CN112606817B

CN112606817B - Gear shifting system of fuel cell hydrogen energy automobile and control method thereof

Info

Publication number: CN112606817B
Application number: CN202011470776.1A
Authority: CN
Inventors: 程飞; 郝义国; 陈华明
Original assignee: Wuhan Grove Hydrogen Energy Automobile Co Ltd
Current assignee: Wuhan Grove Hydrogen Energy Automobile Co Ltd
Priority date: 2020-12-15
Filing date: 2020-12-15
Publication date: 2022-06-07
Anticipated expiration: 2040-12-15
Also published as: CN112606817A

Abstract

The invention relates to the technical field of hydrogen energy automobiles, in particular to a gear shifting system of a fuel cell hydrogen energy automobile. The gear shifting system comprises a vehicle control unit, a gear switch, a brake pedal, a hydrogen fuel cell system, a power battery management system, a high-voltage distribution box, a driving system and an HMI display screen. The fuel cell hydrogen energy automobile gear shifting system has perfect functions, all control units coordinate to complete the gear shifting system function together, and the fuel cell hydrogen energy automobile gear shifting system has high stability and reliability; the HMI display screen can give a prompt for prohibiting gear shifting operation to the working condition which is not in line with gear shifting, and informs the driver that the gear shifting operation of the current working condition is allowable, thereby preventing the driver from causing wrong vehicle operation due to incomplete information prompt and increasing the vehicle safety.

Description

Gear shifting system of fuel cell hydrogen energy automobile and control method thereof

Technical Field

The invention relates to the technical field of hydrogen energy automobiles, in particular to a gear shifting system of a fuel cell hydrogen energy automobile and a control method thereof.

Background

With the vigorous popularization of hydrogen fuel cells, hydrogen energy automobiles are more and more widely applied. Compare with traditional fuel vehicle, the gear shift strategy of hydrogen energy car is different to a certain extent, if with traditional fuel vehicle's the operation of shifting gear direct application with the hydrogen energy car on, then can lead to the vehicle easy to appear the problem of putting into gear in the use, bring some puzzlements for the driver.

Disclosure of Invention

In view of the above, the present invention provides a shift system of a fuel cell hydrogen energy automobile and a control method thereof.

The invention provides a gear shifting system of a fuel cell hydrogen energy automobile and a control method thereof, which mainly comprises the following steps:

s1, judging the working states of the gear switch, the brake pedal, the hydrogen fuel cell system, the power battery management system, the high-voltage distribution box and the driving system, if the gear switch, the brake pedal, the hydrogen fuel cell system, the power battery management system, the high-voltage distribution box and the driving system are in normal states, carrying out the next step, and if any one of the gear switch, the brake pedal, the hydrogen fuel cell system, the power battery management system, the high-voltage distribution box and the driving system is in a fault state, sending alarm information to an HMI display screen by the whole vehicle controller;

s2, the gear of the current gear switch is N gear, and the target gear is D gear: if the rotating speed of the rear driving motor is greater than S1 and the braking depth of the brake pedal is greater than D11, or the rotating speed of the rear driving motor is greater than S2, the vehicle controller controls the logic gear of the vehicle to be adjusted to the D gear so as to complete the switching of the target gear; if the conditions are not met or any one of a gear switch, a brake pedal, a hydrogen fuel cell system, a power battery management system, a high-voltage distribution box and a driving system is in a fault state, the whole vehicle controller sends invalid gear shifting information to an HMI display screen;

s3, the gear of the current gear switch is D gear, and the target gear is N gear: if any one of the gear switch, the brake pedal, the hydrogen fuel cell system, the power battery management system, the high-voltage distribution box or the driving system has a fault during working, the vehicle controller controls the logic gear of the vehicle to be adjusted to N gear so as to complete the switching of the target gear;

s4, the gear of the current gear switch is N gear, and the target gear is R gear: if the rotating speed of the rear driving motor is less than S3 and the braking depth of the brake pedal is greater than D1, or the rotating speed of the rear driving motor is less than S4, the vehicle controller controls the logic gear of the vehicle to be adjusted to the R gear so as to complete the switching of the target gear; if the conditions are not met or any one of a gear switch, a brake pedal, a hydrogen fuel cell system, a power battery management system, a high-voltage distribution box and a driving system is in a fault state, the whole vehicle controller sends invalid gear shifting information to an HMI display screen;

