CN114439923B

CN114439923B - Speed change method and device applied to vehicle, electronic equipment and storage medium

Info

Publication number: CN114439923B
Application number: CN202210114047.5A
Authority: CN
Inventors: 韩亚凝; 张建; 王御; 赵凤凯; 任明星; 姜洪伟; 高勇; 王珊; 张苏铁; 谢飞
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2022-01-30
Filing date: 2022-01-30
Publication date: 2023-08-08
Anticipated expiration: 2042-01-30
Also published as: CN114439923A

Abstract

The invention discloses a speed change method, a speed change device, electronic equipment and a storage medium applied to a vehicle, wherein the speed change method comprises the following steps: determining target working condition information of a target vehicle, and determining a target data processing mode corresponding to the target working condition information; determining target pitch angle information of the target vehicle based on the target data processing mode; and determining target gear information corresponding to the target vehicle according to the target pitch angle information so as to drive the target vehicle to run based on the target gear information. The problem that the gear information of the target vehicle is inaccurate when the vehicle shifts due to the fact that the pitch angle information of the vehicle is ignored only according to the ground gradient information is solved, and the effect of providing more accurate gear information for the vehicle when the vehicle shifts due to the fact that the speed of the vehicle is adjusted based on the gear information is achieved.

Description

Speed change method and device applied to vehicle, electronic equipment and storage medium

Technical Field

The embodiment of the invention relates to the technical field of vehicle driving, in particular to a speed change method, a speed change device, electronic equipment and a storage medium applied to a vehicle.

Background

In the running process of an automobile, a slope working condition is frequently met, and a gear box is required to change a gear shifting strategy so as to achieve the working condition.

At present, the calculation of gradient information aiming at the slope working condition mainly comprises the steps of calculating vehicle driving force, running resistance, rolling resistance and the like through a vehicle dynamics estimation method, further calculating gradient resistance, and then calculating a gradient value according to the gradient resistance; or an angle is formed by calculating according to the value of the acceleration sensor and the value of the acceleration along the direction of the vehicle body, so that a gradient value is obtained, but the actual gradient value of the current vehicle under the gradient working condition cannot be accurately calculated by the two methods, so that a gear shifting strategy of the vehicle under the gradient working condition is not accurate enough, and driving experience is affected.

Therefore, a method capable of accurately calculating actual gradient information of a current vehicle is needed as an important reference input of an automatic transmission gear shift strategy.

Disclosure of Invention

The invention provides a speed change method, a speed change device, electronic equipment and a storage medium applied to a vehicle, so as to realize the effect of providing more accurate gear information for the vehicle aiming at different working condition information and further adjusting the speed of the vehicle based on the gear information.

In a first aspect, an embodiment of the present invention provides a speed change method applied to a vehicle, including:

determining target working condition information of a target vehicle, and determining a target data processing mode corresponding to the target working condition information;

determining target pitch angle information of the target vehicle based on the target data processing mode;

and determining target gear information corresponding to the target vehicle according to the target pitch angle information so as to drive the target vehicle to run based on the target gear information.

In a second aspect, an embodiment of the present invention further provides a transmission device applied to a vehicle, including:

the target data processing mode determining module is used for determining target working condition information of a target vehicle and determining a target data processing mode corresponding to the target working condition information;

the target pitch angle information determining module is used for determining target pitch angle information of the target vehicle based on the target data processing mode;

and the target gear information determining module is used for determining target gear information corresponding to the target vehicle according to the target pitch angle information so as to drive the target vehicle to run based on the target gear information.

In a third aspect, an embodiment of the present invention further provides an electronic device, including:

one or more processors;

storage means for storing one or more programs,

the one or more programs, when executed by the one or more processors, cause the one or more processors to implement a shift method for use in a vehicle as described in any of the embodiments of the present invention.

In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are used to perform a method of shifting gears for use in a vehicle according to any of the embodiments of the present invention.

According to the technical scheme, target working condition information of the target vehicle is determined, and a target data processing mode corresponding to the target working condition information is determined, so that when the target vehicle is in different working condition information, the target pitch angle information of the target vehicle is determined by adopting different data processing modes. And determining target pitch angle information of the target vehicle based on the target data processing mode, wherein the target pitch angle information not only comprises gradient information of the ground but also comprises pitch angle information of the target vehicle, and more accurate gear information can be provided for the target vehicle according to the target pitch angle information of the target vehicle. And determining target gear information corresponding to the target vehicle according to the target pitch angle information so as to drive the target vehicle to run based on the target gear information, so that the target vehicle can run more stably based on the proper target gear information. The problem that the gear information of the target vehicle is inaccurate when the vehicle shifts due to the fact that the pitch angle information of the vehicle is ignored only according to the ground gradient information is solved, and the effect of providing more accurate gear information for the vehicle when the vehicle shifts due to the fact that the speed of the vehicle is adjusted based on the gear information is achieved.

