CN115899239A - Vehicle gear shifting method and device, vehicle-mounted terminal and storage medium - Google Patents
Vehicle gear shifting method and device, vehicle-mounted terminal and storage medium Download PDFInfo
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Abstract
The application is applicable to the technical field of automobiles, and provides a vehicle gear shifting method, a vehicle gear shifting device, a vehicle-mounted terminal and a computer readable storage medium, wherein the method comprises the following steps: receiving a shift request; the shift request carries a target gear of the vehicle; acquiring the wheel speed of a rear wheel of the vehicle, the rolling radius of the wheel and the transmission ratio corresponding to a target gear; calculating to obtain a corresponding reference rotating speed of a gear shifting motor of the vehicle under a target gear according to the wheel speed of the rear wheel, the rolling radius and the transmission ratio; and adjusting the rotating speed of the gear shifting motor according to the reference rotating speed so as to shift the vehicle to a target gear. According to the method, the speed of the rear wheel of the vehicle, the rolling radius of the wheel and the transmission ratio corresponding to the target gear are combined to carry out deeper calculation on the reference rotating speed of the gear shifting motor, so that the accuracy of the rotating speed of the gear shifting motor obtained through calculation is improved, and the gear shifting accuracy of the vehicle is improved.
Description
Technical Field
The application belongs to the technical field of automobiles, and particularly relates to a vehicle gear shifting method and device, a vehicle-mounted terminal and a computer readable storage medium.
Background
At present, with the rapid development of new energy automobiles, in order to obtain higher vehicle speed and higher electric drive system efficiency, a two-gear reduction box is beginning to be used in large quantity. The gear shifting process of the two-gear reduction box generally comprises gear shifting, synchronous rotating speed of a motor, gear shifting and the like. The motor synchronous rotating speed refers to a target rotating speed which is required to synchronize the rotating speed of the gear shifting motor to be matched with the gear after gear shifting.
However, in the prior art, when the target rotating speed is calculated, the consideration is not comprehensive enough, that is, the accuracy of the calculated rotating speed is low, and further the gear shifting accuracy of the vehicle is low.
Disclosure of Invention
The embodiment of the application provides a vehicle gear shifting method and device, a vehicle-mounted terminal and a computer readable storage medium, which can improve the accuracy of the rotating speed of a gear shifting motor obtained through calculation, and further improve the gear shifting accuracy of a vehicle.
In a first aspect, an embodiment of the present application provides a vehicle gear shifting method, including:
receiving a shift request; the shift request carries a target gear of the vehicle;
acquiring the wheel speed of a rear wheel of the vehicle, the rolling radius of the wheel and the transmission ratio corresponding to the target gear;
calculating to obtain a corresponding reference rotating speed of a gear shifting motor of the vehicle under the target gear according to the wheel speed of the rear wheel, the rolling radius and the transmission ratio;
and adjusting the rotating speed of the gear shifting motor according to the reference rotating speed so as to shift the vehicle to the target gear.
Optionally, the shift request is generated by:
receiving a torque adjustment request for the shift motor;
adjusting the torque of the gear shifting motor according to the torque adjustment request;
and when the torque of the gear shifting motor is detected to be adjusted to a set value, generating the gear shifting request.
Optionally, the rear wheel speed includes a left rear wheel speed and a right rear wheel speed of the vehicle; the reference rotating speed is calculated according to the following formula:
wherein v is d Representing said reference speed, v l Indicating the speed of the left rear wheel, v r Represents the right backWheel speed, I d Representing the gear ratio and R representing the rolling radius.
Optionally, the calculating, according to the wheel speed of the rear wheel, the rolling radius, and the transmission ratio, a corresponding reference rotation speed of the shift motor of the vehicle in the target gear includes:
controlling a shifting fork of the vehicle to move to a neutral gear of the vehicle;
and when the shifting fork is detected to move to the neutral gear, calculating to obtain the reference rotating speed according to the wheel speed of the rear wheel, the rolling radius and the transmission ratio.
Optionally, the adjusting the rotation speed of the shift motor according to the reference rotation speed to shift the vehicle to the target gear includes:
detecting whether the current rotating speed of the gear shifting motor is in a rotating speed range corresponding to the reference rotating speed or not in the process of adjusting the rotating speed of the gear shifting motor;
and if the current rotating speed is within the rotating speed range, stopping adjusting the rotating speed of the gear shifting motor, and controlling a gear shifting controller of the vehicle to execute gear shifting operation so as to shift the vehicle to the target gear.