s5, if the current gear is an R gear and the target gear of the gear switch is an N gear, if any one of the gear switch, the brake pedal, the hydrogen fuel cell system, the power battery management system, the high-voltage distribution box or the driving system fails, the vehicle controller controls the logic gear of the vehicle to be adjusted to the N gear so as to complete the switching of the target gear;

s6, if the current gear is the D gear and the target gear of the gear switch is the R gear, and if the rotating speed of the rear driving motor is less than S5, the vehicle controller controls the logic gear of the vehicle to be adjusted to the R gear so as to complete the switching of the target gear; if the conditions are not met or any one of a gear switch, a brake pedal, a hydrogen fuel cell system, a power battery management system, a high-voltage distribution box and a driving system is in a fault state, the whole vehicle controller sends invalid gear shifting information to an HMI display screen;

s7, if the current gear is the R gear and the target gear of the gear switch is the D gear, and if the rotating speed of the rear driving motor is greater than S6, the vehicle controller controls the logic gear of the vehicle to be adjusted to the D gear so as to complete the switching of the target gear; if the conditions are not met or any one of the gear switch, the brake pedal, the hydrogen fuel cell system, the power battery management system, the high-voltage distribution box or the driving system is in a fault state, the whole vehicle controller sends invalid gear shifting information to the HMI display screen.

Further, S1 — 50rpm, D1 10%, and S2 3000rpm in S2 were measured.

Further, in S4, S3 is 50rpm, and S4 is-1500 rpm.

Further, S5 in S4 is 30 rpm.

Further, S6 in S4 is-30 rpm.

The technical scheme provided by the invention has the beneficial effects that: (1) the gear shifting system of the fuel cell hydrogen energy automobile has the advantages that the function is complete, all control units coordinate to complete the function of the gear shifting system together, and the gear shifting system has high stability and reliability; the HMI display screen can prompt the forbidden gear shifting operation to the working condition which is not accordant with the gear shifting, informs the driver that the gear shifting operation of the current working condition is allowed, prevents the driver from mistakenly operating the vehicle due to incomplete information prompt, and increases the safety of the vehicle;

(2) the control method of the gear shifting system provided by the invention can self-identify the working condition scene, can realize full scene coverage, and is more comprehensive than the traditional gear shifting consideration; when the vehicle state is identified to be in the gear shifting working condition, the gear shifting system function can be started, and when the vehicle state is identified to be in the gear shifting working condition, the gear shifting system function can be actively closed, so that the normal use of the vehicle is not influenced, and meanwhile, the HMI prompts that the vehicle state does not meet the gear shifting requirement; in addition, the control method simplifies complex functions and improves the compatibility and the realizability of the hydrogen energy automobile gear shifting system.

Drawings

Fig. 1 is a schematic structural diagram of a gear shifting system of a fuel cell hydrogen energy automobile according to the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.

Referring to fig. 1, an embodiment of the present invention provides a gear shifting system of a fuel cell hydrogen energy automobile, including a vehicle control unit 100, a shift switch 10, a brake pedal 20, a hydrogen fuel cell system 30, a power cell management system BMS 40, a high voltage distribution box 50, a driving system and an HMI display screen 70, where the driving system includes a rear drive motor controller 60, the vehicle control unit 100 is electrically connected to the shift switch 10 and the brake pedal 20, respectively, and the vehicle control unit 100, the hydrogen fuel cell system 30, the power cell management system 40, the high voltage distribution box 50, the rear drive motor controller 60 and the HMI display screen 70 are all in communication connection with a CAN bus.

In the present invention, the inhibitor switch 10 includes an R-range, a D-range and an N-range, wherein the electrical connection structure between the inhibitor switch 10 and the brake pedal 20 and the vehicle controller 100 is the prior art, and the hydrogen fuel cell system 30 includes a fuel cell control unit FCU, which sends the operating condition information of the fuel cell stack of the hydrogen fuel cell system 30 to the CAN bus; the power battery management system 40 is an auxiliary energy source of the whole vehicle and sends key information of the power battery management system 40 to the CAN bus; the high-voltage distribution box 50 is a high-voltage energy distribution system of the whole vehicle and sends high-voltage distribution information to the CAN bus; the driving motor system is a source of driving power of the whole vehicle, and the rotating speed information of the rear driving motor 61 is sent to the CAN bus through the rear driving motor controller 60. It is the prior art, and the detailed connection structure and the working principle thereof are not described herein.