Drawings

In order to more clearly illustrate the technical solution of the exemplary embodiments of the present invention, a brief description is given below of the drawings required for describing the embodiments. It is obvious that the drawings presented are only drawings of some of the embodiments of the invention to be described, and not all the drawings, and that other drawings can be made according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a method for shifting gears in a vehicle according to an embodiment of the present invention;

fig. 2 is a flowchart of a speed change method applied to a vehicle according to a second embodiment of the present invention;

fig. 3 is a flowchart of a speed change method applied to a vehicle according to a third embodiment of the present invention;

fig. 4 is a schematic diagram of calculation of target pitch angle information according to a third embodiment of the present invention;

fig. 5 is a schematic structural diagram of a transmission device for use in a vehicle according to a fourth embodiment of the present invention.

Fig. 6 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

Example 1

Fig. 1 is a schematic flow chart of a gear shifting method applied to a vehicle according to an embodiment of the present invention, where the embodiment is applicable to a situation that more accurate gear information is provided for the vehicle and the vehicle speed is adjusted based on the gear information of the vehicle.

As shown in fig. 1, the method of the present embodiment includes:

s110, determining target working condition information of a target vehicle, and determining a target data processing mode corresponding to the target working condition information.

The target vehicle may be understood as a vehicle that changes speed according to target operating condition information during running of the vehicle, for example, the target vehicle may be an automatic-gear car. The working condition information can be understood as state information of the vehicle, including working condition information of ascending, descending or running on a flat road, the target working condition information can be understood as working condition information corresponding to the current moment of the target vehicle, and the target working condition information can be determined by collecting the vehicle state of the target vehicle. The target data processing mode may be understood as a calculation mode for determining target pitch angle information of a target vehicle, vehicle pitch angle information corresponding to different vehicle speeds may be preset according to the vehicle speed, vehicle pitch angle information corresponding to different accelerations may be preset according to the vehicle acceleration, vehicle pitch angle information corresponding to different gradients may be preset according to different road gradient information, and the like, and the specific data processing mode may be determined according to actual conditions.

Specifically, the method for determining the target condition information of the target vehicle according to the running condition of the target vehicle, for example, whether the target vehicle is running on a flat road or is in an ascending or descending state, may be determined by the difference between the actual collected acceleration value and the actual running acceleration value. For example, if the actual collected acceleration value and the actual running acceleration value are positive, the vehicle is indicated to be in a downhill working condition currently; if the actual acquired acceleration value and the actual running acceleration value are negative, the vehicle is indicated to be in an uphill working condition currently; and if the actual acquired acceleration value and the actual running acceleration value are 0, the vehicle is in a flat road working condition currently. The actual acquired acceleration value is a current acceleration value of the vehicle acquired based on an acceleration sensor in the vehicle, the actual running acceleration value is obtained by differentiating the actual running speed acquired by a speed sensor in the vehicle, and the obtained value is the actual running acceleration value. After the target working condition information of the target vehicle is determined, further, a corresponding target data processing mode is determined according to the target working condition information.

Optionally, the determining the target working condition information of the target vehicle and determining the target data processing mode corresponding to the target working condition information includes: determining target working condition information corresponding to the target vehicle by processing an input signal of the target vehicle; if the target working condition information is the first preset working condition information or the second preset working condition information, determining that the target data processing mode is a first data processing mode; and if the target working condition information is a flat road working condition, determining that the target data processing mode is a second data processing mode.

The target working condition information comprises first preset working condition information and second preset working condition information, and the first preset working condition information can be understood as working condition information of an ascending slope; the second preset operating condition information may be understood as operating condition information of a downhill slope. The target data processing mode comprises a first data processing mode and a second data processing mode, wherein the first data processing mode can be understood as a mode of determining target pitch angle information of the target vehicle when the target vehicle is in a first preset working condition or a second preset working condition, and at the moment, the target pitch angle information determining mode can be determined based on original pitch angle information, road gradient information and the gravity gradient value of the target vehicle; the second data processing mode may be understood as a mode of determining target pitch angle information of the target vehicle when the target vehicle is in the flat road working condition information, and at this time, the target pitch angle information determining mode may be determined based on original pitch angle information corresponding to an actual running acceleration value of the target vehicle. It will be appreciated that the first and second descriptions herein are merely meant to distinguish between different preset operating mode information and data processing modes, and are not intended to limit the content of each section.

Specifically, a plurality of sensors, such as a speed sensor, an acceleration sensor, a yaw rate sensor, a master cylinder pressure sensor, and an accelerator pedal opening/closing degree sensor, are mounted in the target vehicle. Each sensor CAN acquire the vehicle signal of the target vehicle in real time and send the vehicle signal to the vehicle controller through the CAN bus. After receiving the vehicle signal, the vehicle controller can determine the working condition information of the target vehicle according to the vehicle signal, and then determine the corresponding target processing mode based on the target working condition information corresponding to the target vehicle. If the target working condition information corresponding to the target vehicle is the first preset working condition information or the second preset working condition information, determining that the target data processing mode is a first data processing mode; and if the target working condition information corresponding to the target vehicle is the flat road working condition, determining that the target data processing mode is a second data processing mode.

Optionally, after determining that the target data processing manner is the first data processing manner, the method further includes: determining an actual acquisition acceleration of the target vehicle according to an acceleration sensor deployed on the target vehicle; and determining an actual running acceleration value of the target vehicle based on the input signal of the target vehicle, and determining road gradient information of a road on which the target vehicle is positioned according to the actual running acceleration value and the actual acquired acceleration value.