Optionally, if the current rotation speed is within the rotation speed range, stopping adjusting the rotation speed of the shift motor, and controlling a shift controller of the vehicle to perform a shift operation, so as to shift the vehicle to the target gear, further include:
detecting the speed regulation time of the gear shifting motor;
correspondingly, if the current rotating speed is within the rotating speed range, stopping adjusting the rotating speed of the shifting motor, and controlling a shifting controller of the vehicle to execute a shifting operation, so as to shift the vehicle to the target gear, including:
and if the speed regulation time is less than or equal to the set time and the current rotating speed reaches the rotating speed range within the speed regulation time, stopping regulating the rotating speed of the gear shifting motor, and controlling a gear shifting controller of the vehicle to execute gear shifting operation so as to shift the vehicle to the target gear.
Optionally, after the detecting the speed regulation time of the shift motor, the method further includes:
if the speed regulation time of the gear shifting motor is longer than the set time or the current rotating speed is out of the rotating speed range, accumulating the speed regulation times of the gear shifting motor;
and if the speed regulation frequency is greater than or equal to the set frequency, controlling a shifting fork of the vehicle to move to a neutral gear of the vehicle, and outputting prompt information for prompting the gear shifting failure of the vehicle.
In a second aspect, an embodiment of the present application provides a vehicle shifting apparatus, including:
a first receiving unit for receiving a shift request; the shift request carries a target gear of a vehicle;
the acquisition unit is used for acquiring the wheel speed of a rear wheel of the vehicle, the rolling radius of the wheel and the transmission ratio corresponding to the target gear;
the first calculation unit is used for calculating and obtaining a reference rotating speed corresponding to the gear shifting motor of the vehicle under the target gear according to the wheel speed of the rear wheel, the rolling radius and the transmission ratio;
and the first adjusting unit is used for adjusting the rotating speed of the gear shifting motor according to the reference rotating speed so as to shift the vehicle to the target gear.
In a third aspect, an embodiment of the present application provides a vehicle-mounted terminal, including: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor when executing the computer program implementing the steps of the vehicle gear shifting method according to any of the first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the vehicle gear shifting method as set forth in any one of the above first aspects.
In a fifth aspect, the present application provides a computer program product, when the computer program product runs on a vehicle-mounted terminal, the vehicle-mounted terminal is enabled to execute the vehicle gear shifting method according to any one of the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that:
according to the vehicle gear shifting method provided by the embodiment of the application, a gear shifting request is received; the shift request carries a target gear of the vehicle; acquiring the wheel speed of a rear wheel of the vehicle, the rolling radius of the wheel and the transmission ratio corresponding to a target gear; calculating to obtain a corresponding reference rotating speed of a gear shifting motor of the vehicle under a target gear according to the wheel speed of the rear wheel, the rolling radius and the transmission ratio; and adjusting the rotating speed of the gear shifting motor according to the reference rotating speed so as to shift the vehicle to the target gear. The method provided by the application is combined with the wheel speed of the rear wheel of the vehicle, the rolling radius of the wheel and the transmission ratio corresponding to the target gear to carry out deeper calculation on the reference rotating speed of the gear shifting motor, so that the accuracy of the rotating speed of the gear shifting motor obtained through calculation is improved, and the gear shifting accuracy of the vehicle is further improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flowchart illustrating an implementation of a vehicle shifting method according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating an implementation of a vehicle shifting method according to another embodiment of the present application;
FIG. 3 is a flowchart illustrating an implementation of a vehicle shifting method according to yet another embodiment of the present application;
FIG. 4 is a flowchart illustrating an implementation of a vehicle shifting method according to another embodiment of the present application;
FIG. 5 is a flowchart illustrating an implementation of a vehicle shifting method according to yet another embodiment of the present application;
FIG. 6 is a schematic structural diagram of a vehicle shifting apparatus provided in an embodiment of the present application;
fig. 7 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing a relative importance or importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather mean "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
In all embodiments of the present application, the vehicle may be a new energy automobile.
In practical application, the new energy automobile is an automobile which adopts unconventional automobile fuel as a power source (or adopts conventional automobile fuel and a novel vehicle-mounted power device), integrates advanced technologies in the aspects of power control and driving of the automobile, and has advanced technical principle, new technology and new structure. The new energy automobile comprises a pure electric automobile, a range-extended electric automobile, a hybrid electric automobile, a fuel cell electric automobile, a hydrogen engine automobile and the like.
In all embodiments of the present application, the transmission configured for the vehicle is a two-speed reduction box.
The two-gear reduction box comprises a neutral gear (N gear), a 1 gear and a 2 gear, has two transmission ratios, can realize gear shifting in a full vehicle speed range and high torque output of starting, and enables a vehicle to run at a high-efficiency interval rotating speed of a driving motor, so that the dynamic property of the vehicle is optimized.
The following embodiments will take a two-speed reduction gearbox as an example to describe the vehicle shifting method in detail.
Referring to fig. 1, fig. 1 is a flowchart illustrating a vehicle shifting method according to an embodiment of the present disclosure. In the embodiment of the application, the main execution body of the vehicle gear shifting method is a vehicle-mounted terminal.
