed and the current motor rotating speed;
the gearbox controller is used for determining the rotating speed difference value of the gearbox output shaft and the rotating speed change rate of the gearbox output shaft;
the gearbox controller is used for determining the estimated time according to the rotating speed difference value of the gearbox output shaft and the rotating speed change rate of the gearbox output shaft;
the gearbox controller is used for judging whether the estimated time is greater than a preset lag time or not; if the estimated time is not greater than the delay time, shifting gears according to the gear shifting request; if the estimated time is larger than the delay time, acquiring the current speed of the vehicle;
the gearbox controller is used for judging whether the vehicle speed is less than a preset gear shifting point vehicle speed or not;
if the vehicle speed is less than the vehicle speed of the gear shifting point, maintaining the current gear; and if the vehicle speed is not less than the gear shifting point vehicle speed, acquiring the wheel end torque of the vehicle, and judging whether to shift according to the gear shifting request or not based on the wheel end torque.
Due to the technical scheme, the invention has the following beneficial effects:
1) according to the vehicle gear shifting method, device and equipment, the delay time is introduced as a judgment condition, gear up can be achieved in advance, the response time of hardware execution is completed in advance, the gear shifting process is achieved, and the hardware (a clutch or a motor) of a transmission system is protected.
2) According to the vehicle gear shifting method, device and equipment, the requirement of the wheel end torque on gear-up limitation is introduced, gear-up is not allowed when the wheel end torque exceeds a certain limit value, and the gear-shifting smoothness is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart of a vehicle shifting method provided by an embodiment of the present invention;
FIG. 2 is a flow chart for obtaining wheel end torque provided by an embodiment of the present invention;
FIG. 3 is a block diagram of a vehicle shifting apparatus provided by an embodiment of the present invention;
fig. 4 is a structural diagram of the information acquisition unit according to the embodiment of the present invention;
fig. 5 is a structural diagram of the fourth execution unit according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the invention. In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "top", "bottom", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
Example one
The first embodiment provides a vehicle gear shifting method, which is shown in fig. 1 and fig. 2 and includes:
s101, when a gear shifting request is received, a rotating speed difference value of an output shaft of the gearbox and a rotating speed change rate of the output shaft of the gearbox are obtained.
Specifically, the rotation speed difference value includes:
acquiring a rotating speed limit value of overdrive of an output shaft of the gearbox and the current rotating speed of the output shaft of the gearbox;
and determining a rotation speed difference value of the output shaft of the gearbox according to the rotation speed limit value and the rotation speed.
Further, the difference value between the rotational speed limit value of the overdrive transmission of the output shaft of the gearbox and the current rotational speed of the output shaft of the gearbox is the rotational speed difference value of the output shaft of the gearbox.
Further, the rotation speed limit value includes:
acquiring the current motor rotating speed;
determining the maximum rotating speed of an output shaft of the gearbox according to the transmission ratio of the gearbox and the rotating speed of the motor;
and selecting a low rotating speed value between the maximum rotating speed and the maximum rotating speed allowed by the clutch as a rotating speed limit value of the overdrive of the output shaft of the gearbox.
Further, the current rotation speed of the output shaft of the gearbox comprises:
acquiring the current speed of the vehicle;
and determining the current rotating speed of the output shaft of the gearbox according to the running speed and the transmission ratio of the transmission system.
Specifically, the rate of change of the rotation speed includes:
acquiring the current rotating speed of an output shaft of a gearbox and the rotating speed at preset time intervals;
and determining the rotating speed change rate of the output shaft of the gearbox according to the current rotating speed of the output shaft of the gearbox and the rotating speed at the preset time interval.
Further, the interval preset time is 1 s.
S102, determining estimated time according to the rotating speed difference value and the rotating speed change rate;
further, the estimated time is obtained by calculating the rotating speed difference value and the rotating speed change rate, and the estimated time is used for representing and estimating the time of the current gearbox for executing the gear shifting request.
