CN116292865A

CN116292865A - Gear shifting control method, device and system for vehicle ascending slope

Info

Publication number: CN116292865A
Application number: CN202310230476.3A
Authority: CN
Inventors: 孟建平; 孙晓鹏; 李传友
Original assignee: Weichai Power Co Ltd; Weifang Weichai Power Technology Co Ltd
Current assignee: Weichai Power Co Ltd; Weifang Weichai Power Technology Co Ltd
Priority date: 2023-03-06
Filing date: 2023-03-06
Publication date: 2023-06-23

Abstract

The application provides a gear shifting control method, device and system for ascending a vehicle. The method comprises the steps of obtaining a plurality of first gradient values, and determining that the front of a vehicle is an upward slope under the condition that the average value of the plurality of first gradient values is larger than a first threshold value; under the condition that the engine rotating speed at the current moment is in a first preset range, the vehicle speed at the current moment is in a second preset range and the first distance is smaller than a first preset value, calculating the uphill driving force corresponding to each gear and the uphill resistance of the vehicle according to the vehicle speed at the current moment, the opening degree of an accelerator pedal at the current moment and a plurality of first gradient values; determining a target gear according to at least whether the first difference exists; finally, the vehicle is controlled to ascend with the target gear. According to the method, the target gear is determined at least according to the first difference value, so that the vehicle can adopt the minimum gear capable of passing through an ascending slope before ascending, and the problems of vehicle speed loss and short clutch service life caused by frequent gear shifting of the vehicle ascending in the prior art are solved.

Description

Gear shifting control method, device and system for vehicle ascending slope

Technical Field

The application relates to the field of vehicle control, in particular to a vehicle uphill gear shift control method and device and a vehicle uphill gear shift control system.

Background

When a heavy duty tractor equipped with an AMT (automatic transmission) travels on a slope, particularly on a road section with a large gradient, there is a tendency that the driving resistance increases, resulting in a plurality of downshifts on the slope. The power interruption in the process of shifting on a slope can cause obvious reduction of the vehicle speed, so that the vehicle speed is difficult to meet the requirements of a driver when the vehicle runs on the slope; in addition, the clutch is frequently combined under the heavy load on the slope, so that the abrasion of the clutch can be increased, and the service life of the clutch is shortened.

Disclosure of Invention

The main aim of the application is to provide a vehicle uphill gear shift control method and device and a vehicle uphill gear shift control system, so as to at least solve the problems of low vehicle speed loss and low clutch life caused by frequent vehicle uphill gear shift in the prior art.

In order to achieve the above object, according to one aspect of the present application, there is provided a shift control method for a vehicle ascending a slope, including: acquiring a plurality of first gradient values, determining whether the front of the vehicle is an ascending slope according to whether the average value of the plurality of first gradient values is larger than a first threshold value, and determining that the front of the vehicle is an ascending slope under the condition that the average value of the plurality of first gradient values is larger than the first threshold value, wherein the first gradient values are gradient values of a plurality of calibration points of the vehicle within a first preset distance of the traveling direction, the plurality of calibration points are sequentially arranged along the traveling direction of the vehicle, and the distances between any two adjacent calibration points are equal; acquiring an engine rotating speed at the current moment of the vehicle, a vehicle speed at the current moment, an accelerator pedal opening at the current moment and a first distance, wherein the first distance is a distance between a position at the current moment of the vehicle and an ascending slope starting point, and when the engine rotating speed at the current moment is in a first preset range, the vehicle speed at the current moment is in a second preset range and the first distance is smaller than a first preset value, an ascending slope driving force corresponding to each gear and ascending slope resistance of the vehicle are calculated according to the vehicle speed at the current moment, the accelerator pedal opening at the current moment and a plurality of first gradient values; determining a target gear according to at least the existence of a first difference value, wherein the target gear is the minimum gear for enabling the vehicle to pass through an ascending slope, and the first difference value is a difference value which is not smaller than a second threshold value in difference values of ascending slope driving force and ascending slope resistance corresponding to each gear of the vehicle; and controlling the vehicle to ascend with the target gear.

Optionally, determining the target gear at least according to whether the first difference exists includes: determining that a gear corresponding to the maximum uphill driving force is the target gear in an engine speed range of the vehicle when the first difference value does not exist, wherein the engine speed range is a speed range in which an engine of the vehicle works normally, and the first preset range is in the engine speed range; and under the condition that the first difference value exists, determining a first gear, and under the condition that the second difference value is larger than a third threshold value, determining that the maximum gear in the corresponding engine rotating speed range between the gear at the current moment and the first gear is the target gear, wherein the first gear is the highest gear in the gears corresponding to the first difference values, and the second difference value is the difference value between the first gear and the gear at the current moment.

