CN111022626B - Vehicle gear shifting method and device - Google Patents

Vehicle gear shifting method and device Download PDF

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Publication number
CN111022626B
CN111022626B CN201911256925.1A CN201911256925A CN111022626B CN 111022626 B CN111022626 B CN 111022626B CN 201911256925 A CN201911256925 A CN 201911256925A CN 111022626 B CN111022626 B CN 111022626B
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China
Prior art keywords
gear
vehicle
accelerator opening
curve
speed
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CN201911256925.1A
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Chinese (zh)
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CN111022626A (en
Inventor
王飞
李永昌
王菁
李丕茂
梁超臣
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Weichai Power Co Ltd
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Weichai Power Co Ltd
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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
    • F16H59/02—Selector apparatus
    • 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
    • F16H59/24—Inputs being a function of torque or torque demand dependent on the throttle opening
    • 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
    • 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
    • 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
    • F16H59/48—Inputs being a function of acceleration
    • 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
    • F16H61/04—Smoothing ratio shift
    • 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
    • F16H61/18—Preventing unintentional or unsafe shift, e.g. preventing manual shift from highest gear to reverse gear
    • 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
    • F16H59/02—Selector apparatus
    • F16H2059/0221—Selector apparatus for selecting modes, i.e. input device
    • 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
    • F16H2061/0075—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 a particular control method
    • 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
    • F16H61/04—Smoothing ratio shift
    • F16H2061/0459—Smoothing ratio shift using map for shift parameters, e.g. shift time, slip or pressure gradient, for performing controlled shift transition and adapting shift parameters by learning

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Transmission Device (AREA)

Abstract

The invention provides a gear shifting method and a gear shifting device for a vehicle, wherein the method comprises the following steps: determining the current accelerator opening and the current gear of the vehicle in the driving process of the vehicle, and determining the gear skipping duration according to the current accelerator opening and the current gear; determining a gear-skipping speed corresponding to the current accelerator opening degree according to a gear-skipping curve corresponding to the current gear; when the running speed of the vehicle is not less than the gear-skipping speed within the gear-skipping duration, skipping the gear of the vehicle to a preset gear-skipping gear; if the running speed of the vehicle is not greater than or equal to the gear-shifting vehicle speed within the gear-shifting duration, determining the gear-shifting vehicle speed corresponding to the current accelerator opening according to the gear-shifting curve corresponding to the current gear, and switching the gear of the vehicle to a preset gear-shifting position when the running speed of the vehicle is not less than the gear-shifting vehicle speed. By applying the invention, the gear skipping can be carried out when the vehicle runs, the gear shifting times of the vehicle are reduced, and the condition that the power of the vehicle is interrupted due to frequent gear shifting is effectively avoided.

Description

Vehicle gear shifting method and device
Technical Field
The invention relates to the technical field of vehicle control, in particular to a gear shifting method and device for a vehicle.
Background
With the development of scientific technology, in order to make automobiles more intelligent and humanized, a large number of automobiles are provided with Automatic Mechanical Transmissions (AMTs), and when the automobiles are driven, a control system consisting of the AMTs automatically selects a proper gear according to the rotating speed and load of an engine, so that the driving is more convenient, and the driving experience of drivers is improved.
AMT in the car is provided with the fender position of a plurality of gearshifts, corresponds in the AMT of different kind cars to have the fender position number of different quantity, and AMT in the heavy commercial car has 12 ~ 16 fender positions usually. Because the number of gears in the AMT is large, if the vehicle is gradually shifted from a starting gear in the daily running process, the gear needs to be frequently shifted, so that the frequent power interruption of the vehicle is caused, and the power performance and the economical efficiency of running are reduced.
Disclosure of Invention
In view of the above, the present invention provides a gear shifting method and apparatus for a vehicle, which can effectively reduce the number of gear shifting operations performed during driving of the vehicle, avoid power interruption of the vehicle due to frequent gear shifting, and improve driving power performance and economy of the vehicle.
In order to achieve the purpose, the invention provides the following technical scheme:
a shifting method of a vehicle, comprising:
determining a current gear and a current accelerator opening of a vehicle in the driving process of the vehicle, and determining a gear-jumping duration in a preset gear-jumping duration table according to the current gear and the current accelerator opening;
determining a pre-generated gear jumping curve corresponding to the current gear, wherein the gear jumping curve is a relation curve of accelerator opening and gear jumping vehicle speed;
determining a gear-skipping speed corresponding to the current accelerator opening degree in the gear-skipping curve;
judging whether the running speed of the vehicle is greater than or equal to the gear-skipping speed in real time within the gear-skipping duration;
when the running speed of the vehicle is greater than or equal to the gear skipping speed within the gear skipping duration, skipping the gear of the vehicle to a preset gear skipping gear corresponding to the gear skipping curve;
if the running speed of the vehicle is not greater than or equal to the gear-skipping speed within the gear-skipping duration, determining a pre-generated gear-shifting curve corresponding to the current gear, wherein the gear-shifting curve is a relation curve of the accelerator opening and the gear-shifting speed;
determining a gear shifting vehicle speed corresponding to the current accelerator opening in the gear shifting curve, and judging whether the running speed of the vehicle is greater than or equal to the gear shifting vehicle speed in real time;
and when the running speed of the vehicle is greater than or equal to the gear shifting vehicle speed, switching the gear of the vehicle to a preset gear shifting gear corresponding to the gear shifting curve.
Optionally, the determining a pre-generated skip curve corresponding to the current gear includes:
determining the gear type of the current gear and the gear skipping identification of the current gear;
and acquiring each gear jumping curve corresponding to the gear type, and determining the gear jumping curve corresponding to the gear jumping identification.