The acceleration sensor can be used for collecting an acceleration value of the target vehicle at the current moment; the actual acquired acceleration may be understood as an acceleration value acquired by an acceleration sensor in the target vehicle; the actual running acceleration value may be understood as an acceleration value determined from the speed information of the target vehicle. The road gradient information may be understood as a gradient value of a road on which the target vehicle is traveling when the target vehicle is in the first preset operating condition or the second preset operating condition information, i.e., when the target vehicle is in an ascending or descending state.

Specifically, the current speed value of the target vehicle may be acquired by a speed sensor in the target vehicle, and the current acceleration value of the target vehicle may be acquired by an acceleration sensor in the target vehicle. The acceleration value obtained by the acceleration sensor is determined as the actual collected acceleration of the target vehicle, and because the vehicle is unstable in state during running, for example, a state of large rotation angle, jolt, acceleration, deceleration, abrupt start or abrupt stop can occur, so that errors can occur in the acceleration value collected by the acceleration sensor, in order to obtain the actual running acceleration value of the target vehicle, the speed value of the current running of the target vehicle can be collected by the speed sensor, and then the obtained speed value is subjected to differential operation, and the obtained result is the actual running acceleration value of the target vehicle at the current moment. Then, based on the actual running acceleration value and the actual collected acceleration value, road gradient information of the road where the target vehicle is located can be determined, for example, angle information corresponding to different speed values or acceleration values can be preset, and the calibrated angle information is used as current road gradient information under the condition that preset conditions are met.

And S120, determining target pitch angle information of the target vehicle based on the target data processing mode.

In this embodiment, the pitch angle information is understood as angle information of the vehicle body and the ground, and the target pitch angle information includes the sum of pitch angle information of the target vehicle body and the ground, and gradient information of the ground on which the target vehicle is located.

Specifically, a target data processing mode of the target vehicle can be determined according to target working condition information of the target vehicle, the target data processing mode comprises a first data processing mode and a second data processing mode, and target pitch angle information of the target vehicle can be determined according to the target data processing mode.

When the target working condition information of the target vehicle is the first preset working condition information or the second preset working condition information, namely the ascending working condition or the descending working condition, determining the target data processing mode of the target vehicle as a first data processing mode, and calculating the target pitch angle information of the target vehicle according to the preset first data processing mode; when the target working condition information of the target vehicle is the flat road working condition, determining that the target data processing mode of the target vehicle is a second data processing mode, and calculating the target pitch angle information of the target vehicle according to the preset second data processing mode.

Optionally, the target data processing mode is a second data processing mode, and the determining the target pitch angle information of the target vehicle includes: and calling a first predetermined mapping relation table, and determining original pitch angle information corresponding to the actual running acceleration value.

The first mapping relation table can be understood as that when the working condition information corresponding to the vehicle is flat working condition information, the corresponding relation between each actual running acceleration and the pitch angle information of the target vehicle is calibrated according to the actual running acceleration of the target vehicle; the raw pitch angle information may be understood as initial vehicle body pitch angle information determined based on the actual running acceleration of the target vehicle.

Specifically, when the target vehicle runs on the flat road, the target working condition corresponding to the target vehicle can be determined to be the second preset working condition information, and the target data processing mode and the second data processing mode are determined at the moment. The vehicle input signals of the target vehicle are collected in real time, and may include vehicle signals collected at respective sensors based on actual running speed values collected by the speed sensors, and based on actual collected acceleration values collected by the acceleration sensors. Considering that the actual acceleration value acquired according to the acceleration sensor may be affected by various factors, so that the acquired actual acceleration value and the actual acceleration value have errors, the actual running acceleration value of the target vehicle may be determined according to the actual running speed value, and the specific manner may be to differentiate the actual running speed value. And then presetting corresponding relations between different actual running acceleration values and pitch angle information of the target vehicle, taking the preset corresponding relations as a first mapping relation table, and determining that the pitch angle information corresponding to each actual running acceleration value is original pitch angle information based on the first mapping relation table.

And S130, determining target gear information corresponding to the target vehicle according to the target pitch angle information so as to drive the target vehicle to run based on the target gear information.

In the running process of the vehicle, when the corresponding working condition information of the vehicle is different, the pitch angle information of the target vehicle is different, and in order to enable the vehicle to run more stably, the gear information required to be adopted is different, and the target gear information can be understood to be the gear information determined according to the target pitch angle information of the target vehicle.