In practical applications, the vehicle is provided with a shift controller (ACU) for an electric Axle Actuator (ACU), a shift motor, a Hybrid vehicle controller (HCU), and the like, so that the vehicle-mounted terminal can shift gears by controlling the shift controller, the shift motor, and the HCU.
As shown in fig. 1, a vehicle gear shifting method provided in an embodiment of the present application may include steps S101 to S104, which are detailed as follows:
in S101, a shift request is received; the shift request carries a target gear of the vehicle.
In the embodiment of the present application, the detection of the shift request by the vehicle-mounted terminal may be: a preset operation for the in-vehicle terminal is detected. The preset operation may be determined according to actual needs, and is not limited herein. For example, the preset operation may be clicking a preset control on the vehicle-mounted terminal, that is, if the vehicle-mounted terminal detects that a person using the vehicle clicks the preset control on the vehicle-mounted terminal, the vehicle-mounted terminal considers that the preset operation for the vehicle-mounted terminal is detected, that is, the shift request is detected.
In an embodiment of the present application, the vehicle-mounted terminal may specifically generate the shift request through S201 to S203 shown in fig. 2, which are detailed as follows:
in S201, a torque adjustment request for the shift motor is received.
In this embodiment, the vehicle shifting process may include a torque adjustment phase, and therefore, in order to improve the shifting success rate of the vehicle, the vehicle-mounted terminal may receive a torque adjustment request for the shift motor, which is sent by the vehicle control unit connected with the vehicle-mounted terminal in a wireless/wired communication manner.
In one implementation of the present embodiment, the torque adjustment request may carry an adjustment value of the torque of the shift motor. The adjustment value may be set according to actual needs, and is not limited herein.
In S202, the torque of the shift motor is adjusted according to the torque adjustment request.
In this embodiment, the in-vehicle terminal is preset with a corresponding relationship between the torque adjustment request and the set value, so that after receiving the torque adjustment request for the shift motor, the in-vehicle terminal can adjust the torque of the shift motor based on the set value. The set value can be set according to actual needs, and is not limited here.
For example, to determine that the shift motor is exiting the torque control mode, the set point may be set to 0.
In an embodiment of the application, in combination with S201, when the torque adjustment request carries an adjustment value of the torque of the shift motor, the vehicle-mounted terminal may directly adjust the torque of the shift motor according to the adjustment value.
In S203, the shift request is generated when it is detected that the torque of the shift motor is adjusted to a set value.
In this embodiment, when detecting that the torque of the shift motor is adjusted to the set value, the vehicle-mounted terminal indicates that the shift motor has exited the torque control mode, and therefore, the vehicle-mounted terminal may generate a shift request.
In an implementation manner of the embodiment, the vehicle-mounted terminal may control the vehicle control unit to generate the shift request.
In the embodiment of the application, after the vehicle-mounted terminal detects the gear shifting request, the vehicle-mounted terminal can control the gear shifting controller to receive the gear shifting request. Wherein the shift request carries a target gear of the vehicle.
It should be noted that the target gear refers to a gear after the vehicle is shifted. The target gear comprises gears such as 1 gear, 2 gear and the like, and does not comprise neutral gear.
In S102, a wheel speed of a rear wheel of the vehicle, a rolling radius of the wheel, and a gear ratio corresponding to the target gear are obtained.
In the embodiment of the application, the vehicle-mounted terminal stores the corresponding relation between different gears and transmission ratios in advance, so that the vehicle-mounted terminal can acquire the wheel speed of the rear wheel of the vehicle, the rolling radius of the wheel and the transmission ratio corresponding to the target gear after receiving the gear shifting request.
In an implementation manner of the embodiment of the present application, the vehicle-mounted terminal may acquire the rear wheel speed of the vehicle in real time through an Electronic Stability Program (ESP) connected to the vehicle-mounted terminal in a wireless communication manner.
In another implementation manner of the embodiment of the application, the vehicle-mounted terminal can acquire the rolling radius of the wheel of the vehicle in real time through a server in wireless communication connection with the vehicle-mounted terminal.
In another implementation manner of the embodiment of the application, after receiving a shift request, the vehicle-mounted terminal may obtain a transmission ratio corresponding to a target gear according to the target gear carried by the shift request and a correspondence relationship between different gears and transmission ratios pre-stored by the vehicle-mounted terminal.
In S103, a reference rotation speed of the shift motor of the vehicle in the target gear is calculated according to the wheel speed of the rear wheel, the rolling radius, and the transmission ratio.
In this application embodiment, the vehicle-mounted terminal can control the shift controller according to the fast, the rolling radius of vehicle and the corresponding drive ratio of target gear of rear wheel of vehicle, calculates the benchmark rotational speed of the gear shifting motor of obtaining the vehicle under the target gear.