Optionally, the determining, in the skip curve, a skip speed corresponding to the current accelerator opening includes:
traversing the current accelerator opening degree through each accelerator opening degree in the trip curve, determining the accelerator opening degree consistent with the current accelerator opening degree in the trip curve, and determining the trip vehicle speed associated with the accelerator opening degree consistent with the current accelerator opening degree as the trip vehicle speed of the current accelerator opening degree.
The above method, optionally, the determining, in the shift curve, a shift vehicle speed corresponding to the current accelerator opening includes:
traversing the current accelerator opening degree through each accelerator opening degree in the gear shifting curve, determining the accelerator opening degree consistent with the current accelerator opening degree in the gear shifting curve, and determining the gear shifting vehicle speed associated with the accelerator opening degree consistent with the current accelerator opening degree as the gear shifting vehicle speed of the current accelerator opening degree.
The method described above, optionally, the step of generating the trip curve includes:
determining the acceleration of the vehicle at different vehicle running speeds at each preset accelerator opening of each gear of the vehicle;
generating an acceleration curve of each gear at each accelerator opening degree based on the acceleration and the vehicle running speed;
determining a gear value of each gear in the vehicle, and determining a gear type of each gear according to the gear value, wherein the gear type is an odd gear type or an even gear type;
for each gear in each gear type, sequencing each gear according to the sequence of the gear numerical values from small to large, and dividing two adjacent gears after sequencing into the same group;
for each gear in each group, determining an intersection point of an acceleration curve of each gear under the same accelerator opening degree, and taking a vehicle running speed corresponding to the intersection point as a gear skipping vehicle speed under the accelerator opening degree to obtain the intersection point of the acceleration curve of each gear in each group under different accelerator opening degrees;
and generating a gear skipping curve corresponding to the gear with the minimum gear number value in each group based on the accelerator opening and the gear skipping vehicle speed.
A gear shift device of a vehicle, comprising:
the system comprises a first determining unit, a second determining unit and a control unit, wherein the first determining unit is used for determining the current gear and the current accelerator opening of a vehicle in the driving process of the vehicle, and determining the gear-skipping duration in a preset gear-skipping duration table according to the current gear and the current accelerator opening;
the second determining unit is used for determining a pre-generated gear jumping curve corresponding to the current gear, and the gear jumping curve is a relation curve of the accelerator opening and the gear jumping vehicle speed;
a third determining unit, configured to determine a skip speed corresponding to the current accelerator opening degree in the skip curve;
the first judgment unit is used for judging whether the running speed of the vehicle is greater than or equal to the gear-skipping speed in real time within the gear-skipping duration;
the gear skipping unit is used for skipping the gear of the vehicle to a preset gear skipping gear corresponding to the gear skipping curve when the running speed of the vehicle is greater than or equal to the gear skipping speed within the gear skipping duration;
a fourth determining unit, configured to determine a pre-generated shift curve corresponding to the current gear if the driving speed of the vehicle is not greater than or equal to the skip speed within the skip duration, where the shift curve is a relationship curve between an accelerator opening and a shift speed;
the second judgment unit is used for determining a gear shifting vehicle speed corresponding to the current accelerator opening degree in the gear shifting curve and judging whether the running speed of the vehicle is greater than or equal to the gear shifting vehicle speed in real time;
and the gear shifting unit is used for switching the gear of the vehicle to a preset gear shifting gear corresponding to the gear shifting curve when the running speed of the vehicle is greater than or equal to the gear shifting vehicle speed.
The above apparatus, optionally, the second determining unit includes:
the first determining subunit is used for determining the gear type of the current gear and the gear skipping identification of the current gear;
and the acquisition subunit is used for acquiring each gear jumping curve corresponding to the gear type and determining the gear jumping curve corresponding to the gear jumping identification.
The above apparatus, optionally, the third determining unit includes:
and the first traversal subunit is used for traversing the current accelerator opening degree through each accelerator opening degree in the trip curve, determining the accelerator opening degree consistent with the current accelerator opening degree in the trip curve, and determining the trip vehicle speed associated with the accelerator opening degree consistent with the current accelerator opening degree as the trip vehicle speed of the current accelerator opening degree.
The above apparatus, optionally, the second determining unit includes:
and the second traversal subunit is used for traversing the current accelerator opening degree through each accelerator opening degree in the gear shifting curve, determining the accelerator opening degree consistent with the current accelerator opening degree in the gear shifting curve, and determining the gear shifting vehicle speed associated with the accelerator opening degree consistent with the current accelerator opening degree as the gear shifting vehicle speed of the current accelerator opening degree.
The above apparatus, optionally, further comprises:
a fifth determining unit, configured to determine an acceleration of the vehicle at a different vehicle driving speed at each preset accelerator opening of each gear of the vehicle;
a first generation unit configured to generate an acceleration curve for each of the gears at each of the accelerator opening degrees based on the acceleration and the vehicle running speed;
a sixth determining unit, configured to determine a gear value of each gear in the vehicle, and determine a gear type of each gear according to the gear value, where the gear type is an odd-numbered gear type or an even-numbered gear type;
the sorting unit is used for sorting the gears according to the sequence of the gear numerical values from small to large for each gear in each gear type, and dividing two adjacent sorted gears into the same group;
a seventh determining unit, configured to determine, for each gear in each group, an intersection point of an acceleration curve of each gear at the same accelerator opening, and use a vehicle driving speed corresponding to the intersection point as a downshift vehicle speed at the accelerator opening, to obtain an intersection point of an acceleration curve of each gear in each group at different accelerator openings;
and the second generation unit is used for generating a gear skipping curve corresponding to the gear with the minimum gear number value in each group based on the accelerator opening and the gear skipping vehicle speed.