Specifically, when the working condition information corresponding to the target vehicle includes first preset working condition information and second preset working condition information, namely uphill, downhill and flat road working condition information, when the vehicle is on an uphill road, a larger power system is often needed to overcome gradient resistance, and correspondingly, the gearbox of the vehicle should be switched to a lower gear to increase torque so as to provide larger power for the vehicle, and the steeper the gradient is, the lower the gear should be; when the vehicle is on a downhill road, the gearbox should not be upshifted or actively downshifted to resist acceleration of the vehicle by using the resistance moment of the engine, and the gear can be properly adjusted up when no obstacle exists in the downhill process of the vehicle; while the vehicle is on a flat road, the shift information may not be adjusted. It is clear that the adjustment of the gear information of the vehicle is mainly related to the gradient information, and is important reference information for adjusting the gear of the vehicle. However, in actual situations, in addition to the gradient information of the road surface, the pitch angle information of the vehicle itself may also affect the angle information of the vehicle and the ground, so when determining the target gear information of the target vehicle, it is necessary to refer to the target pitch angle information of the target vehicle, that is, the sum of the pitch angle information of the body of the target vehicle and the ground and the gradient information of the ground on which the target vehicle is located. And further determining target gear information corresponding to the target vehicle according to the target pitch angle information of the target vehicle so as to drive the target vehicle to run more stably based on the target gear information.

Optionally, the determining, according to the target pitch angle information, target gear information corresponding to the target vehicle includes: determining a target power value corresponding to the target pitch angle information according to the corresponding relation between the pitch angle information and the vehicle power value; and determining the target gear information according to the target power value.

The vehicle power value can be understood as the power value of the vehicle provided by a power system of the vehicle for enabling the vehicle to stably advance under corresponding working condition information, the vehicle power values required by different pitch angle information are different, the larger the pitch angle information is in an ascending slope, the higher the power value is required, and the larger the pitch angle information is in a descending slope, the lower the power value is required; the target power value may be understood as a power value corresponding to the target pitch angle information. The gear information can be understood as providing corresponding gears for the vehicle according to the information of different pitch angles of the vehicle so as to adjust the speed of the vehicle to enable the vehicle to stably run.

Specifically, a corresponding relation between each pitch angle information of the target vehicle and the vehicle power value is established in advance, namely, based on the corresponding relation, the vehicle power value corresponding to each pitch angle information of the vehicle can be determined, and the corresponding target power value is determined according to the current target pitch angle information of the target vehicle, wherein the target pitch angle information not only comprises the pitch angle information of the vehicle, but also comprises the gradient information of the current position of the vehicle. And then determining target gear information of the target vehicle according to the target power value.

The corresponding relation between each pitch angle and the vehicle power value is pre-established, when the target vehicle is in a flat road working condition, gradient information is 0 degrees, if the vehicle body pitch angle information of the target vehicle is 10 degrees at the moment, the current target pitch angle information of the target vehicle is 10 degrees, the vehicle target power value corresponding to the pitch angle information being 10 degrees can be determined based on the pre-established corresponding relation, and the target gear information of the target vehicle is determined based on the target power value. When the target vehicle is in an uphill or downhill working condition, if the gradient information of the ground is 20 degrees, the pitch angle information of the body of the target vehicle is 5 degrees, the target pitch angle information of the target vehicle is 25 degrees, the corresponding vehicle target power value when the pitch angle information is 25 degrees can be determined based on the pre-established corresponding relation, the target gear information of the target vehicle is determined according to the target power value, and the vehicle speed is adjusted based on the target gear information.

Example two

As an optional embodiment of the foregoing embodiment, fig. 2 is a flow chart of a speed change method applied to a vehicle according to the second embodiment of the present invention, and optionally, if the target data processing mode is a first data processing mode, the determining, based on the target data processing mode, the target pitch angle information of the target vehicle is further refined.

As shown in fig. 2, the specific method includes:

s210, determining target working condition information of a target vehicle, and determining a target data processing mode corresponding to the target working condition information.

S220, determining target pitch angle information of the target vehicle based on the target data processing mode.

Optionally, the target data processing mode is a first data processing mode, and determining the target pitch angle information of the target vehicle based on the target data processing mode includes: calling a first predetermined mapping relation table, and determining original pitch angle information corresponding to an actual running acceleration value; the mapping relation table comprises pitch angle information corresponding to each acceleration value; and determining a gravity gradient value of the target vehicle according to a second predetermined mapping relation table and the road gradient information.

The first mapping relation table can be understood as that when the working condition information corresponding to the vehicle is flat working condition information, the corresponding relation between each actual running acceleration and the pitch angle information of the target vehicle is calibrated according to the actual running acceleration of the target vehicle; the raw pitch angle information may be understood as initial vehicle body pitch angle information determined based on the actual running acceleration of the target vehicle. The second mapping relation table can be understood as calibrating pitch angle information values of the target vehicle on the slope under different slope information in a vehicle parking state; the gravity gradient value may be understood as a pitch angle information value of the vehicle caused by gravity, and may include a pitch angle information deviation value of the vehicle caused by gravity information at different gradients.

Specifically, a first mapping relation table, a second mapping relation table and road gradient information are established in advance, wherein the first mapping relation table comprises original pitch angle information corresponding to each actual running acceleration value; the second mapping relation table comprises corresponding vehicle pitch angle deviation value information caused by gravity under different gradient information, and the road gradient information can be understood as angle information of different slopes. In the situation process of the target vehicle, vehicle signals are acquired in real time through each sensor, the speed value of the speed sensor of the acquired target vehicle is subjected to differential processing, an actual running acceleration value can be obtained, and then the original pitch angle information corresponding to the actual running acceleration value can be inquired based on a first mapping relation table established in advance according to the actual running acceleration value of the target vehicle. And then, based on a second mapping relation table established in advance, determining vehicle body pitch angle information corresponding to the current gradient of the target vehicle and a calibrated gravity gradient value caused by gravity information under the gradient.