S103, judging whether the estimated time is greater than a preset lag time or not;
if the estimated time is not greater than the delay time, shifting gears according to the gear shifting request;
if the estimated time is larger than the delay time, acquiring the current speed of the vehicle;
further, the lag time is used for representing the response time of the gearbox for executing the gear shifting request, and the lag time is 2s-4 s.
S104, judging whether the vehicle speed is less than a preset gear shifting point vehicle speed or not;
if the vehicle speed is less than the vehicle speed of the gear shifting point, maintaining the current gear;
and if the vehicle speed is not less than the gear shifting point vehicle speed, acquiring the wheel end torque of the vehicle, and judging whether to shift according to the gear shifting request or not based on the wheel end torque.
As shown in fig. 2, the wheel end torque includes:
s201, acquiring the vehicle speed and the opening degree of an accelerator pedal;
s202, determining a driving force according to the speed and the opening degree;
s203, determining the wheel end torque according to the driving force and the rolling radius.
Further, the wheel end torque determination includes:
s204, judging whether the wheel end torque is larger than the preset maximum torque allowing gear shifting;
if the wheel end torque is not larger than the maximum torque, shifting according to the gear shifting request;
and if the wheel end torque is larger than the maximum torque, maintaining the current gear.
Further, the maximum torque allowed by the gearbox is 300 Nm.
The embodiment provides a vehicle gear shifting method, which introduces the lag time as a judgment condition and introduces the requirement of wheel end torque on gear-up limitation, can realize gear-up in advance, complete the gear-shifting process, and protect the hardware (a clutch or a motor) of a transmission system.
Example two
The second embodiment provides a vehicle gear shifting device, as shown in fig. 3, including:
the information obtaining unit 300 is configured to obtain a rotational speed difference value of the transmission output shaft and a rotational speed change rate of the transmission output shaft when the gear shift request is received;
a time determining unit 400, configured to determine an estimated time according to the rotation speed difference and the rotation speed change rate;
a first judging unit 500, configured to judge whether the estimated time is greater than a preset hysteresis time;
a first executing unit 600, configured to shift according to the shift request when the estimated time is not greater than the hysteresis time;
the second executing unit 700 is configured to obtain a current vehicle speed of the vehicle when the estimated time is greater than the delay time;
a second determination unit 800, configured to determine whether the vehicle speed is less than a preset shift point vehicle speed;
a third executing unit 900, configured to maintain the current gear when the vehicle speed is less than the shift point vehicle speed;
and the fourth execution unit 1000 is configured to obtain a wheel end torque of the vehicle when the vehicle speed is not less than the shift point vehicle speed, and determine whether to shift according to the shift request based on the wheel end torque.
As shown in fig. 4, the information acquisition unit 300 includes:
a rotational speed limit value determination module 301 for determining a rotational speed limit value of the gearbox output shaft;
an output shaft rotating speed obtaining module 302, configured to obtain a current rotating speed and/or a preset interval time of an output shaft of a gearbox;
a motor rotation speed obtaining module 303, configured to obtain a current motor rotation speed;
a driving speed obtaining module 304, configured to obtain a current driving speed;
a selection module 305 for selecting a low rotational speed value between the maximum rotational speed of the gearbox output shaft and the maximum rotational speed allowed by the clutch as a rotational speed limit value for the overdrive of the gearbox output shaft.
As shown in fig. 5, the fourth execution unit 1000 includes:
an opening and closing degree obtaining module 1001 for obtaining the opening and closing degree of an accelerator pedal;
a wheel end torque determination module 1002 for determining a wheel end torque for a current driving speed;
a third determining module 1003, configured to determine whether the wheel end torque is greater than a torque limit value;
a fifth execution module 1004 for shifting in accordance with the shift request when the wheel end torque is not greater than the torque limit;
a sixth execution module 1005 to maintain the current gear when the wheel end torque is greater than the torque limit.