Compared with the prior art, the invention has the following advantages:
the invention provides a gear shifting method of a vehicle, which comprises the following steps: determining a current accelerator opening and a current gear of a vehicle in the driving process of the vehicle, determining a gear-skipping duration in a preset gear-skipping duration table according to the current accelerator opening and the current gear, and determining a gear-skipping vehicle speed corresponding to the current accelerator opening according to a gear-skipping curve corresponding to the current gear; judging whether the running speed of the vehicle is greater than or equal to the gear-skipping speed in real time within the gear-skipping duration; when the driving speed is greater than or equal to the gear skipping speed within the gear skipping duration, skipping the gear of the vehicle to a preset gear skipping gear corresponding to the gear skipping curve; if the running speed is not greater than or equal to the gear-shifting vehicle speed within the gear-shifting duration, determining the gear-shifting vehicle speed corresponding to the current accelerator opening according to the gear-shifting curve corresponding to the current gear, judging whether the running speed is greater than or equal to the gear-shifting vehicle speed, and switching the gear of the vehicle to a preset gear-shifting gear corresponding to the gear-shifting curve when the running speed is greater than or equal to the gear-shifting vehicle speed. By applying the invention, when the vehicle runs, the gear of the vehicle can be shifted, and the gear shifting times of the vehicle in the running process are reduced, so that the condition that the power of the vehicle is interrupted due to frequent gear shifting is effectively avoided, and the power performance and the cost performance of the vehicle are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a method flow diagram of a method of shifting a vehicle provided by the present invention;
FIG. 2 is another method flowchart of a method of shifting a vehicle provided by the present invention;
FIG. 3 is an exemplary illustration of a method of shifting a vehicle provided by the present invention;
FIG. 4 is another exemplary illustration of a vehicle shifting method in accordance with the present invention;
fig. 5 is a schematic structural diagram of a vehicle shifting device provided by the 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The invention is operational with numerous general purpose or special purpose computing device environments or configurations, and with vehicle control systems assembled from computing devices.
The embodiment of the invention provides a gear shifting method for a vehicle, which can be applied to various vehicle control systems, wherein an execution main body of the method can be an automatic Transmission (AMT) for controlling a gear of the vehicle, and can also be a processor in the system, and a flow chart of the method is shown in FIG. 1, and the method specifically comprises the following steps:
s101, in the driving process of a vehicle, determining the current gear and the current accelerator opening of the vehicle, and determining the gear-jumping duration in a preset gear-jumping duration table according to the current gear and the current accelerator opening.
According to the method provided by the embodiment of the invention, the vehicle finishes the starting operation or the gear shifting operation, namely the vehicle is in a running state. In the driving process of a vehicle, a processor determines the current gear and the current accelerator opening of the vehicle, and determines the gear-skipping duration in a preset gear-skipping duration table according to the current gear and the current accelerator opening; it should be noted that the trip duration table is provided with a plurality of trip durations at different gears and different accelerator opening degrees, and the time of each trip duration is different.
And S102, determining a pre-generated gear jumping curve corresponding to the current gear, wherein the gear jumping curve is a relation curve of the accelerator opening and the gear jumping vehicle speed.
In the method provided by the embodiment of the invention, a gear skipping curve corresponding to the current gear is determined in each pre-generated gear skipping curve, and the gear skipping curve is a relation curve of accelerator opening and gear skipping vehicle speed; it should be noted that different gears correspond to different skip curves.
And S103, determining a gear-skipping vehicle speed corresponding to the current accelerator opening degree in the gear-skipping curve.
And S104, judging whether the running speed of the vehicle is greater than or equal to the gear-skipping speed in real time within the gear-skipping duration.
In the method provided by the embodiment of the invention, when the vehicle runs, the running speed of the vehicle is obtained in real time, and the running speed of the vehicle is compared with the gear-skipping speed in real time within the gear-skipping duration so as to judge whether the running speed of the vehicle is greater than or equal to the gear-skipping speed in real time. Preferably, the running speed of the vehicle can be acquired by a preset speed sensor.
And S105, when the running speed of the vehicle is greater than or equal to the gear skipping speed within the gear skipping duration, skipping the gear of the vehicle to a preset gear skipping gear corresponding to the gear skipping curve.
In the method provided by the embodiment of the invention, when the running speed of the vehicle is greater than or equal to the gear-skipping speed within the determined gear-skipping duration, the gear of the vehicle is skipped to the preset gear-skipping gear corresponding to the gear-skipping curve so as to complete gear shifting of the vehicle. It should be noted that the preset skip gear corresponding to each skip gear curve is different, and preferably, the skip gear only skips one gear, that is, when the current gear of the vehicle is the gear 2, and within the skip gear duration, when the driving speed of the vehicle is greater than or equal to the corresponding skip gear speed, the gear 3 is skipped, that is, the gear of the vehicle is skipped from the gear 2 to the gear 4.
And S106, if the running speed of the vehicle is not greater than or equal to the gear skipping speed within the gear skipping duration, determining a pre-generated gear shifting curve corresponding to the current gear, wherein the gear shifting curve is a relation curve of the accelerator opening and the gear shifting speed.
In the method provided by the embodiment of the invention, if the running speed of the vehicle is not greater than or equal to the gear-skipping speed within the gear-skipping duration, the vehicle does not perform gear skipping within the gear-skipping duration, and the vehicle is shifted according to a preset gear shifting method; the method comprises the steps of firstly determining a pre-generated gear shifting curve corresponding to the current gear of the vehicle, wherein the gear shifting curve is a relation curve of the accelerator opening and the gear shifting vehicle speed. It should be noted that different gears correspond to different shift curves.