Optionally, the target pitch angle information of the target vehicle is determined according to the original pitch angle information, the road gradient information and the gravity gradient value.

Specifically, when the target vehicle is in the first working condition information, i.e., the ascending or descending working condition, the target pitch angle information of the target vehicle includes the original pitch angle information, the road gradient pitch angle information and the gravity gradient information, and thus, the target pitch angle information may be the sum of the original pitch angle, the road gradient information and the gravity gradient value. The original pitch angle information is angle information determined based on a first mapping relation table; the road grade information may be a pre-calibrated value; the gravity gradient value may be understood as an angular deviation value of the target vehicle caused by gravity, i.e. a pitch angle deviation value caused by gravity.

For example, if the working condition information corresponding to the target vehicle is an uphill slope, according to the first mapping relation table, it may be determined that the original pitch angle information corresponding to the actual running acceleration value of the target vehicle is 5 °, the calibrated gradient information is 10 °, the pitch angle deviation value caused by gravity, that is, the gravity gradient value is 2 °, and at this time, the target pitch angle information corresponding to the target vehicle under the working condition information is 17 °.

Optionally, the determining the target pitch angle information of the target vehicle according to the original pitch angle information, the road gradient information and the gravity gradient value includes: determining theoretical pitch angle information of the target vehicle according to the brake master cylinder pressure parameter and the accelerator pedal opening and closing degree parameter of the target vehicle; determining the gradient change rate corresponding to the current position of the target vehicle according to the original pitch angle information and the gravity gradient value; and determining target pitch angle information of the target vehicle based on the gradient change rate and a preset gradient change rate threshold.

The brake master cylinder pressure is understood to mean a brake master cylinder pressure value obtained by converting a mechanical force applied to a brake pedal of a vehicle and a vacuum booster into a brake oil pressure, and then converting the brake into a wheel braking force based on the brake, wherein the brake master cylinder pressure value has a certain boosting effect on the running of the vehicle, and a brake master cylinder pressure parameter is collected by a brake master cylinder pressure sensor. The opening and closing degree of the accelerator pedal can be understood as a corresponding angle generated by the accelerator pedal by the force applied to the brake pedal of the vehicle, and the opening and closing degree parameter of the accelerator pedal is an angle value of opening and closing of the accelerator pedal acquired by an angle sensor. The gradient change rate can be understood as the change rate of the pitch angle information, and can be determined based on differential processing of the pitch angle information; the preset gradient change rate threshold value may be understood as a value of a change rate of pitch angle information set in advance.

Specifically, input signals of the target vehicle, such as parameters of a brake master cylinder pressure parameter, an accelerator pedal opening and closing degree parameter and the like of the target vehicle, are collected in real time, and a theoretical value of body pitch angle information of the target vehicle can be obtained based on an existing vehicle running dynamics model and a half-vehicle model calculation mode. The vehicle driving dynamics and the half-vehicle model can be used for analyzing the smoothness of the vehicle and the stability of vehicle operation, and the forces on the longitudinal axis of the vehicle, including driving force and braking force, rolling resistance and drag resistance rolling motion, can be determined based on the vehicle dynamics model and the half-vehicle model; the method comprises the steps that forces on a transverse axis of a vehicle, including steering force, centrifugal force and lateral force, can be determined based on a vehicle dynamics model and a half-vehicle model, and the vehicle performs pitching motion around the transverse axis; the forces on the vertical axle of the vehicle, including forces exerted by the vehicle oscillating up and down, may also be determined based on the vehicle dynamics model and the semi-vehicle model, with the vehicle yawing or steering about the vertical axle. Furthermore, based on angular motions in different directions obtained by the vehicle dynamics model and the half-vehicle model, theoretical pitch angle information of target measurement can be obtained. And then performing differential processing on the sum of the original pitch angle information, the road gradient information and the gravity gradient value to determine the gradient change rate of the vehicle, comparing the obtained gradient change rate with a preset gradient change rate threshold value, and finally determining the target pitch angle information corresponding to the target vehicle.

Optionally, the determining the target pitch angle information of the target vehicle based on the gradient change rate and a preset gradient change rate threshold includes: if the gradient change rate is larger than a preset gradient change rate threshold value, the theoretical pitch angle information is used as the target pitch angle information; and if the gradient change rate is smaller than or equal to a preset gradient change rate threshold value, taking the sum of the original pitch angle information, the road gradient information and the gravity gradient value as target pitch angle information of the target vehicle.

Specifically, if the gradient change rate is greater than the preset gradient change rate, the change rate of pitch angle information of the vehicle is too fast and does not accord with the actual situation, and theoretical pitch angle information determined based on a vehicle dynamics model and a half-vehicle model is used as target pitch angle information; otherwise, if the gradient change rate is smaller than or equal to the preset gradient change rate, the pitch angle information of the vehicle is determined as target pitch angle information according to the original pitch angle information, the road gradient information and the gravity gradient value.