It should be noted that the rear wheel speed of the vehicle includes a left rear wheel speed and a right rear wheel speed of the vehicle.
In an embodiment of the application, the vehicle-mounted terminal may specifically calculate the reference rotation speed of the shift motor in the target gear through the following steps, which are detailed as follows:
and controlling a shifting fork of the vehicle to move to a neutral gear of the vehicle.
And when the shifting fork is detected to move to the neutral gear, calculating to obtain the reference rotating speed according to the speed of the rear wheel, the rolling radius and the transmission ratio.
In this embodiment, the vehicle shifting process may further include a gear-off phase. The gear off refers to that the gear of the vehicle is changed from 1 gear or 2 gear to neutral during running of the vehicle.
Based on this, in order to improve the success rate of shifting of vehicle, vehicle-mounted terminal can control the shift fork of vehicle and remove to neutral.
In one implementation manner of this embodiment, the vehicle-mounted terminal may control the shift fork to move to the neutral gear through the shift controller.
In this embodiment, when the vehicle-mounted terminal detects that the shift fork moves to the neutral gear, it indicates that the vehicle has completed gear shifting, and therefore, the vehicle-mounted terminal can calculate and obtain the reference rotation speed corresponding to the shift motor in the target gear according to the wheel speed of the rear wheel of the vehicle, the rolling radius of the wheel, and the transmission ratio corresponding to the target gear.
In another embodiment of the present application, the reference rotation speed may be calculated according to the following formula:
wherein v is d Indicating the reference speed, v, of the gear change motor of the vehicle in the target gear l Indicating the left rear wheel speed, v, of the vehicle r Indicating the rear right wheel speed of the vehicle, I d Indicating the gear ratio corresponding to the target gear and R the rolling radius of the wheels of the vehicle.
In another embodiment of the application, after controlling the shift controller to calculate the reference rotation speed of the shift motor, the vehicle-mounted terminal may control the shift controller to send a rotation speed control request to the shift motor. Wherein the rotational speed control request carries the reference rotational speed.
In the embodiment of the application, the vehicle-mounted terminal calculates the reference rotating speed of the gear shifting motor through the wheel speed of the rear wheel of the vehicle, so that the vehicle can be ensured to be in violent working conditions, such as bumpy roads, open circuits, turning and other working conditions, and the accurate reference rotating speed can be calculated.
In S104, the rotation speed of the shift motor is adjusted according to the reference rotation speed to shift the vehicle to the target gear.
In the embodiment of the application, the vehicle-mounted terminal can adjust the rotating speed of the gear shifting motor according to the calculated reference rotating speed, namely, the current rotating speed of the gear shifting motor is adjusted to the reference rotating speed so as to shift the vehicle to the target gear.
In an embodiment of the application, with reference to S401, after detecting that the shift motor receives a rotational speed control request sent by the shift controller, the vehicle-mounted terminal may control the shift motor to extract a reference rotational speed of the shift motor at a target gear from the rotational speed control request, control the shift motor to enter a rotational speed control mode, and finally control the shift motor to adjust a speed based on the reference rotational speed, so as to adjust a current rotational speed of the shift motor to the reference rotational speed.
It should be noted that speed regulation is completed through the gear shifting motor, and compared with speed regulation through a whole vehicle torque ring, speed regulation time can be optimized, so that the current rotating speed of the gear shifting motor quickly reaches a rotating speed range corresponding to a reference rotating speed, and therefore the purposes of reducing vehicle power interruption time and improving the gear shifting efficiency of a vehicle and user experience are achieved.
As can be seen from the above, in the vehicle gear shifting method provided in the embodiment of the present application, by receiving a gear shifting request; the shift request carries a target gear of the vehicle; acquiring the wheel speed of a rear wheel of the vehicle, the rolling radius of the wheel and the transmission ratio corresponding to a target gear; calculating to obtain a corresponding reference rotating speed of a gear shifting motor of the vehicle under a target gear according to the wheel speed of the rear wheel, the rolling radius and the transmission ratio; and adjusting the rotating speed of the gear shifting motor according to the reference rotating speed so as to shift the vehicle to a target gear. According to the method, the speed of the rear wheel of the vehicle, the rolling radius of the wheel and the transmission ratio corresponding to the target gear are combined to carry out deeper calculation on the reference rotating speed of the gear shifting motor, so that the accuracy of the rotating speed of the gear shifting motor obtained through calculation is improved, and the gear shifting accuracy of the vehicle is improved.
Referring to fig. 3, fig. 3 is a vehicle gear shifting method according to another embodiment of the present application. With respect to the embodiment corresponding to fig. 1, in the vehicle gear shifting method provided in this embodiment, step S104 may specifically include steps S301 to S302, which are detailed as follows:
in S301, in the process of adjusting the rotation speed of the shift motor, it is detected whether the current rotation speed of the shift motor is within a rotation speed range corresponding to the reference rotation speed.