The vehicle control unit 100 acquires the target gear information of the driver by acquiring the state information of the gear switch 10 through a hard wire, acquires the braking state information and the braking depth information through a hard wire, meanwhile, the rear driving motor controller 60 transmits the rotation speed information of the rear driving motor 61 and the fault state information of the rear driving motor 61 to the CAN bus, the vehicle control unit 100 acquires the rotation speed information of the rear driving motor 61 and the fault state information of the rear driving motor 61 from the CAN bus, and furthermore, the vehicle control unit 100 transmits the fault state information of the cargo area hydrogen fuel cell system 30, the power battery management system 40 and the high voltage distribution box 50 from the CAN bus, the fault state information judges whether the whole vehicle is in a driving-capable state, if so, allowing gear switching, and if the vehicle is in a non-driving state, defaulting that the logic gear of the whole vehicle is N gear and not allowing gear switching; whether the gear shifting operation is effective or not is judged through the rotating speed information of the rear driving motor 61, the target gear information and the state information of the brake pedal 20, gear shifting is executed if the gear shifting operation is effective, a gear shifting invalid state is sent to a CAN bus if the gear shifting invalid state is invalid, and after the gear shifting invalid state information is acquired from the CAN bus, the gear shifting invalid information is displayed on a display screen to remind a driver of paying attention.

Here, in the control system according to the present invention, it is assumed that the vehicle control unit 100 has a function of determining that the inhibitor switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the hv power distribution box 50, and the drive system are in a failure state in the related art.

A control method of a gear shifting system of a fuel cell hydrogen energy automobile mainly comprises the following steps:

s1, judging the working states of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high-voltage distribution box 50 and the driving system, if the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high-voltage distribution box 50 and the driving system are in normal states, carrying out the next step, if any one of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high-voltage distribution box 50 and the driving system is in a fault state, and meanwhile, if the whole vehicle controller 100 detects the gear shifting operation intention of a driver, the whole vehicle controller 100 sends alarm information to the HMI display screen 70;

specifically, after the whole vehicle is started, the whole vehicle controller 100 respectively acquires a gear switch, a brake pedal 20, a hydrogen fuel cell system 30, a power battery management system 40, work information of the high-voltage distribution box 50 and a driving system, and judges that any one of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the work state of the high-voltage distribution box 50 and the driving system is faulty, meanwhile, the whole vehicle controller 100 detects a shift operation intention of a driver, the whole vehicle controller 100 sends alarm information to the HMI display screen 70, and after the HMI display screen 70 receives invalid shift operation information from the CAN bus, the HMI display screen 70 displays on a screen: "invalid shift operation, please re-shift" to alert the driver; if the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high-voltage distribution box 50 and the driving system are in normal states, the next step is carried out; it should be noted that the method for determining the faults of the inhibitor switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high voltage distribution box 50 and the driving system by the hybrid vehicle controller 100 is applicable to the prior art, that is, the present invention is consistent with the conditions for determining the faults of the inhibitor switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high voltage distribution box 50 and the driving system in the existing hydrogen energy vehicle.

S2, the shift position of the current shift switch 10 is N-position, and the target shift position is D-position: if the rotating speed of the rear driving motor 61 is greater than S1 and the braking depth of the brake pedal 20 is greater than D11, or the rotating speed of the rear driving motor 61 is greater than S2, the vehicle controller 100 controls the logic gear of the vehicle to be shifted to the D gear, so as to complete the switching of the target gear; if the above conditions are not met and any one of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high-voltage distribution box 50 or the driving system is in a fault state, the vehicle controller 100 sends invalid gear shifting information to the HMI display screen 70; wherein, S1 equals-50 rpm, D11 equals 10%, and S2 equals 3000 rpm.