Optionally, determining the target gear at least according to whether the first difference exists, further includes: determining the target gear according to whether the absolute value of the second difference value is larger than a fourth threshold value when the first difference value exists and the second difference value is smaller than the third threshold value, wherein the third threshold value comprises zero, and the fourth threshold value is larger than the third threshold value; and when the first difference value exists and the second difference value is equal to the third threshold value, determining that a gear corresponding to the maximum uphill driving force is the target gear in the engine speed range of the vehicle.

Optionally, determining the target gear according to whether the absolute value of the second difference is greater than a fourth threshold value includes: and under the condition that the absolute value of the second difference value is larger than the fourth threshold value, determining the gear at the current moment as the target gear.

Optionally, determining the target gear according to whether the absolute value of the second difference is greater than a fourth threshold value includes: and determining that the gear corresponding to the maximum uphill driving force is the target gear in the engine speed range under the condition that the absolute value of the second difference value is not larger than the fourth threshold.

Optionally, obtaining a plurality of first slope values includes: acquiring a horizon signal representing road data for a plurality of said calibration points within a second predetermined distance of said vehicle along said direction of travel, said second predetermined distance being greater than said first predetermined distance, said road data comprising said grade value; determining a second distance and the gradient value of the position at the current moment according to the horizon signal, wherein the second distance is the distance between the position at the current moment and the first calibration point along the travelling direction; acquiring a second gradient value, wherein the second gradient value is the gradient value of the position of the current moment measured by a sensor; and determining that the gradient values of a plurality of calibration points of the vehicle within the first preset distance in the travelling direction are a plurality of first gradient values according to the horizon signal under the condition that the second distance is not more than a second preset value or the difference value between the gradient value of the position at the current moment and the second gradient value is not more than a third preset value.

Optionally, before controlling the vehicle to ascend in the target gear, the method further comprises: determining, if the first difference is present, if the first difference is greater than a fourth predetermined value and if an acceleration of the vehicle at a current time is less than an acceleration threshold; acquiring a gear correction table under the condition that the first difference value is larger than the fourth preset value and the acceleration at the current moment is smaller than the acceleration threshold value, wherein the gear correction table is a relation table of acceleration and gear correction value obtained through experiments and historical data; obtaining the gear correction value corresponding to the acceleration at the current moment according to the acceleration at the current moment and the gear correction table; and calculating the difference value between the target gear and the gear correction value to obtain a new target gear.

Optionally, before controlling the vehicle to ascend in the target gear, the method further comprises: determining whether the target gear is in a preset gear interval, wherein the minimum value of the preset gear interval is a gear corresponding to the engine speed being a first speed threshold, the maximum value of the preset gear interval is a gear corresponding to the condition that the engine speed is a second speed threshold, and the second speed threshold is larger than the first speed threshold; determining that the minimum value of the preset gear interval is a new target gear under the condition that the target gear is smaller than the minimum value of the preset gear interval; and determining that the maximum value of the preset gear interval is the new target gear under the condition that the target gear is larger than the maximum value of the preset gear interval.

According to another aspect of the present application, there is provided a shift control device for a vehicle ascending, including a first determining unit, a first calculating unit, a second determining unit, and a control unit, where the first determining unit is configured to obtain a plurality of first gradient values, determine whether a front of the vehicle is ascending according to whether an average value of the plurality of first gradient values is greater than a first threshold value, and determine that the front of the vehicle is ascending when the average value of the plurality of first gradient values is greater than the first threshold value, where the first gradient values are gradient values of a plurality of calibration points of the vehicle within a first predetermined distance in a traveling direction, where the plurality of calibration points are sequentially arranged along the traveling direction of the vehicle, and where distances between any adjacent two calibration points are equal; the first calculating unit is configured to obtain an engine speed at a current time of the vehicle, a vehicle speed at the current time, an accelerator pedal opening at the current time, and a first distance, where the first distance is a distance between a position at the current time of the vehicle and an ascending start point, and calculate an ascending driving force corresponding to each gear and an ascending resistance of the vehicle according to the vehicle speed at the current time, the accelerator pedal opening at the current time, and a plurality of first gradient values when the engine speed at the current time is within a first predetermined range, the vehicle speed at the current time is within a second predetermined range, and the first distance is less than a first predetermined value; the second determining unit is configured to determine a target gear according to at least whether a first difference exists, where the target gear is a minimum gear that enables the vehicle to pass an uphill, and the first difference is a difference that is not smaller than a second threshold value among differences between the uphill driving force and the uphill resistance corresponding to each gear of the vehicle; the control unit is used for controlling the vehicle to ascend with the target gear.

According to yet another aspect of the present application, there is provided a shift control system for a vehicle ascending a slope, including: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a shift control method for performing any of the vehicle uphill.