In this embodiment, the rotation speed range corresponding to the reference rotation speed may be determined according to the reference rotation speed. Specifically, the vehicle-mounted terminal may determine a rotation speed range corresponding to the reference rotation speed according to the reference rotation speed and the preset amplitude value. The preset amplitude value may be determined according to actual needs, and is not limited herein.
For example, assuming that the reference rotation speed is 3000r/min (i.e., rpm) and the preset amplitude value is ± 100r/min, the reference rotation speed corresponds to a rotation speed range [2900r/min,3100r/min ].
In S302, if the current rotation speed is within the rotation speed range, stopping adjusting the rotation speed of the shift motor, and controlling a shift controller of the vehicle to perform a shift operation, so as to shift the vehicle to the target gear.
In this embodiment, when detecting that the current rotation speed of the shift motor is within the rotation speed range corresponding to the reference rotation speed, the vehicle-mounted terminal indicates that the speed of the shift motor is successfully adjusted, and therefore, the vehicle-mounted terminal may stop adjusting the rotation speed of the shift motor and control the shift controller of the vehicle to perform a shift operation, so as to shift the vehicle to the target gear.
Specifically, when detecting that the current rotating speed of the gear shifting motor is within the rotating speed range corresponding to the reference rotating speed, the vehicle-mounted terminal can control the gear shifting controller to send a rotating speed control stop request to the gear shifting motor and continue to control the gear shifting controller to execute gear shifting operation; at this time, the vehicle-mounted terminal can control the gear shifting motor to receive the rotating speed control stopping request, so that the gear shifting motor stops regulating the speed and is controlled to enter a torque control mode; after detecting that the gear shifting operation of the gear shifting controller is completed, the vehicle-mounted terminal can control the gear shifting controller to send information that the gear shifting operation is completed to the vehicle controller, and when detecting that the vehicle controller receives the information that the gear shifting operation is completed, the vehicle-mounted terminal can control the vehicle controller to stop sending a gear shifting request and increase the torque of a gear shifting motor so as to determine that the vehicle runs at a target gear, and therefore gear shifting of the vehicle is completed.
As can be seen from the above, in the vehicle gear shifting method provided by this embodiment, in the process of adjusting the rotation speed of the gear shifting motor, it is detected whether the current rotation speed of the gear shifting motor is within the rotation speed range corresponding to the reference rotation speed; and if the current rotating speed is in the rotating speed range, stopping adjusting the rotating speed of the gear shifting motor, and controlling a gear shifting controller of the vehicle to execute gear shifting operation so as to shift the vehicle to a target gear. By adopting the method, the speed regulation is completed through the gear shifting motor, compared with the speed regulation through the whole vehicle torque ring, the speed regulation time can be optimized, and the current rotating speed of the gear shifting motor can quickly reach the rotating speed range corresponding to the reference rotating speed, so that the power interruption time of the vehicle is reduced, and the gear shifting efficiency and the user experience feeling of the vehicle are improved.
Referring to fig. 4, fig. 4 is a vehicle gear shifting method according to still another embodiment of the present application. With respect to the embodiment corresponding to fig. 3, the vehicle gear shifting method provided in this embodiment may further include S401 before step S302, based on which step S302 may specifically include S402, which is detailed as follows:
in S401, a timing of the shift motor is detected.
In this embodiment, in order to improve the working efficiency, the speed regulation time of the shift motor needs to be detected in real time in the process of adjusting the rotating speed of the shift motor by the vehicle-mounted terminal.
After obtaining the speed regulation time of the gear shifting motor, the vehicle-mounted terminal can compare the speed regulation time with the set time, and compare the current rotating speed of the gear shifting motor with the rotating speed range corresponding to the reference rotating speed. The setting time can be set according to actual needs, and is not limited here.
Based on this, in an embodiment of the present application, the vehicle-mounted terminal may execute step S402 when detecting that the speed regulation time of the shift motor is less than or equal to the set time and the current rotation speed of the shift motor is within the rotation speed range corresponding to the reference rotation speed.
In another embodiment of the present application, the vehicle-mounted terminal may execute S501 to S502 shown in fig. 5 when detecting that the speed regulation time of the shift motor is greater than the set time or the current rotation speed of the shift motor is outside the rotation speed range corresponding to the reference rotation speed.
In S402, if the speed regulation time is less than or equal to the set time and the current rotation speed reaches the rotation speed range within the speed regulation time, stopping adjusting the rotation speed of the shift motor, and controlling a shift controller of the vehicle to perform a shift operation to shift the vehicle to the target gear.