Specifically, before gear shifting, the logic gear and the gear switch 10 of the whole vehicle are both in the N gear, when the whole vehicle controller 100 detects that the target gear of the driver is the D gear, the whole vehicle controller 100 acquires the rotation speed information of the rear driving motor 61 and the braking information of the brake pedal 20 from the CAN bus, if the rotation speed of the rear driving motor 61 is greater than-50 rpm and the braking depth of the brake pedal 20 is greater than 10%, or the rotation speed of the rear driving motor 61 is greater than 3000rpm, the whole vehicle controller 100 controls the logic gear of the whole vehicle to be shifted to the D gear, and the driver CAN realize switching from the N gear to the D gear; if the above conditions are not met, or any one of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high-voltage distribution box 50 and the driving system is in a fault state, the vehicle controller 100 sends an invalid gear shifting signal to the CAN bus, and after the HMI display screen 70 receives invalid gear shifting operation information from the CAN bus, the HMI display screen 70 displays: "invalid shift operation, please re-shift" to alert the driver.

S3, the shift position of the current shift switch 10 is the D-shift position, and the target shift position is the N-shift position: if any one of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high-voltage distribution box 50 or the driving system has a fault during working, the vehicle controller 100 controls the logic gear of the vehicle to be adjusted to the N gear so as to complete the switching of the target gear;

specifically, before gear shifting, the logical gear and the gear switch 10 of the whole vehicle are both in the D gear, and when the whole vehicle controller 100 detects that the target gear of the driver is the N gear, the whole vehicle controller 100 acquires the working state information of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power cell management system 40, the high-voltage distribution box 50 and the driving system from the CAN bus, if any one of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power cell management system 40, the high-voltage distribution box 50 or the driving system fails to work, the whole vehicle controller 100 controls the logical gear of the whole vehicle to be shifted to the N gear, and the driver CAN realize the switching from the D gear to the N gear, otherwise, the whole vehicle controller 100 controls the logical gear of the whole vehicle to be not shifted to the N gear, and the driver cannot realize the switching from the D gear to the N gear.

S4, the shift position of the current shift switch 10 is N-position, and the target shift position is R-position: if the rotating speed of the rear driving motor 61 is less than S3 and the braking depth of the brake pedal 20 is greater than D1, or the rotating speed of the rear driving motor 61 is less than S4, the vehicle controller 100 controls the logic gear of the vehicle to be adjusted to the R gear, so as to complete the switching of the target gear; if the above conditions are not met, or any one of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high-voltage distribution box 50 and the driving system is in a fault state, the vehicle controller 100 sends invalid gear shifting information to the HMI display screen 70; wherein S3 is 50rpm, S4 is-1500 rpm.

Specifically, before gear shifting, the logic gear and the gear switch 10 of the whole vehicle are both in the N gear, when the whole vehicle controller 100 detects that the target gear of the driver is the R gear, the whole vehicle controller 100 acquires the rotation speed information of the rear drive motor 61 and the braking information of the brake pedal 20 from the CAN bus, if the rotation speed of the rear drive motor 61 is less than 50rpm and the braking depth of the brake pedal 20 is greater than 10%, or the rotation speed of the rear drive motor 61 is less than-1500 rpm, the whole vehicle controller 100 controls the logic gear of the whole vehicle to be adjusted to the R gear, the driver CAN realize switching from the N gear to the R gear, otherwise, the whole vehicle controller 100 controls the logic gear of the whole vehicle not to be adjusted to the R gear, and the driver cannot realize switching from the N gear to the R gear. If the above conditions are not met, or any one of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high-voltage distribution box 50 and the driving system is in a fault state, the vehicle controller 100 sends an invalid gear shifting signal to the CAN bus, and after the HMI display screen 70 receives invalid gear shifting operation information from the CAN bus, the HMI display screen 70 displays: "invalid shift operation, please re-shift" to alert the driver.