Further, the motor rotation speed obtaining module 303 obtains a current motor rotation speed, and determines a maximum rotation speed of an output shaft of the gearbox according to a transmission ratio of the gearbox and the current motor rotation speed; the selection module 305 selects a low speed value between the maximum speed of the gearbox output shaft and the maximum speed allowed by the clutch as the speed limit for the overdrive of the gearbox output shaft.
Further, the driving speed obtaining module 304 obtains a current driving speed, and determines a current rotation speed of the output shaft of the current gearbox according to the driving speed and the transmission ratio of the transmission system by dividing the driving speed and the transmission ratio of the transmission system.
Further, the rotation speed limit value determining module 301 obtains a rotation speed limit value of the output shaft of the gearbox, and determines a rotation speed difference value of the output shaft of the gearbox according to the rotation speed limit value and the current rotation speed and a difference value between the rotation speed limit value and the current rotation speed.
Further, the output shaft rotating speed obtaining module 302 obtains a current rotating speed of the output shaft of the gearbox and/or a rotating speed of a specified period, and determines a rotating speed change rate of the output shaft of the gearbox according to the current rotating speed and the rotating speed of the specified period.
Further, the information obtaining unit 300 obtains a rotation speed difference value of the transmission output shaft and a rotation speed change rate of the transmission output shaft; the time determination unit 400 determines the estimated time by dividing the rotation speed difference value by the rotation speed change rate according to the rotation speed difference value and the rotation speed change rate; the first determining unit 500 determines whether the estimated time is greater than a preset lag time, and the first executing unit 600 shifts gears according to the gear shifting request when the estimated time is not greater than the lag time; when the estimated time is greater than the delay time, the second execution unit 700 obtains the current speed of the vehicle; the second judging unit 800 is configured to judge whether the vehicle speed is less than a preset shift point vehicle speed; the third executing unit 900 is configured to maintain the current gear when the vehicle speed is less than the vehicle speed at the shift point; the fourth execution unit 1000 obtains a wheel end torque of the vehicle when the vehicle speed is not less than the gear shift point vehicle speed, and determines whether to shift according to the gear shift request based on the wheel end torque.
Further, the third determining module 1003 determines whether the wheel-end torque is greater than the torque limit value, and the fifth executing module 1004 shifts gears according to the shift request when the wheel-end torque is greater than the torque limit value; the sixth execution module 1005 maintains the current gear when the wheel end torque is not greater than the torque limit.
Further, the opening degree obtaining module 1001 obtains an opening degree of an accelerator pedal, the driving speed obtaining module 304 obtains a current driving speed, and a driving force is determined according to the opening degree and the driving speed; the wheel end torque determining module 1002 is configured to determine a wheel end torque of a current driving speed according to the driving force and the rolling radius.
The second embodiment provides a vehicle gear shifting device, which introduces a hysteresis time as a determination condition and introduces a requirement of wheel end torque on gear-up limitation, and can realize gear-up in advance, complete a gear-shifting process, and protect drive train hardware (a clutch or a motor).
EXAMPLE III
The third embodiment provides a vehicle gear shifting device, which comprises: the system comprises a data acquisition device, a motor controller, a gearbox controller and a clutch controller;
the data acquisition device is used for acquiring the current speed of the vehicle and the current motor rotating speed;
the gearbox controller is used for determining the rotating speed difference value of the gearbox output shaft and the rotating speed change rate of the gearbox output shaft;
the gearbox controller is used for determining the estimated time according to the rotating speed difference value of the gearbox output shaft and the rotating speed change rate of the gearbox output shaft;
the gearbox controller is used for judging whether the estimated time is greater than a preset lag time or not; if the estimated time is not greater than the delay time, shifting gears according to the gear shifting request; and if the estimated time is larger than the delay time, acquiring wheel end torque of the vehicle, and judging whether to shift according to the gear shifting request or not based on the wheel end torque.
Specifically, the motor controller is used for controlling the current motor speed; and the clutch controller is used for controlling the maximum rotation speed allowed by the clutch.
Specifically, the vehicle gear shifting device shifts gears according to the gear shifting request based on the vehicle gear shifting device.