In this embodiment, when the vehicle-mounted terminal detects that the speed regulation time of the shift motor is less than or equal to the set time and the current rotating speed of the shift motor is within the rotating speed range corresponding to the reference rotating speed, it indicates that the speed regulation of the shift motor is successful, and therefore, the vehicle-mounted terminal may stop adjusting the rotating speed of the shift motor and control the shift controller of the vehicle to perform a shift operation, so as to shift the vehicle to the target gear.
As can be seen from the above, in the vehicle gear shifting method provided by this embodiment, the speed regulation time of the gear shifting motor is detected; and when the speed regulation time of the gear shifting motor is detected to be less than or equal to the set time and the current rotating speed of the gear shifting motor reaches the rotating speed range within the speed regulation time, stopping regulating the rotating speed of the gear shifting motor, and controlling a gear shifting controller of the vehicle to execute gear shifting operation so as to shift the vehicle to a target gear, thereby improving the gear shifting efficiency of the vehicle.
Referring to fig. 5, fig. 5 is a vehicle gear shifting method according to another embodiment of the present application. With respect to the embodiment corresponding to fig. 4, the vehicle gear shifting method provided in this embodiment may further include, after step S401, steps S501 to S502, which are detailed as follows:
in S501, if the speed regulation time of the shift motor is greater than the set time or the current rotation speed is outside the rotation speed range, accumulating the speed regulation times of the shift motor.
In this embodiment, when the vehicle-mounted terminal detects that the speed regulation time of the shift motor is longer than the set time or the current rotation speed of the shift motor is outside the rotation speed range corresponding to the reference rotation speed, the vehicle-mounted terminal needs to accumulate the speed regulation times of the shift motor in order to improve the working efficiency of the vehicle-mounted terminal.
In an embodiment of the application, the vehicle-mounted terminal may execute step S502 when detecting that the speed regulation frequency of the shift motor is greater than or equal to the set frequency.
In another embodiment of the application, when detecting that the speed regulation times of the gear shifting motor is smaller than the set times, the vehicle-mounted terminal may continue to adjust the rotation speed of the gear shifting motor until the speed regulation times of the gear shifting motor is greater than or equal to the set times.
In S502, if the speed regulation frequency is greater than or equal to a set frequency, the shift fork of the vehicle is controlled to move to a neutral gear of the vehicle, and a prompt message for prompting a shift failure of the vehicle is output.
In this embodiment, when detecting that the speed regulation frequency of the shift motor is greater than or equal to the set frequency, the vehicle-mounted terminal indicates that the speed regulation frequency of the shift motor is sufficient, however, the current rotating speed of the shift motor is still not within the rotating speed range corresponding to the reference rotating speed, that is, the speed regulation of the shift motor fails, so that the vehicle-mounted terminal can control the shifting fork of the vehicle to move to the neutral gear, and output prompt information for prompting the failure of shifting the vehicle.
As can be seen from the above, in the vehicle gear shifting method provided by this embodiment, if the speed regulation time of the gear shifting motor is greater than the set time, or the current rotation speed is outside the rotation speed range, the speed regulation times of the gear shifting motor are accumulated; if the speed regulation times are larger than or equal to the set times, the shifting fork of the vehicle is controlled to move to the neutral gear, and prompt information for prompting the vehicle of gear shifting failure is output, so that the vehicle-mounted terminal is prevented from continuously carrying out invalid gear shifting on the vehicle, and the working efficiency of the vehicle-mounted terminal is improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 6 shows a block diagram of a vehicle shifting device provided in an embodiment of the present application, corresponding to a vehicle shifting method described in the foregoing embodiment, and only the relevant portions of the embodiment of the present application are shown for convenience of illustration. Referring to fig. 6, the vehicle gear shifting device 600 includes: a first receiving unit 61, an obtaining unit 62, a first calculating unit 63 and a first adjusting unit 64. Wherein:
the first receiving unit 61 is used for receiving a gear shifting request; the shift request carries a target gear of the vehicle.
The obtaining unit 62 is configured to obtain a wheel speed of a rear wheel of the vehicle, a rolling radius of the wheel, and a gear ratio corresponding to the target gear.
The first calculating unit 63 is configured to calculate a reference rotation speed of the shift motor of the vehicle in the target gear according to the wheel speed of the rear wheel, the rolling radius, and the transmission ratio.
The first adjusting unit 64 is configured to adjust the rotation speed of the shift motor according to the reference rotation speed to shift the vehicle to the target gear.
In an embodiment of the present application, the first receiving unit 61 specifically includes: a second receiving unit, a second adjusting unit and a generating unit. Wherein:
the second receiving unit is used for receiving a torque adjustment request for the gear shifting motor.
The second adjusting unit is used for adjusting the torque of the gear shifting motor according to the torque adjusting request.
The generation unit is used for generating the gear shifting request when the torque of the gear shifting motor is detected to be adjusted to a set value.