And S107, determining a gear shifting vehicle speed corresponding to the current accelerator opening in the gear shifting curve, and judging whether the running speed of the vehicle is greater than or equal to the gear shifting vehicle speed in real time.
In the method provided by the embodiment of the invention, the gear shifting speed corresponding to the current accelerator opening is determined according to the gear shifting curve, and the running speed of the vehicle is compared with the gear shifting speed in real time so as to judge whether the running speed of the vehicle is greater than or equal to the gear shifting speed in real time.
And S108, when the running speed of the vehicle is greater than or equal to the gear shifting vehicle speed, switching the gear of the vehicle to a preset gear shifting gear corresponding to the gear shifting curve.
In the method provided by the embodiment of the invention, when the running speed of the vehicle is greater than or equal to the gear shifting vehicle speed, the gear of the vehicle is switched to a preset gear shifting gear corresponding to the gear shifting curve, so that the gear shifting operation of the vehicle is completed; it should be noted that the preset shift position corresponding to the shift curve is a next shift position of the current shift position, for example, when the current shift position is a2 shift position, and when the driving speed of the vehicle is greater than or equal to the shift speed, the shift position of the vehicle is changed to a3 shift position.
In the method provided by the embodiment of the invention, in the driving process of a vehicle, the corresponding gear jump duration is determined according to the current gear and the current accelerator opening of the vehicle; determining a gear skipping curve corresponding to the current gear, determining a gear skipping speed of the vehicle under the current accelerator opening according to the gear skipping curve, judging whether the running speed of the vehicle is greater than or equal to the gear skipping speed in real time within the gear skipping duration, and skipping the gear of the vehicle to a preset gear skipping gear corresponding to the gear skipping curve when the running speed of the vehicle is greater than or equal to the gear skipping speed within the gear skipping duration to realize gear skipping of the vehicle; if the running speed of the vehicle is not greater than or equal to the gear-skipping speed within the gear-skipping duration, determining a gear-shifting curve corresponding to the current gear, determining a gear-shifting speed corresponding to the current accelerator opening according to the gear-shifting curve, and switching the gear of the vehicle to a preset gear-shifting position corresponding to the gear-shifting curve when the running speed of the vehicle is greater than or equal to the gear-shifting speed so as to realize gear shifting of the vehicle. According to the method provided by the embodiment of the invention, the power performance of vehicle running is improved by combining gear skipping and gear shifting; through the trip of the vehicle gear, the frequency of shifting gears of the vehicle in the driving process is effectively reduced, the condition that the power of the vehicle is interrupted due to frequent shifting can be effectively avoided, the driving of the vehicle can be ensured, and the power performance and the economical efficiency of the vehicle are improved.
In the method provided by the embodiment of the present invention, before determining whether to skip a gear, a pre-generated skip curve corresponding to the current gear needs to be determined, and a specific process is as follows:
determining the gear type of the current gear and the gear skipping identification of the current gear;
and acquiring each gear jumping curve corresponding to the gear type, and determining the gear jumping curve corresponding to the gear jumping identification.
In the method provided by the embodiment of the invention, when the gear type of the current gear and the gear skipping identification of the current gear are determined, the gear type of the current gear can be determined according to the gear value of the current gear; and obtaining each gear jumping curve corresponding to the gear type to which the current gear belongs, and determining the corresponding gear jumping curve in each gear jumping curve according to the gear jumping identification of the current gear. The trip mark may be a gear value of the current gear, or may be a gear value of a gear to which the vehicle can trip when the vehicle is in the current gear. It should be noted that the gear type is an odd gear type or an even gear type, and the gear type can be determined according to the gear value of the current gear.
According to the method provided by the embodiment of the invention, the gear jump curve corresponding to the current gear can be more accurately determined according to the gear type and the gear jump identification of the current gear.
In the method provided by the embodiment of the present invention, after determining the trip curve corresponding to the current gear, the trip vehicle speed corresponding to the current accelerator opening in the trip curve needs to be determined, and the specific process is as follows:
traversing the current accelerator opening degree through each accelerator opening degree in the trip curve, determining the accelerator opening degree consistent with the current accelerator opening degree in the trip curve, and determining the trip vehicle speed corresponding to the accelerator opening degree consistent with the current accelerator opening degree as the trip vehicle speed of the current accelerator opening degree.
It should be noted that the trip curve is a relation curve between an accelerator opening and a trip vehicle speed, the trip vehicle speed of the current accelerator opening is determined according to the trip curve, and the trip vehicle speed is an optimal driving speed for the vehicle to trip when the vehicle is at the current accelerator opening.
If the driving speed of the vehicle is not greater than or equal to the gear-skipping speed within the gear-skipping duration, a preset gear-shifting method is applied to shift the vehicle; when the vehicle shifts gears, the corresponding gear shifting speed of the vehicle under the current accelerator opening degree needs to be determined, and the specific process is as follows:
traversing the current accelerator opening degree through each accelerator opening degree in the gear shifting curve, determining the accelerator opening degree consistent with the current accelerator opening degree in the gear shifting curve, and determining the gear shifting vehicle speed corresponding to the accelerator opening degree consistent with the current accelerator opening degree as the gear shifting vehicle speed of the current accelerator opening degree.
In the method provided by the embodiment of the invention, the corresponding trip speed is determined in the trip curve, and whether the vehicle meets the trip condition is judged according to the trip speed, wherein the trip condition is that the running speed of the vehicle is greater than or equal to the trip speed; if the gear-jumping condition is not met within the gear-jumping duration, the vehicle does not perform gear-jumping; and judging whether the vehicle meets a gear shifting condition in real time, wherein the gear shifting condition is that the running speed of the vehicle is greater than or equal to the gear shifting speed.