The third embodiment provides a vehicle gear shifting device, which introduces the lag time as the determination condition and introduces the requirement of the wheel end torque on the gear-up limitation, so that the gear-up can be realized in advance, the gear-shifting process is completed, and the gear-shifting smoothness is improved.
It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as two series of acts, but those skilled in the art should understand that the present invention is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present invention. Similarly, the modules in the apparatus are referred to as computer programs or program segments for performing one or more specific functions, and the distinction between the modules does not mean that the actual program code is necessarily separated. Further, the above embodiments may be arbitrarily combined to obtain other embodiments.
In the foregoing embodiments, the descriptions of the embodiments have respective emphasis, and reference may be made to related descriptions of other embodiments for parts that are not described in detail in a certain embodiment. Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The foregoing description has disclosed fully preferred embodiments of the present invention. It should be noted that those skilled in the art can make modifications to the embodiments of the present invention without departing from the scope of the appended claims. Accordingly, the scope of the appended claims is not to be limited to the specific embodiments described above.
Claims (9)
1. A vehicle shifting method, characterized by comprising:
when a gear shifting request is received, acquiring a rotating speed difference value of an output shaft of a gearbox and a rotating speed change rate of the output shaft of the gearbox, wherein the rotating speed difference value of the output shaft of the gearbox is the difference value between a rotating speed limit value of overdrive of the output shaft of the gearbox and the current rotating speed of the output shaft of the gearbox;
determining the estimated time according to the rotating speed difference value and the rotating speed change rate;
judging whether the estimated time is greater than a preset lag time or not;
if the estimated time is not greater than the delay time, shifting gears according to the gear shifting request;
if the estimated time is larger than the delay time, acquiring the current speed of the vehicle;
judging whether the vehicle speed is less than a preset gear shifting point vehicle speed or not;
if the vehicle speed is less than the vehicle speed of the gear shifting point, maintaining the current gear;
and if the vehicle speed is not less than the gear shifting point vehicle speed, acquiring the wheel end torque of the vehicle, and judging whether to shift according to the gear shifting request or not based on the wheel end torque.
2. A vehicle gear shifting method according to claim 1, characterized in that said rotational speed limit value comprises:
acquiring the current motor rotating speed;
determining the maximum rotating speed of an output shaft of the gearbox according to the transmission ratio of the gearbox and the rotating speed of the motor;
and selecting a low rotating speed value between the maximum rotating speed and the maximum rotating speed allowed by the clutch as a rotating speed limit value of the overdrive of the output shaft of the gearbox.
3. A vehicle gear shifting method according to claim 1, characterized in that said rotational speed comprises:
acquiring the vehicle speed;
and determining the current rotating speed of the output shaft of the gearbox according to the vehicle speed and the transmission ratio of the transmission system.
4. A vehicle gear shifting method according to claim 1, characterized in that said rate of change of speed comprises:
acquiring the rotating speed and the rotating speed at intervals of preset time;
and determining the change rate of the rotating speed of the output shaft of the gearbox according to the rotating speed and the rotating speed at the preset time interval.
5. A vehicle gear shifting method according to claim 1, wherein the estimated time is calculated from the difference and the rate of change of speed, and the estimated time is used to represent the time it takes for the current transmission to execute the gear shift request.
6. A vehicle shifting method according to claim 1, wherein the wheel end torque determination comprises:
judging whether the wheel end torque is larger than the maximum torque set to allow gear shifting or not;
if the wheel end torque is not larger than the maximum torque, shifting according to the gear shifting request;
and if the wheel end torque is larger than the maximum torque, maintaining the current gear.
7. A vehicle gear shifting method according to claim 1, wherein the lag time is used to characterize a response time of a transmission to a gear shift request.