And S230, determining target gear information corresponding to the target vehicle according to the target pitch angle information so as to drive the target vehicle to run based on the target gear information.

Example III

In a specific example, as shown in fig. 3, the vehicle signal of the target vehicle is collected in real time, after the unit conversion is performed on the collected vehicle signal, the further collected vehicle signal is subjected to filtering processing, for example, the filtering method may be a mobile smoothing filtering method, so that the vehicle signal is smoother, and interference caused by other factors on the vehicle signal is reduced. And then calculating the state parameters of the vehicle, wherein the state parameters of the vehicle are acquired by the vehicle and each sensor in the vehicle and can comprise a speed value acquired by a speed sensor, an acceleration value acquired based on an acceleration sensor, a brake master cylinder pressure parameter acquired based on a brake master cylinder pressure sensor, an accelerator pedal opening and closing degree parameter, an angle parameter acquired based on an angle sensor and the like. The state of the vehicle can be determined by calculating the respective state parameters, and the vehicle state can be determined by the speed and acceleration of the vehicle, for example, when the speed is 0, the vehicle state is a stopped state; on the premise that the speed is not equal to 0, the vehicle state is further judged according to the acceleration of the vehicle, and the acceleration can comprise 3 states: greater than 0, less than 0 and equal to 0. When the speed is not 0 and the acceleration is equal to 0, the vehicle state is a constant-speed running state; when the acceleration is greater than 0, the vehicle state is acceleration running; when the acceleration is less than 0, it is determined that the vehicle state is a decelerating run. The vehicle state of the vehicle may also be collected by other signals of the vehicle, such as a master cylinder pressure sensor, an accelerator pedal opening and closing degree sensor, a yaw rate sensor, a direction angle sensor, etc., and then different vehicle states of the vehicle may be determined based on the signals transmitted by the different sensors.

Further, pitch angle information of the vehicle can be determined according to the vehicle input signal, and then an actual gradient information value of the working condition corresponding to the vehicle is determined. Firstly, vehicle input signals when the vehicle runs on a flat road working condition are collected in real time, the speed value collected by the speed sensor is differentiated, an actual running acceleration value can be obtained, and original pitch angle information of the vehicle corresponding to different actual running acceleration values is calibrated. And then, when the vehicle is in the working condition information of ascending or descending in a parking state, calibrating gravity gradient values of the vehicle caused by gravity on a slope according to different road gradient information, accumulating results of original pitch angle information, road gradient information and gravity gradient values to be used as a first part of vehicle target pitch angle output, and then, calculating to obtain theoretical pitch angle information of the vehicle according to vehicle input signals, such as a brake master cylinder pressure parameter, an accelerator pedal opening and closing degree parameter and the like, based on vehicle dynamics and a half-vehicle model. Then differentiating pitch angle information determined by the sum of the original pitch angle information, road gradient information and gravity gradient value to obtain gradient change rate, comparing the gradient change rate with a preset gradient change rate threshold value, and taking theoretical pitch angle information as target pitch angle information if the gradient change rate is larger than the preset gradient change rate threshold value; otherwise, the pitch angle information determined by the sum of the original pitch angle information, the road gradient information and the gravity gradient value is taken as target pitch angle information.

Further, current actual gradient information of the vehicle is calculated based on the actual acceleration value (Ax) and the actual running acceleration value (DVx) and the finally determined target pitch angle information (pitch angle). As shown in fig. 4, the method specifically includes:

(1) During driving

Longitudinal grade information (θ) =arcsin ((Ax-DVx)/g) +pitch angle

Where the difference between Ax and DVx can be expressed as g x sin θ, i.e., the gravitational component caused by gravity in the direction of the body of the vehicle.

(2) In a parking state

Longitudinal gradient information (θ) =arcsin (Ax/g) +pitchangle

Finally, under different working condition information, the target pitch angle information of the vehicle can be determined through pitch angle information, road gradient information and gravity gradient value generated by gravity of the vehicle, then the target pitch angle information is sent to a terminal controller (Transmission Control Unit, TCU) of the vehicle, the target gear information of the vehicle can be determined by the TCU based on the target pitch angle information of the vehicle, and the vehicle speed is regulated based on the target gear information, so that the running of the vehicle is more stable.

It should be noted that, if the values of Ax and DVx are inaccurate before and after the vehicle starts and stops, the accuracy of the gradient information calculation result may be reduced, so that a state threshold corresponding to the start and stop is set for DAx (derivative of Ax), the state threshold is obtained by calibrating real vehicle parameters according to different vehicles, and only when DAx is greater than the state threshold when the vehicle starts and DAx is greater than the state threshold when the vehicle stops, the calculated target pitch angle information is used as the actual gradient to update the gradient, otherwise, the existing gradient information is maintained, and the gradient information is inaccurate.

It should be noted that, in the case where a large turn occurs during running of the vehicle, the yaw angle of the vehicle becomes larger due to a larger rotation angle of the vehicle, and further, the lateral acceleration value of the vehicle becomes too large, and the difference between Ax and DVx is increased laterally, resulting in inaccurate calculation of the gradient information result, so that the state threshold is set for the lateral acceleration (Ay), and when Ay is greater than the state threshold, the gradient information result is not updated and the accuracy is inaccurate. The method for acquiring the lateral acceleration (Ay) state threshold value comprises the step of calibrating real vehicle parameters according to different vehicles.