In the method provided by the embodiment of the invention, whether the vehicle meets the conditions of gear jumping or gear shifting is judged by applying the running speed of the vehicle, the power design and the running principle of the vehicle are more appropriate, more reasonable gear jumping or gear shifting time is provided for the vehicle, and the maneuverability and the economy of the vehicle are improved.
In the method provided by the embodiment of the present invention, a generation process of the trip curve is shown in fig. 2, and the following is specifically described:
s201, determining the acceleration of the vehicle at different vehicle running speeds under each preset accelerator opening of each gear of the vehicle.
In the method provided by the embodiment of the invention, in the process of generating the gear skipping curve, the acceleration corresponding to the running speed of different vehicles at each preset accelerator opening of each gear of the vehicles needs to be determined. The acceleration is determined as follows:
applying a preset complete vehicle dynamic equation:
Ft＝Ff+Fw+Fi+Fj
wherein, FtIs the driving force of the whole vehicle; ffThe rolling resistance of the whole vehicle is obtained; fwIs wind resistance; fiIs the ramp resistance; fjThe acceleration resistance of the whole vehicle is obtained;
it should be noted that, the deformation formula of the entire vehicle dynamics equation can be expressed as:
Figure BDA0002310528630000102
the acceleration of the vehicle can be calculated through the deformation formula of the whole vehicle dynamic equation
Figure BDA0002310528630000101
Wherein, TtqIs the engine torque; i.e. igIs the transmission speed ratio; i.e. i0The speed ratio of the main speed reducer is obtained; etaTFor transmission efficiency; r is the rolling radius of the wheel; g is the vehicle weight; f is a rolling resistance coefficient; cDIs the wind resistance coefficient; a is the windward area; u. ofaIs the vehicle speed; i is the gradient; delta is a rotating mass conversion coefficient; m is the mass of the whole vehicle;
the acceleration of the vehicle can be calculated by acquiring data of each parameter in a deformation formula of a complete vehicle dynamics equation.
And S202, generating an acceleration curve of each gear under each accelerator opening degree based on the acceleration and the vehicle running speed.
In the method provided by the embodiment of the invention, after the acceleration corresponding to different vehicle running speeds of each gear of the vehicle under each preset accelerator opening is calculated, an acceleration curve of each gear under each accelerator opening is established according to the vehicle running speeds and the acceleration corresponding to the different vehicle running speeds.
S203, determining gear numerical values of all gears in the vehicle, and determining each gear type of the gears according to the gear numerical values, wherein the gear types are odd gear types or even gear types.
In the method provided by the embodiment of the invention, the gear value of each gear in the vehicle is determined, and the gear type of each gear is determined according to the gear value, wherein the gear type is an odd-numbered gear type or an even-numbered gear type. And classifying each gear in the vehicle according to the gear type.
S204, for each gear in each gear type, sorting the gears according to the sequence of the gear numerical values from small to large, and dividing two adjacent gears after sorting into the same group.
In the method provided by the embodiment of the invention, after each gear in the vehicle is divided into an odd gear type and an even gear type, for each gear in each gear type, the gears are sorted according to the sequence of the gear numerical values from small to large, and two adjacent gears after being sorted are divided into the same group; further, for example, the odd-numbered gear types include 1 gear, 3 gear, 5 gear, 7 gear, 9 gear and 11 gear, after the odd-numbered gear types are sorted, the 1 gear and the 3 gear are divided into the same group, the 3 gear and the 5 gear are divided into the same group, the 5 gear and the 7 gear are divided into the same group, and so on, and details are not repeated here.
S205, for each gear in each group, determining an intersection point of an acceleration curve of each gear under the same accelerator opening degree, and taking a vehicle running speed corresponding to the intersection point as a gear skipping vehicle speed under the accelerator opening degree to obtain the intersection point of the acceleration curve of each gear in each group under different accelerator opening degrees.
And S206, generating a gear skipping curve corresponding to the gear with the minimum gear number value in each group based on the accelerator opening and the gear skipping vehicle speed.
In the method provided by the embodiment of the invention, the intersection points of the acceleration curves of all gears in each group under the same accelerator opening degree are determined so as to obtain the intersection points of the acceleration curves of all gears in each group under different accelerator opening degrees, and each intersection point has corresponding vehicle running speed and acceleration, wherein the vehicle running speed is used as the gear skipping speed of a vehicle; and establishing a gear skipping curve corresponding to the gear with the minimum gear number value in each group based on the accelerator opening and the gear skipping speed.
In order to specifically describe the acceleration curve provided by the embodiment of the invention, an example diagram is provided for description, assuming that a vehicle has 12 gears, namely, a gear 1, a gear 2 and a gear 3, and so on, until the gear 12; referring to fig. 3, fig. 3 is a graph showing an acceleration curve of each gear with the accelerator opening degree of 100%, the vehicle gear type being an even-numbered gear type, the abscissa in fig. 3 is the vehicle running speed, and the ordinate is the calculated acceleration, where a curve a is the acceleration curve of gear 2, a curve b is the acceleration curve of gear 4, a curve c is the acceleration curve of gear 6, a curve d is the acceleration curve of gear 8, a curve e is the acceleration curve of gear 10, and a curve f is the acceleration curve of gear 12. It should be noted that each gear corresponds to a different acceleration curve under a different accelerator opening. Preferably, the gear types can be even gear types and odd gear types; wherein, the fender position that even grade position type corresponds has: gear 2, gear 4, gear 6, gear 8, gear 10, and gear 12; the gears corresponding to the odd-numbered gear types include: gear 1, gear 3, gear 5, gear 7, gear 9, and gear 11.