S5, if the current gear is an R gear and the target gear of the gear switch 10 is an N gear, if any one of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high-voltage distribution box 50 or the driving system fails to work, the vehicle controller 100 controls the logic gear of the vehicle to be adjusted to the N gear so as to complete the switching of the target gear;

specifically, before the gear is switched, the logical gear and the gear switch 10 of the whole vehicle are both in the R gear, when the vehicle controller 100 detects that the target gear of the driver is the N gear, the vehicle controller 100 acquires the working state information of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power cell management system 40, the high-voltage distribution box 50 and the driving system from the CAN bus, if the above conditions are not met, or when any one of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power cell management system 40, the high-voltage distribution box 50 and the driving system fails to work, the vehicle controller 100 controls the logical gear of the whole vehicle to be switched to the N gear, and the driver CAN realize the switching from the R gear to the N gear.

S6, if the current gear is the D gear and the target gear of the gear switch 10 is the R gear, and if the rotating speed of the rear driving motor 61 is less than S5, the vehicle controller 100 controls the logic gear of the vehicle to be adjusted to the R gear so as to complete the switching of the target gear; if the above conditions are not met, or any one of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high-voltage distribution box 50 or the driving system is in a fault state, the vehicle controller 100 sends invalid gear shifting information to the HMI display screen 70; where, S5 is 30 rpm.

Specifically, before gear shifting, the logical gear and the gear switch 10 of the whole vehicle are both in the D gear, when the whole vehicle controller 100 detects that the target gear of the driver is the R gear, the whole vehicle controller 100 acquires the rotation speed information of the rear drive motor 61 and the braking information of the brake pedal 20 from the CAN bus, if the rotation speed of the rear drive motor 61 is less than 30rpm, the whole vehicle controller 100 controls the logical gear of the whole vehicle to be shifted to the R gear, the driver CAN realize switching from the N gear to the R gear, otherwise, the whole vehicle controller 100 controls the logical gear of the whole vehicle to be shifted to the R gear, and the driver CAN realize switching from the N gear to the R gear. If the above conditions are not met, or any one of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high-voltage distribution box 50 and the driving system is in a fault state, the vehicle controller 100 sends an invalid gear shifting signal to the CAN bus, and after the HMI display screen 70 receives invalid gear shifting operation information from the CAN bus, the HMI display screen 70 displays: "invalid shift operation, please re-shift" to alert the driver.

S7, the front gear is the R gear, the target gear of the gear switch 10 is the D gear, and if the rotating speed of the rear driving motor 61 is greater than S6, the vehicle controller 100 controls the logic gear of the vehicle to be adjusted to the D gear so as to complete the switching of the target gear; if the above conditions are not met, or any one of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high-voltage distribution box 50 and the driving system is in a fault state, the vehicle controller 100 sends invalid gear shifting information to the HMI display screen 70; where, S6 is-30 rpm.

Specifically, before gear shifting, the logical gear and the gear switch 10 of the whole vehicle are both in the R gear, when the whole vehicle controller 100 detects that the target gear of the driver is the D gear, the whole vehicle controller 100 acquires the rotation speed information of the rear driving motor 61 and the braking information of the brake pedal 20 from the CAN bus, if the rotation speed of the rear driving motor 61 is greater than-30 rpm, the whole vehicle controller 100 controls the logical gear of the whole vehicle to be shifted to the D gear, the driver CAN realize switching from the R gear to the D gear, otherwise, the whole vehicle controller 100 controls the logical gear of the whole vehicle to be shifted to the D gear, and the driver CAN realize switching from the R gear to the D gear. If the above conditions are not met, or any one of the gear switch 10, the brake pedal 20, the hydrogen fuel cell system 30, the power battery management system 40, the high-voltage distribution box 50 and the driving system is in a fault state, the vehicle controller 100 sends an invalid gear shifting signal to the CAN bus, and after the HMI display screen 70 receives invalid gear shifting operation information from the CAN bus, the HMI display screen 70 displays: "invalid shift operation, please re-shift" to alert the driver.

In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.