It should be noted that, in the running process of the vehicle, the vehicle also often encounters working condition information that road surface jolts too severely, when road surface jolts too much, the vertical acceleration (AVz) of the vehicle is caused to be too great, and then the difference value between Ax and DVx is increased in the vertical direction, so that the calculation result of gradient information is inaccurate, a state threshold is set for the vertical acceleration (AVz), and when AVz is greater than the state threshold, the gradient information result is not updated, and the accuracy is inaccurate. The method for acquiring the vertical acceleration (AVz) state threshold value comprises the step of calibrating real vehicle parameters according to different vehicles.

Example IV

Fig. 5 is a transmission device for use in a vehicle according to a fourth embodiment of the present invention, the device including: a target data processing mode determination module 510, a target pitch angle information determination module 520, and a target gear information determination module 530.

The target data processing mode determining module 510 is configured to determine target working condition information of a target vehicle, and determine a target data processing mode corresponding to the target working condition information;

the target pitch angle information determining module 520 is configured to determine target pitch angle information of the target vehicle based on the target data processing manner;

a target gear information determining module 530, configured to determine target gear information corresponding to the target vehicle according to the target pitch angle information, so as to drive the target vehicle to travel based on the target gear information.

On the basis of any optional technical scheme in the embodiment of the present invention, optionally, the target data processing mode determining module specifically includes:

the target working condition information determining submodule is used for determining target working condition information corresponding to the target vehicle by processing an input signal of the target vehicle;

the first data processing mode determining submodule is used for determining that the target data processing mode is a first data processing mode if the target working condition information is first preset working condition information or second preset working condition information;

and the second data processing mode determining submodule is used for determining that the target data processing mode is a second data processing mode if the target working condition information is a flat road working condition.

On the basis of any optional technical scheme of the embodiment of the invention, optionally, the speed changing device applied to the vehicle further comprises:

the actual acquisition acceleration determining module is used for determining the actual acquisition acceleration of the target vehicle according to the acceleration sensor deployed on the target vehicle after determining that the target data processing mode is a first data processing mode;

and the road gradient information determining module is used for determining an actual running acceleration value of the target vehicle based on the input signal of the target vehicle and determining the road gradient information of the road where the target vehicle is located according to the actual running acceleration value and the actual acquisition acceleration.

On the basis of any optional technical scheme in the embodiment of the present invention, optionally, the target pitch angle information determining module specifically includes:

the original pitch angle information determining submodule is used for calling a first mapping relation table which is determined in advance for determining original pitch angle information corresponding to an actual running acceleration value, wherein the target data processing mode is a first data processing mode; the mapping relation table comprises pitch angle information corresponding to each acceleration value;

the gravity gradient value determining submodule is used for determining the gravity gradient value of the target vehicle according to a second predetermined mapping relation table and the road gradient information;

and the target pitch angle information determining submodule is used for determining target pitch angle information of the target vehicle according to the original pitch angle information, the road gradient information and the gravity gradient value.

On the basis of any optional technical scheme in the embodiment of the present invention, optionally, the target pitch angle information determining sub-module specifically includes:

the theoretical pitch angle information determining unit is used for determining theoretical pitch angle information of the target vehicle according to the brake master cylinder pressure parameter and the accelerator pedal opening and closing degree parameter of the target vehicle;

The gradient change rate determining unit is used for determining the gradient change rate corresponding to the current position of the target vehicle according to the original pitch angle information and the gravity gradient value;

and the target pitch angle information determining unit is used for determining target pitch angle information of the target vehicle based on the gradient change rate and a preset gradient change rate threshold value.

On the basis of any optional technical scheme in the embodiment of the invention, optionally, the target pitch angle information determining unit is configured to take the theoretical pitch angle information as the target pitch angle information if the gradient change rate is greater than a preset gradient change rate threshold; and if the gradient change rate is smaller than or equal to a preset gradient change rate threshold value, taking the sum of the original pitch angle information, the road gradient information and the gravity gradient value as target pitch angle information of the target vehicle.

On the basis of any optional technical scheme in the embodiment of the invention, optionally, the target pitch angle information determining module is configured to call a predetermined first mapping relation table for determining original pitch angle information corresponding to an actual running acceleration value, where the target data processing mode is a second data processing mode.

On the basis of any optional technical scheme in the embodiment of the present invention, optionally, the target gear information determining module specifically includes:

the target power value determining submodule is used for determining a target power value corresponding to the target pitch angle information according to the corresponding relation between the pitch angle information and the vehicle power value;

and the target gear information determining submodule is used for determining the target gear information according to the target power value.

The speed change device applied to the vehicle provided by the embodiment of the invention can execute the speed change method applied to the vehicle provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

It should be noted that each unit and module included in the above apparatus are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the embodiments of the present invention.