Taking the even-numbered gear type gears as an example, 5 different groups can be obtained by dividing gear 2 and gear 4 into the same group, gear 4 and gear 6 into the same group, gear 6 and gear 8 into the same group, gear 8 and gear 10 into the same group, and gear 10 and gear 12 into the same group.
In the method provided by the embodiment of the present invention, an example of the trip curve may refer to fig. 4, where curves a1, a2, a3, a4, and a5 in fig. 4 are trip curves; curve a1 is a skip gear 2 and skip gear 4 curve, corresponding to the gear 2 of the vehicle; curve a2 is a curve for gear 4 to jump gear 6, corresponding to gear 4 of the vehicle; curve a3 is a curve for jumping gear 8 from gear 6, corresponding to gear 6 of the vehicle; curve a4 is a curve for jumping gear 10 from gear 8, corresponding to gear 8 of the vehicle; curve a5 is the skip-shift-10 curve, corresponding to the shift 10 of the vehicle.
Taking the curve a1 as an example, determining each intersection point of acceleration curves of the gear 2 and the gear 4 under different accelerator opening degrees, determining a vehicle running speed corresponding to each intersection point, and taking the vehicle running speed corresponding to the intersection point as a skip speed of the vehicle under the accelerator opening degree; according to the accelerator opening and the gear-skipping speed, gear-skipping curves of the gear-skipping speeds corresponding to the vehicle under different accelerator openings can be established.
To specifically describe the method provided by the embodiment of the present invention, a specific example is described here, during a driving process of a vehicle, a current gear of the vehicle is determined to be a gear 2, a current throttle opening is 40%, and a gear jump duration of the gear 2 and the throttle opening being 40% is determined to be 30 seconds; the trip curve corresponding to the gear 2 is a1 in fig. 3, and the trip vehicle speed is 8.5km/h when the accelerator opening is 40% according to a 1; and judging whether the running speed of the vehicle is greater than or equal to 8.5km/h or not in real time within the gear-skipping time length 30s, and when the running speed of the vehicle is judged to be greater than or equal to 8.5km/h within the gear-skipping time length 30s, skipping the gear 2 of the vehicle to the gear 4, completing the switching of the gear of the vehicle, and returning to execute the operation of determining the current gear and the accelerator opening degree of the vehicle.
If the running speed of the vehicle is not greater than or equal to 8.5km/h all the time within the gear skipping duration, determining a gear shifting curve corresponding to a gear 2, determining a gear shifting vehicle speed with the accelerator opening degree of 40% in the gear shifting curve, and comparing the running speed of the vehicle with the gear shifting vehicle speed in real time to judge whether the running speed of the vehicle is greater than or equal to the gear shifting vehicle speed in real time if the gear shifting vehicle speed is 7.0 km/h; and if the running speed of the vehicle is greater than or equal to 7.0km/h, shifting the gear of the vehicle to the gear 3, and finishing the switching of the gear of the vehicle.
In the method provided by the embodiment of the invention, the current accelerator opening and the current gear of a vehicle are determined, and the gear skipping duration corresponding to the current accelerator opening and the current gear is determined; determining a gear jumping curve corresponding to the current gear; determining a gear-skipping speed corresponding to the current accelerator opening according to the gear-skipping curve; judging whether the running speed is greater than or equal to the gear-skipping speed in real time within the gear-skipping duration; when the driving speed is greater than or equal to the gear skipping speed within the gear skipping duration, skipping the gear of the vehicle to a gear corresponding to the gear skipping curve; if the running speed is not greater than or equal to the gear-shifting vehicle speed within the gear-shifting duration, determining the gear-shifting vehicle speed corresponding to the current accelerator opening according to the gear-shifting curve corresponding to the current gear, judging whether the running speed of the vehicle is greater than or equal to the gear-shifting vehicle speed in real time, and switching the gear of the vehicle to the gear corresponding to the gear-shifting curve when the running speed of the vehicle is greater than or equal to the gear-shifting vehicle speed. The invention can effectively reduce the gear shifting times of the vehicle during running, thereby avoiding the phenomenon of frequent power interruption of the vehicle caused by frequent gear shifting of the vehicle, and improving the power performance and the economical efficiency of the vehicle during running.
Corresponding to fig. 1, an embodiment of the present invention further provides a gear shifting device for a vehicle, where the device may be disposed in a control system of the vehicle or in a computing processor of the control system of the vehicle, and the device is used to support the practical application of the method provided by the present invention, and a device structure diagram of the device may be referred to in fig. 5, which is described in detail as follows:
a first determining unit 501, configured to determine a current gear and a current accelerator opening of a vehicle during a driving process of the vehicle, and determine a trip duration in a preset trip duration table according to the current gear and the current accelerator opening;
a second determining unit 502, configured to determine a pre-generated trip curve corresponding to the current gear, where the trip curve is a relationship curve between an accelerator opening and a trip vehicle speed;
a third determining unit 503, configured to determine a skip speed corresponding to the current accelerator opening in the skip curve;
a first judging unit 504, configured to judge whether a driving speed of the vehicle is greater than or equal to the trip speed in real time within the trip duration;
a gear skipping unit 505, configured to skip the gear of the vehicle to a preset gear skipping gear corresponding to the gear skipping curve when the driving speed of the vehicle is greater than or equal to the gear skipping speed within the gear skipping duration;
a fourth determining unit 506, configured to determine a pre-generated shift curve corresponding to the current gear if the driving speed of the vehicle is not greater than or equal to the skip speed within the skip time period, where the shift curve is a relationship curve between an accelerator opening and a shift speed;
a second determining unit 507, configured to determine, in the shift curve, a shift vehicle speed corresponding to the current accelerator opening, and determine whether a driving speed of the vehicle is greater than or equal to the shift vehicle speed in real time;
and the shifting unit 508 is used for switching the gear of the vehicle to a preset shifting gear corresponding to the shifting curve when the running speed of the vehicle is greater than or equal to the shifting vehicle speed.