According to the technical scheme, in the gear shifting control method for the vehicle ascending, firstly, a plurality of first gradient values are obtained, whether the front of the vehicle is ascending or not is determined according to whether the average value of the plurality of first gradient values is larger than a first threshold value, the front of the vehicle is ascending or not is determined under the condition that the average value of the plurality of first gradient values is larger than the first threshold value, the first gradient values are gradient values of a plurality of calibration points of the vehicle within a first preset distance of the advancing direction, the calibration points are sequentially arranged along the advancing direction of the vehicle, and the distances between any two adjacent calibration points are equal; then, acquiring an engine rotating speed at the current moment of the vehicle, a vehicle speed at the current moment, an accelerator pedal opening at the current moment and a first distance, wherein the first distance is a distance between a position at the current moment of the vehicle and an ascending slope starting point, and when the engine rotating speed at the current moment is in a first preset range, the vehicle speed at the current moment is in a second preset range and the first distance is smaller than a first preset value, calculating ascending slope driving force corresponding to each gear and ascending slope resistance of the vehicle according to the vehicle speed at the current moment, the accelerator pedal opening at the current moment and a plurality of first gradient values; then, determining a target gear according to at least whether a first difference value exists, wherein the target gear is the minimum gear for enabling the vehicle to pass through an ascending slope, and the first difference value is a difference value which is not smaller than a second threshold value in difference values of ascending slope driving force and ascending slope resistance corresponding to each gear of the vehicle; finally, the vehicle is controlled to ascend with the target gear. According to the method, under the condition that the road in front of the vehicle is an uphill slope, the target gear is determined at least according to the first difference value, so that the vehicle can adopt the smallest gear capable of passing through the uphill slope before the uphill slope, namely the target gear with optimal power performance is met, frequent gear shifting on the slope caused by insufficient power performance is avoided, the speed loss caused by power interruption is reduced, the clutch abrasion is effectively reduced, the service life is prolonged, and the problems of speed loss and low clutch life caused by frequent gear shifting on the uphill slope of the vehicle in the prior art are solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

FIG. 1 shows a hardware block diagram of a computer terminal executing a shift control method for a vehicle uphill according to one embodiment of the present application;

FIG. 2 illustrates a flow chart of a shift control method for a vehicle uphill according to an embodiment of the present application;

FIG. 3 illustrates a flow chart of a method of obtaining a plurality of first grade values provided in accordance with an embodiment of the present application;

FIG. 4 illustrates a flow chart of a shift control method for a vehicle ascending a hill provided in accordance with another embodiment of the present application;

FIG. 5 illustrates a flow chart of a shift control method for a vehicle uphill according to yet another embodiment of the present application;

FIG. 6 illustrates a logic diagram of a shift control method for a vehicle uphill according to another embodiment of the present application;

fig. 7 shows a block diagram of a gear shift control device for a vehicle ascending a slope according to an embodiment of the present application.

Wherein the above figures include the following reference numerals:

102. a processor; 104. a memory; 106. a transmission device; 108. and an input/output device.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

As described in the background art, in the prior art, frequent shifting of a vehicle uphill causes vehicle speed loss and a low clutch life, and in order to solve the above problems, embodiments of the present application provide a method and an apparatus for controlling shifting of a vehicle uphill, and a shift control system for a vehicle uphill.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

The method embodiments provided in the embodiments of the present application may be executed in a computer terminal or similar computing device. Taking a computer terminal as an example, fig. 1 is a hardware block diagram of a computer terminal of a shift control method for a vehicle ascending a slope according to an embodiment of the present invention. As shown in fig. 1, the computer terminal may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, wherein the computer terminal may further include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the computer terminal described above. For example, the computer terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.

The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a display method of device information in an embodiment of the present invention, and the processor 102 executes the computer program stored in the memory 104 to perform various functional applications and data processing, that is, to implement the above-described method. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the computer terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of a computer terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.

In the present embodiment, there is provided a shift control method of a vehicle ascending a slope operating on a computer terminal, a computer terminal or the like, it is to be noted that the steps shown in the flowchart of the drawings may be executed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown or described herein.

Fig. 2 is a flowchart of a shift control method for a vehicle ascending a slope according to an embodiment of the present application. As shown in fig. 2, the method comprises the steps of:

step S201, a plurality of first gradient values are obtained, whether the front of the vehicle is an ascending slope is determined according to whether the average value of the plurality of first gradient values is larger than a first threshold value, the front of the vehicle is determined to be the ascending slope when the average value of the plurality of first gradient values is larger than the first threshold value, the first gradient values are gradient values of a plurality of calibration points of the vehicle within a first preset distance in the travelling direction, the calibration points are sequentially arranged along the travelling direction of the vehicle, and the distances between any two adjacent calibration points are equal;

Specifically, whether the vehicle is ascending or not can be determined by the plurality of first gradient values, and if the gradient average value of the plurality of calibration points is greater than the first threshold value, it is indicated that the vehicle is ascending, calculation of the gear required to pass the ascending is required.