In one embodiment of the present application, the rear wheel speed includes a left rear wheel speed and a right rear wheel speed of the vehicle; the reference rotating speed is calculated according to the following formula:
wherein v is d Representing said reference speed, v l Indicating the speed of the left rear wheel, v r Representing the wheel speed of the right rear wheel, I d Representing the gear ratio and R representing the rolling radius.
In an embodiment of the present application, the first calculating unit 63 specifically includes: a first control unit and a second calculation unit. Wherein:
the first control unit is used for controlling a shifting fork of the vehicle to move to a neutral gear of the vehicle.
And the second calculating unit is used for calculating to obtain the reference rotating speed according to the speed of the rear wheel, the rolling radius and the transmission ratio when the shifting fork is detected to move to the neutral gear.
In an embodiment of the present application, the first adjusting unit 64 specifically includes: the device comprises a first detection unit and a second control unit. Wherein:
the first detection unit is used for detecting whether the current rotating speed of the gear shifting motor is in a rotating speed range corresponding to the reference rotating speed or not in the process of adjusting the rotating speed of the gear shifting motor.
And the second control unit is used for stopping adjusting the rotating speed of the gear shifting motor and controlling a gear shifting controller of the vehicle to execute gear shifting operation if the current rotating speed is within the rotating speed range so as to shift the vehicle to the target gear.
In an embodiment of the present application, the second control unit specifically includes: a second detection unit and a third control unit. Wherein:
the second detection unit is used for detecting the speed regulation time of the gear shifting motor.
And the third control unit is used for stopping adjusting the rotating speed of the gear shifting motor and controlling a gear shifting controller of the vehicle to execute gear shifting operation to shift the vehicle to the target gear if the speed regulating time is less than or equal to the set time and the current rotating speed reaches the rotating speed range within the speed regulating time.
In one embodiment of the present application, the vehicle gear shifting apparatus 600 further comprises: an accumulation unit and an output unit. Wherein:
the accumulation unit is used for accumulating the speed regulation times of the gear shifting motor if the speed regulation time of the gear shifting motor is greater than the set time or the current rotating speed is outside the rotating speed range.
And the output unit is used for controlling the shifting fork of the vehicle to move to the neutral gear of the vehicle and outputting prompt information for prompting the gear shifting failure of the vehicle if the speed regulation frequency is greater than or equal to the set frequency.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Fig. 7 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present application. As shown in fig. 7, the in-vehicle terminal 7 of the embodiment includes: at least one processor 70 (only one shown in fig. 7), a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, the processor 70 implementing the steps in any of the various vehicle gear shift method embodiments described above when executing the computer program 72.
The vehicle-mounted terminal may include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art will appreciate that fig. 7 is only an example of the in-vehicle terminal 7, and does not constitute a limitation to the in-vehicle terminal 7, and may include more or less components than those shown, or combine some components, or different components, for example, may further include an input/output device, a network access device, and the like.
The Processor 70 may be a Central Processing Unit (CPU), and the Processor 70 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may in some embodiments be an internal storage unit of the in-vehicle terminal 7, such as an internal memory of the in-vehicle terminal 7. The memory 71 may also be an external storage device of the in-vehicle terminal 7 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like equipped on the in-vehicle terminal 1. Further, the memory 71 may also include both an internal storage unit and an external storage device of the in-vehicle terminal 7. The memory 71 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer programs. The memory 71 may also be used to temporarily store data that has been output or is to be output.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiment of the present application provides a computer program product, which, when running on a vehicle-mounted terminal, enables the vehicle-mounted terminal to implement the steps in the foregoing method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be implemented by instructing relevant hardware by a computer program, which can be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of the embodiments of the methods described above can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a vehicle terminal, recording medium, computer Memory, read-Only Memory (ROM), random-Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present application, and they should be construed as being included in the present application.
Claims (10)
1. A vehicle shifting method, comprising:
receiving a shift request; the shift request carries a target gear of the vehicle;
acquiring the wheel speed of a rear wheel of the vehicle, the rolling radius of the wheel and the transmission ratio corresponding to the target gear;
calculating to obtain a corresponding reference rotating speed of a gear shifting motor of the vehicle under the target gear according to the wheel speed of the rear wheel, the rolling radius and the transmission ratio;
and adjusting the rotating speed of the gear shifting motor according to the reference rotating speed so as to shift the vehicle to the target gear.
2. A vehicle shifting method according to claim 1, wherein the shift request is generated by:
receiving a torque adjustment request for the shift motor;
adjusting the torque of the gear shifting motor according to the torque adjustment request;
and when the torque of the gear shifting motor is detected to be adjusted to a set value, generating the gear shifting request.