In the device provided by the embodiment of the invention, the current accelerator opening and the current gear of a vehicle are determined, and the gear skipping duration corresponding to the current accelerator opening and the current gear is determined; determining a gear jumping curve corresponding to the current gear; determining a gear-skipping speed corresponding to the current accelerator opening according to the gear-skipping curve; judging whether the running speed of the vehicle is greater than or equal to the gear-skipping speed in real time within the gear-skipping duration; when the running speed of the vehicle is greater than or equal to the gear skipping speed within the gear skipping duration, skipping the gear of the vehicle to a gear corresponding to the gear skipping curve; if the running speed of the vehicle is not greater than or equal to the gear-shifting vehicle speed within the gear-shifting duration, determining the gear-shifting vehicle speed corresponding to the current accelerator opening according to the gear-shifting curve corresponding to the current gear, judging whether the running speed is greater than or equal to the gear-shifting vehicle speed in real time, and switching the gear of the vehicle to the gear corresponding to the gear-shifting curve when the running speed is greater than or equal to the gear-shifting vehicle speed. The invention can effectively reduce the gear shifting times of the vehicle during running, thereby avoiding the phenomenon of frequent power interruption of the vehicle caused by frequent gear shifting of the vehicle, and improving the power performance and the economical efficiency of the vehicle during running.
In the apparatus provided in the embodiment of the present invention, the second determining unit 502 may be configured to:
the first determining subunit is used for determining the gear type of the current gear and the gear skipping identification of the current gear;
and the acquisition subunit is used for acquiring each gear jumping curve corresponding to the gear type and determining the gear jumping curve corresponding to the gear jumping identification.
In the apparatus provided in the embodiment of the present invention, the third determining unit 503 may be configured to:
and the first traversal subunit is used for traversing the current accelerator opening degree through each accelerator opening degree in the trip curve, determining the accelerator opening degree consistent with the current accelerator opening degree in the trip curve, and determining the trip vehicle speed associated with the accelerator opening degree consistent with the current accelerator opening degree as the trip vehicle speed of the current accelerator opening degree.
In the apparatus provided in the embodiment of the present invention, the second determining unit 507 may be configured to:
and the second traversal subunit is used for traversing the current accelerator opening degree through each accelerator opening degree in the gear shifting curve, determining the accelerator opening degree consistent with the current accelerator opening degree in the gear shifting curve, and determining the gear shifting vehicle speed associated with the accelerator opening degree consistent with the current accelerator opening degree as the gear shifting vehicle speed of the current accelerator opening degree.
In the apparatus provided in the embodiment of the present invention, the apparatus may be further configured to:
a fifth determining unit, configured to determine an acceleration of the vehicle at a different vehicle driving speed at each preset accelerator opening of each gear of the vehicle;
a first generation unit configured to generate an acceleration curve for each of the gears at each of the accelerator opening degrees based on the acceleration and the vehicle running speed;
a sixth determining unit, configured to determine a gear value of each gear in the vehicle, and determine a gear type of each gear according to the gear value, where the gear type is an odd-numbered gear type or an even-numbered gear type;
the sorting unit is used for sorting the gears according to the sequence of the gear numerical values from small to large for each gear in each gear type, and dividing two adjacent sorted gears into the same group;
a seventh determining unit, configured to determine, for each gear in each group, an intersection point of an acceleration curve of each gear at the same accelerator opening, and use a vehicle driving speed corresponding to the intersection point as a downshift vehicle speed at the accelerator opening, to obtain an intersection point of an acceleration curve of each gear in each group at different accelerator openings;
and the second generation unit is used for generating a gear skipping curve corresponding to the gear with the minimum gear number value in each group based on the accelerator opening and the gear skipping vehicle speed.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. 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 invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A shifting method of a vehicle, characterized by comprising:
determining a current gear and a current accelerator opening of a vehicle in the driving process of the vehicle, and determining a gear-jumping duration in a preset gear-jumping duration table according to the current gear and the current accelerator opening;
determining a pre-generated gear jumping curve corresponding to the current gear, wherein the gear jumping curve is a relation curve of accelerator opening and gear jumping vehicle speed;
determining a gear-skipping speed corresponding to the current accelerator opening degree in the gear-skipping curve;
judging whether the running speed of the vehicle is greater than or equal to the gear-skipping speed in real time within the gear-skipping duration;
when the running speed of the vehicle is greater than or equal to the gear skipping speed within the gear skipping duration, skipping the gear of the vehicle to a preset gear skipping gear corresponding to the gear skipping curve;
if the running speed of the vehicle is not greater than or equal to the gear-skipping speed within the gear-skipping duration, determining a pre-generated gear-shifting curve corresponding to the current gear, wherein the gear-shifting curve is a relation curve of the accelerator opening and the gear-shifting speed;
determining a gear shifting vehicle speed corresponding to the current accelerator opening in the gear shifting curve, and judging whether the running speed of the vehicle is greater than or equal to the gear shifting vehicle speed in real time;
and when the running speed of the vehicle is greater than or equal to the gear shifting vehicle speed, switching the gear of the vehicle to a preset gear shifting gear corresponding to the gear shifting curve.
2. The method of claim 1, wherein said determining a pre-generated skip profile corresponding to said current gear comprises:
determining the gear type of the current gear and the gear skipping identification of the current gear;
and acquiring each gear jumping curve corresponding to the gear type, and determining the gear jumping curve corresponding to the gear jumping identification.