The features of the embodiments and embodiments described herein above may be combined with each other without conflict.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A control method of a gear shifting system of a fuel cell hydrogen energy automobile is characterized in that,

the automatic gear shifting system comprises a gear shifting system, wherein the gear shifting system comprises a vehicle control unit (100), a gear switch (10), a brake pedal (20), a hydrogen fuel cell system (30), a power battery management system (40), a high-voltage distribution box (50), a driving system and an HMI display screen (70);

the control method of the gear shifting system mainly comprises the following steps:

s1, judging the working states of the gear switch (10), the brake pedal (20), the hydrogen fuel cell system (30), the power battery management system (40), the high-voltage distribution box (50) and the driving system, if the gear switch (10), the brake pedal (20), the hydrogen fuel cell system (30), the power battery management system (40), the high-voltage distribution box (50) and the driving system are in normal states, carrying out the next step, and if any one of the gear switch (10), the brake pedal (20), the hydrogen fuel cell system (30), the power battery management system (40), the high-voltage distribution box (50) and the driving system is in a fault state, sending alarm information to the HMI display screen (70) by the vehicle control unit (100);

s2, the gear of the current gear switch (10) is N gear, and the target gear is D gear: if the rotating speed of the rear driving motor (61) is greater than S1 and the braking depth of the brake pedal (20) is greater than D11, or the rotating speed of the rear driving motor (61) is greater than S2, the vehicle controller (100) controls the logic gear of the vehicle to be adjusted to D gear so as to complete the switching of the target gear; if the conditions are not met or any one of the gear switch (10), the brake pedal (20), the hydrogen fuel cell system (30), the power battery management system (40), the high-voltage distribution box (50) and the driving system is in a fault state, the whole vehicle controller (100) sends invalid gear shifting information to an HMI display screen (70);

s3, the gear of the current gear switch (10) is D gear, and the target gear is N gear: if any one of the gear switch (10), the brake pedal (20), the hydrogen fuel cell system (30), the power battery management system (40), the high-voltage distribution box (50) or the driving system has a fault during working, the vehicle controller (100) controls the logic gear of the vehicle to be adjusted to N gear so as to complete the switching of the target gear;

s4, the gear of the current gear switch (10) is N gear, and the target gear is R gear: if the rotating speed of the rear driving motor (61) is less than S3 and the braking depth of the brake pedal (20) is greater than D1, or the rotating speed of the rear driving motor (61) is less than S4, the vehicle controller (100) controls the logic gear of the vehicle to be adjusted to R gear so as to complete the switching of the target gear; if the conditions are not met or any one of the gear switch (10), the brake pedal (20), the hydrogen fuel cell system (30), the power battery management system (40), the high-voltage distribution box (50) and the driving system is in a fault state, the whole vehicle controller (100) sends invalid gear shifting information to an HMI display screen (70);

s5, if the current gear is an R gear and the target gear of the gear switch (10) is an N gear, if any one of the gear switch (10), the brake pedal (20), the hydrogen fuel cell system (30), the power cell management system (40), the high-voltage distribution box (50) or the driving system has a fault, the vehicle controller (100) controls the logic gear of the vehicle to be adjusted to the N gear so as to complete the switching of the target gear;

s6, if the current gear is the D gear and the target gear of the gear switch (10) is the R gear, and if the rotating speed of the rear driving motor (61) is less than S5, the vehicle controller (100) controls the logic gear of the vehicle to be adjusted to the R gear so as to complete the switching of the target gear; if the conditions are not met or any one of the gear switch (10), the brake pedal (20), the hydrogen fuel cell system (30), the power battery management system (40), the high-voltage distribution box (50) or the driving system is in a fault state, the whole vehicle controller (100) sends invalid gear shifting information to an HMI display screen (70);

s7, if the current gear is the R gear and the target gear of the gear switch (10) is the D gear, and if the rotating speed of the rear driving motor (61) is greater than S6, the vehicle controller (100) controls the logic gear of the vehicle to be adjusted to the D gear so as to complete the switching of the target gear; if the conditions are not met or any one of the gear switch (10), the brake pedal (20), the hydrogen fuel cell system (30), the power battery management system (40), the high-voltage distribution box (50) or the driving system is in a fault state, the whole vehicle controller (100) sends invalid gear shifting information to the HMI display screen (70).

2. The method as claimed in claim 1, wherein S1 is-50 rpm, D11 is 10% and S2 is 3000rpm in S2.

3. The method as claimed in claim 1, wherein in S4, S3 is 50rpm, and S4 is-1500 rpm.

4. The method as claimed in claim 1, wherein S5 in S4 is 30 rpm.

5. The method as claimed in claim 1, wherein S6 in S4 is-30 rpm.