3. The vehicle shifting method of claim 1, wherein the rear wheel speed comprises a left rear wheel speed and a right rear wheel speed of the vehicle; the reference rotating speed is calculated according to the following formula:
wherein v is d Representing said reference speed, v l Indicating the speed of the left rear wheel, v r Representing the speed of the right rear wheel, I d Representing the gear ratio and R representing the rolling radius.
4. The vehicle shifting method according to claim 1, wherein the calculating a reference rotation speed of a shift motor of the vehicle at the target gear according to the rear wheel speed, the rolling radius and the gear ratio comprises:
controlling a shifting fork of the vehicle to move to a neutral gear of the vehicle;
and when the shifting fork is detected to move to the neutral gear, calculating to obtain the reference rotating speed according to the wheel speed of the rear wheel, the rolling radius and the transmission ratio.
5. The vehicle shifting method according to any one of claims 1 to 4, wherein the adjusting the rotation speed of the shift motor according to the reference rotation speed to shift the vehicle to the target gear includes:
detecting whether the current rotating speed of the gear shifting motor is in a rotating speed range corresponding to the reference rotating speed or not in the process of adjusting the rotating speed of the gear shifting motor;
and if the current rotating speed is within the rotating speed range, stopping adjusting the rotating speed of the gear shifting motor, and controlling a gear shifting controller of the vehicle to execute gear shifting operation so as to shift the vehicle to the target gear.
6. The vehicle shifting method according to claim 5, wherein before stopping adjusting the rotation speed of the shift motor and controlling a shift controller of the vehicle to perform a shift operation to shift the vehicle to the target gear if the current rotation speed is within the rotation speed range, further comprising:
detecting the speed regulation time of the gear shifting motor;
correspondingly, if the current rotating speed is within the rotating speed range, stopping adjusting the rotating speed of the shifting motor, and controlling a shifting controller of the vehicle to execute a shifting operation, so as to shift the vehicle to the target gear, including:
and if the speed regulation time is less than or equal to the set time and the current rotating speed reaches the rotating speed range within the speed regulation time, stopping regulating the rotating speed of the gear shifting motor, and controlling a gear shifting controller of the vehicle to execute gear shifting operation so as to shift the vehicle to the target gear.
7. The vehicle shifting method of claim 6, further comprising, after said detecting a timing time of said shift motor:
if the speed regulation time of the gear shifting motor is longer than the set time or the current rotating speed is out of the rotating speed range, accumulating the speed regulation times of the gear shifting motor;
and if the speed regulation frequency is greater than or equal to the set frequency, controlling a shifting fork of the vehicle to move to a neutral gear of the vehicle, and outputting prompt information for prompting the gear shifting failure of the vehicle.
8. A vehicle shifting apparatus, comprising:
a first receiving unit for receiving a shift request; the shift request carries a target gear of a vehicle;
the acquisition unit is used for acquiring the wheel speed of a rear wheel of the vehicle, the rolling radius of the wheel and the transmission ratio corresponding to the target gear;
the first calculation unit is used for calculating and obtaining a reference rotating speed corresponding to the gear shifting motor of the vehicle under the target gear according to the wheel speed of the rear wheel, the rolling radius and the transmission ratio;
and the first adjusting unit is used for adjusting the rotating speed of the gear shifting motor according to the reference rotating speed so as to shift the vehicle to the target gear.
9. An in-vehicle terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements a vehicle gear shifting method according to any one of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a vehicle gear shifting method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211363095.4A CN115899239A (en) | 2022-11-02 | 2022-11-02 | Vehicle gear shifting method and device, vehicle-mounted terminal and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211363095.4A CN115899239A (en) | 2022-11-02 | 2022-11-02 | Vehicle gear shifting method and device, vehicle-mounted terminal and storage medium |
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| CN115899239A true CN115899239A (en) | 2023-04-04 |
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| CN202211363095.4A Pending CN115899239A (en) | 2022-11-02 | 2022-11-02 | Vehicle gear shifting method and device, vehicle-mounted terminal and storage medium |
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| CN114701481A (en) * | 2021-05-06 | 2022-07-05 | 长城汽车股份有限公司 | Hybrid electric vehicle gear shifting control method and system and hybrid electric vehicle |
| WO2022183836A1 (en) * | 2021-03-02 | 2022-09-09 | 长城汽车股份有限公司 | Gear shifting method of hybrid power vehicle, controllers and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2010156379A (en) * | 2008-12-26 | 2010-07-15 | Toyota Motor Corp | Shift operation device of manual transmission |
| CN102418776A (en) * | 2011-10-29 | 2012-04-18 | 李乐 | Automobile continuously variable transmission (CVT) system, and design and control methods thereof |
| WO2022183836A1 (en) * | 2021-03-02 | 2022-09-09 | 长城汽车股份有限公司 | Gear shifting method of hybrid power vehicle, controllers and vehicle |
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