3. The method of claim 1, wherein determining a skip speed corresponding to the current throttle opening in the skip profile comprises:
traversing the current accelerator opening degree through each accelerator opening degree in the trip curve, determining the accelerator opening degree consistent with the current accelerator opening degree in the trip curve, and determining the trip vehicle speed associated with the accelerator opening degree consistent with the current accelerator opening degree as the trip vehicle speed of the current accelerator opening degree.
4. The method of claim 1, wherein determining a shift vehicle speed corresponding to the current accelerator opening in the shift curve comprises:
traversing the current accelerator opening degree through each accelerator opening degree in the gear shifting curve, determining the accelerator opening degree consistent with the current accelerator opening degree in the gear shifting curve, and determining the gear shifting vehicle speed associated with the accelerator opening degree consistent with the current accelerator opening degree as the gear shifting vehicle speed of the current accelerator opening degree.
5. The method of claim 1, wherein the trip curve generation process comprises:
determining the acceleration of the vehicle at different vehicle running speeds at each preset accelerator opening of each gear of the vehicle;
generating an acceleration curve of each gear under each preset accelerator opening degree based on the acceleration and the vehicle running speed;
determining a gear value of each gear in the vehicle, and determining a gear type of each gear according to the gear value, wherein the gear type is an odd gear type or an even gear type;
for each gear in each gear type, sequencing each gear according to the sequence of the gear numerical values from small to large, and dividing two adjacent gears after sequencing into the same group;
for each gear in each group, determining an intersection point of an acceleration curve of each gear under the same preset accelerator opening, and taking a vehicle running speed corresponding to the intersection point as a trip vehicle speed under the preset accelerator opening to obtain the intersection point of the acceleration curve of each gear in each group under different preset accelerator openings;
and generating a gear skipping curve corresponding to the gear with the minimum gear number value in each group based on the preset accelerator opening and the gear skipping vehicle speed.
6. A shifting apparatus for a vehicle, characterized by comprising:
the system comprises a first determining unit, a second determining unit and a control unit, wherein the first determining unit is used for determining the current gear and the current accelerator opening of a vehicle in the driving process of the vehicle, and determining the gear-skipping duration in a preset gear-skipping duration table according to the current gear and the current accelerator opening;
the second determining unit is used for determining a pre-generated gear jumping curve corresponding to the current gear, and the gear jumping curve is a relation curve of the accelerator opening and the gear jumping vehicle speed;
a third determining unit, configured to determine a skip speed corresponding to the current accelerator opening degree in the skip curve;
the first judgment unit is used for judging whether the running speed of the vehicle is greater than or equal to the gear-skipping speed in real time within the gear-skipping duration;
the gear skipping unit is used for skipping the gear of the vehicle to a preset gear skipping gear corresponding to the gear skipping curve when the running speed of the vehicle is greater than or equal to the gear skipping speed within the gear skipping duration;
a fourth determining unit, configured to determine a pre-generated shift curve corresponding to the current gear if the driving speed of the vehicle is not greater than or equal to the skip speed within the skip duration, where the shift curve is a relationship curve between an accelerator opening and a shift speed;
the second judgment unit is used for determining a gear shifting vehicle speed corresponding to the current accelerator opening degree in the gear shifting curve and judging whether the running speed of the vehicle is greater than or equal to the gear shifting vehicle speed in real time;
and the gear shifting unit is used for switching the gear of the vehicle to a preset gear shifting gear corresponding to the gear shifting curve when the running speed of the vehicle is greater than or equal to the gear shifting vehicle speed.
7. The apparatus of claim 6, wherein the second determining unit comprises:
the first determining subunit is used for determining the gear type of the current gear and the gear skipping identification of the current gear;
and the acquisition subunit is used for acquiring each gear jumping curve corresponding to the gear type and determining the gear jumping curve corresponding to the gear jumping identification.
8. The apparatus of claim 6, wherein the third determining unit comprises:
and the first traversal subunit is used for traversing the current accelerator opening degree through each accelerator opening degree in the trip curve, determining the accelerator opening degree consistent with the current accelerator opening degree in the trip curve, and determining the trip vehicle speed associated with the accelerator opening degree consistent with the current accelerator opening degree as the trip vehicle speed of the current accelerator opening degree.
9. The apparatus of claim 6, wherein the second determining unit comprises:
and the second traversal subunit is used for traversing the current accelerator opening degree through each accelerator opening degree in the gear shifting curve, determining the accelerator opening degree consistent with the current accelerator opening degree in the gear shifting curve, and determining the gear shifting vehicle speed associated with the accelerator opening degree consistent with the current accelerator opening degree as the gear shifting vehicle speed of the current accelerator opening degree.
10. The apparatus of claim 6, further comprising:
a fifth determining unit, configured to determine an acceleration of the vehicle at a different vehicle driving speed at each preset accelerator opening of each gear of the vehicle;
a first generating unit, configured to generate an acceleration curve of each gear at each preset accelerator opening degree based on the acceleration and the vehicle running speed;
a sixth determining unit, configured to determine a gear value of each gear in the vehicle, and determine a gear type of each gear according to the gear value, where the gear type is an odd-numbered gear type or an even-numbered gear type;
the sorting unit is used for sorting the gears according to the sequence of the gear numerical values from small to large for each gear in each gear type, and dividing two adjacent sorted gears into the same group;
a seventh determining unit, configured to determine, for each gear in each group, an intersection point of an acceleration curve of each gear at the same preset accelerator opening, and use a vehicle driving speed corresponding to the intersection point as a skip vehicle speed at the preset accelerator opening to obtain an intersection point of an acceleration curve of each gear in each group at different preset accelerator openings;
and the second generation unit is used for generating a gear skipping curve corresponding to the gear with the minimum gear number value in each group based on the preset accelerator opening and gear skipping vehicle speed.
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