Example five

Fig. 6 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention. Fig. 6 shows a block diagram of an exemplary electronic device 40 suitable for use in implementing the embodiments of the present invention. The electronic device 40 shown in fig. 6 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.

As shown in fig. 6, the electronic device 40 is in the form of a general purpose computing device. Components of electronic device 40 may include, but are not limited to: one or more processors or processing units 401, a system memory 402, a bus 403 that connects the various system components (including the system memory 402 and the processing units 401).

Bus 403 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Electronic device 40 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by electronic device 40 and includes both volatile and non-volatile media, removable and non-removable media.

The system memory 402 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 404 and/or cache memory 405. Electronic device 40 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 406 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, commonly referred to as a "hard drive"). Although not shown in fig. 6, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 403 through one or more data medium interfaces. Memory 402 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.

A program/utility 408 having a set (at least one) of program modules 407 may be stored in, for example, memory 402, such program modules 407 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 407 generally perform the functions and/or methods of the described embodiments of the invention.

The electronic device 40 may also communicate with one or more external devices 409 (e.g., keyboard, pointing device, display 410, etc.), one or more devices that enable a user to interact with the electronic device 40, and/or any devices (e.g., network card, modem, etc.) that enable the electronic device 40 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 411. Also, electronic device 40 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 412. As shown, network adapter 412 communicates with other modules of electronic device 40 over bus 403. It should be appreciated that although not shown in fig. 6, other hardware and/or software modules may be used in connection with electronic device 40, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

The processing unit 401 executes various functional applications and data processing by running a program stored in the system memory 402, for example, implementing a shift method applied in a vehicle provided by an embodiment of the present invention.

Example six

A sixth embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are for performing a speed change method applied in a vehicle, the method comprising:

The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. A speed change method applied to a vehicle, comprising:

determining target gear information corresponding to the target vehicle according to the target pitch angle information so as to drive the target vehicle to run based on the target gear information;

the target data processing mode is a first data processing mode, and the determining the target pitch angle information of the target vehicle based on the target data processing mode includes:

Calling a first predetermined mapping relation table, and determining original pitch angle information corresponding to an actual running acceleration value; the mapping relation table comprises pitch angle information corresponding to each acceleration value;

determining a gravity gradient value of the target vehicle according to a second predetermined mapping relation table and road gradient information;

determining target pitch angle information of the target vehicle according to the original pitch angle information, the road gradient information and the gravity gradient value;

the determining the target pitch angle information of the target vehicle according to the original pitch angle information, the road gradient information and the gravity gradient value comprises the following steps:

determining theoretical pitch angle information of the target vehicle according to the brake master cylinder pressure parameter and the accelerator pedal opening and closing degree parameter of the target vehicle;

determining the gradient change rate corresponding to the current position of the target vehicle according to the original pitch angle information and the gravity gradient value;

and determining target pitch angle information of the target vehicle based on the gradient change rate and a preset gradient change rate threshold.

2. The method of claim 1, wherein the determining target operating condition information of the target vehicle and determining a target data processing manner corresponding to the target operating condition information comprises:

Determining target working condition information corresponding to the target vehicle by processing an input signal of the target vehicle;

if the target working condition information is the first preset working condition information or the second preset working condition information, determining that the target data processing mode is a first data processing mode;

and if the target working condition information is a flat road working condition, determining that the target data processing mode is a second data processing mode.

3. The method of claim 2, further comprising, after determining that the target data processing means is the first data processing means:

determining an actual acquisition acceleration of the target vehicle according to an acceleration sensor deployed on the target vehicle;

and determining an actual running acceleration value of the target vehicle based on the input signal of the target vehicle, and determining road gradient information of a road on which the target vehicle is positioned according to the actual running acceleration value and the actual acquired acceleration value.

4. The method of claim 1, wherein the determining target pitch angle information of the target vehicle based on the rate of change of grade, a preset rate of change of grade threshold value comprises:

If the gradient change rate is larger than a preset gradient change rate threshold value, the theoretical pitch angle information is used as the target pitch angle information;

and if the gradient change rate is smaller than or equal to a preset gradient change rate threshold value, taking the sum of the original pitch angle information, the road gradient information and the gravity gradient value as target pitch angle information of the target vehicle.

5. The method of claim 1, wherein the target data processing mode is a second data processing mode, and the determining target pitch angle information of the target vehicle comprises:

and calling a first predetermined mapping relation table, and determining original pitch angle information corresponding to the actual running acceleration value.

6. The method of claim 1, wherein determining target gear information corresponding to the target vehicle from the target pitch angle information comprises:

determining a target power value corresponding to the target pitch angle information according to the corresponding relation between the pitch angle information and the vehicle power value;

and determining the target gear information according to the target power value.

7. A transmission for use in a vehicle, comprising:

the target gear information determining module is used for determining target gear information corresponding to the target vehicle according to the target pitch angle information so as to drive the target vehicle to run based on the target gear information;

8. An electronic device, the electronic device comprising:

one or more processors;

storage means for storing one or more programs,

when executed by the one or more processors, causes the one or more processors to implement the shift method for use in a vehicle as claimed in any one of claims 1-6.

9. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing the speed change method applied in a vehicle as claimed in any one of claims 1 to 6.