8. A vehicle shifting apparatus, comprising:
the information acquisition unit is used for acquiring a rotating speed difference value of an output shaft of the gearbox and a rotating speed change rate of the output shaft of the gearbox when a gear shifting request is received, wherein the rotating speed difference value of the output shaft of the gearbox is a difference value between a rotating speed limit value of overdrive of the output shaft of the gearbox and the current rotating speed of the output shaft of the gearbox;
the time determining unit is used for determining the estimated time according to the rotating speed difference value and the rotating speed change rate;
the first judgment unit is used for judging whether the estimated time is greater than a preset lag time or not;
the first execution unit is used for shifting according to the gear shifting request when the estimated time is not more than the lag time;
the second execution unit is used for acquiring the current speed of the vehicle when the estimated time is greater than the lag time;
the second judgment unit is used for judging whether the vehicle speed is smaller than a preset gear shifting point vehicle speed or not;
the third execution unit is used for maintaining the current gear when the vehicle speed is less than the vehicle speed of the gear shifting point;
and the fourth execution unit is used for acquiring the wheel end torque of the vehicle when the vehicle speed is not less than the gear shifting point vehicle speed, and judging whether to shift according to the gear shifting request or not based on the wheel end torque.
9. A vehicle shifting apparatus, characterized by comprising: the system comprises a data acquisition device, a motor controller, a gearbox controller and a clutch controller;
the data acquisition device is used for acquiring the current vehicle speed and the current motor rotating speed;
the gearbox controller is used for determining a rotating speed difference value of the gearbox output shaft and a rotating speed change rate of the gearbox output shaft, wherein the rotating speed difference value of the gearbox output shaft is a difference value between a rotating speed limit value of the gearbox output shaft overdrive and the current rotating speed of the gearbox output shaft;
the gearbox controller is used for determining the estimated time according to the rotating speed difference value of the gearbox output shaft and the rotating speed change rate of the gearbox output shaft;
the gearbox controller is used for judging whether the estimated time is greater than a preset lag time or not; if the estimated time is not greater than the delay time, shifting gears according to a gear shifting request; if the estimated time is larger than the delay time, acquiring the current speed of the vehicle;
the gearbox controller is used for judging whether the current vehicle speed is smaller than a preset gear shifting point vehicle speed or not; if the current vehicle speed is less than the gear shifting point vehicle speed, maintaining the current gear; and if the current vehicle speed is not less than the vehicle speed of the gear shifting point, obtaining the wheel end torque of the vehicle, and judging whether to shift according to the gear shifting request or not based on the wheel end torque.
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| CN110645349B (en) * | 2019-09-06 | 2021-01-19 | 吉利汽车研究院（宁波）有限公司 | Double-clutch gear shifting control method, device and equipment for hybrid vehicle |
| CN111878573B (en) * | 2020-06-24 | 2021-09-17 | 北汽福田汽车股份有限公司 | Electric automobile gear shifting method and device and electric automobile |
| CN112610687B (en) * | 2020-12-30 | 2022-06-10 | 潍柴动力股份有限公司 | Vehicle gear shifting method, device, equipment and storage medium |
| CN114151468B (en) * | 2021-12-01 | 2024-03-26 | 中国第一汽车股份有限公司 | Clutch hysteresis model construction method, control method, device, equipment and medium |
| CN114483944B (en) * | 2021-12-27 | 2022-09-09 | 东风德纳车桥有限公司 | Gear shifting point updating method and device, controller and storage medium |
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| CA2601665C (en) * | 2002-12-25 | 2009-02-03 | Toyota Jidosha Kabushiki Kaisha | Control device of hybrid drive unit |
| JP2005036848A (en) * | 2003-07-17 | 2005-02-10 | Toyota Motor Corp | Device for detecting start of torque phase and its method, and computer program for realizing the method |
| JP5811203B2 (en) * | 2014-02-06 | 2015-11-11 | トヨタ自動車株式会社 | Control device for vehicle drive device |
| KR101826557B1 (en) * | 2016-05-17 | 2018-02-07 | 현대자동차 주식회사 | Shift control apparatus of vehicle and method |
| CN106949234B (en) * | 2017-04-27 | 2018-10-09 | 上海汽车变速器有限公司 | Double-clutch speed changer functional safety monitoring method |
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