In practical application, the vehicle continuously acquires the first gradient value in front of the vehicle in the running process, when the first gradient value exceeds the current gradient value by 2%, the front of the vehicle can be judged to be an upward slope, that is to say, the first threshold can be set according to the current gradient value added by 2%, and when the first gradient value is lower than the current gradient value by 1%, the upward slope can be judged to be ended. The first predetermined distance may be one kilometer, and may be set by those skilled in the art according to actual circumstances.

In practical applications, a plurality of the first slope values are determined according to the horizon signal, and in an alternative, as shown in fig. 3, in step S201, the method may be implemented as:

step S2011, acquiring a horizon signal, where the horizon signal is used to represent road data of a plurality of calibration points within a second predetermined distance along the traveling direction of the vehicle, the second predetermined distance is greater than the first predetermined distance, and the road data includes the gradient value;

Step S2012 of determining, based on the horizon signal, a second distance and the gradient value of the current position, the second distance being a distance between the current position and a first one of the calibration points along the traveling direction;

step S2013, obtaining a second gradient value, wherein the second gradient value is the gradient value of the position of the current moment measured by a sensor;

step S2014 of determining, based on the horizon signal, that the gradient values of a plurality of calibration points within the first predetermined distance in the traveling direction of the vehicle are the plurality of first gradient values when the second distance is not greater than a second predetermined value or a difference between the gradient value of the position at the current time and the second gradient value is not greater than a third predetermined value.

Specifically, when the horizon signal is acquired, the road data of enough calibration points may not be acquired due to poor signals and the like, and at this time, the accuracy of the horizon signal is not high, that is, the reliability is low, so, in order to ensure the accuracy of the acquired first gradient value, the reliability of the horizon signal needs to be confirmed first, the horizon signal is the road data of a plurality of calibration points within a second predetermined distance for representing the travelling direction of the vehicle, and in order to ensure that the first gradient value with higher accuracy can be acquired, more data of the calibration points can be acquired first, so that the second predetermined distance is greater than the first predetermined distance. The second distance is a distance between the current time and a first calibration point along the traveling direction of the vehicle, specifically, when the second predetermined distance is two kilometers and 50 data of the calibration points are collected, the first calibration point should be 40 meters away from the current time, so the second distance may be set to 40 meters, and when the second distance is greater than 40 meters, it is indicated that the first calibration point is not measured, and thus, the horizon signal is determined to be reliable when the second distance is not greater than the second predetermined value. The second gradient value is the gradient value of the position at the current moment measured by the sensor, is the accurate gradient value at the current moment, and the gradient value of the position at the current moment estimated by the horizon signal is compared with the second gradient value, so that the difference is not great, that is, the horizon signal is credible, and the third preset value can be zero or a value between-1% and 1%, and can be set by a person skilled in the art according to practical situations.

In practical application, the reliability verification of the horizon signal is carried out, road data of 50 points in two kilometers in front of the vehicle can be collected in real time, a plurality of first gradient values are obtained under the condition that the horizon signal is reliable, then the position at the current moment and the road state in front of the vehicle can be judged, and nine state results can be distinguished: current flat road front flat road, current flat road front up-slope, current flat road front down-slope, current up-slope front flat road, current up-slope front up-slope, current up-slope front down-slope, current down-slope front flat road, current down-slope front up-slope and current down-slope front down-slope.

Step S202, obtaining the engine speed at the current moment of the vehicle, the speed at the current moment, the opening degree of an accelerator pedal at the current moment and a first distance, wherein the first distance is the distance between the position at the current moment of the vehicle and the starting point of an ascending slope, and when the engine speed at the current moment is within a first preset range, the speed at the current moment is within a second preset range and the first distance is smaller than a first preset value, the ascending slope driving force corresponding to each gear and the ascending slope resistance of the vehicle are calculated according to the speed at the current moment, the opening degree of the accelerator pedal at the current moment and a plurality of first slope values;

Specifically, the vehicle speed at the current moment, the opening degree of the accelerator pedal at the current moment and a plurality of first gradient values can be used for calculating the uphill driving force corresponding to each gear, when the vehicle speed is fixed, the rotating speed of the engine is fixed, and the rotating speed of the engine corresponding to the uphill driving force of each gear is in the rotating speed range of the engine.

In a specific embodiment, the condition that the target gear needs to be determined is that the vehicle satisfies the condition that the engine speed at the current moment is in a first preset range, the vehicle speed at the current moment is in a second preset range, and the first distance is smaller than a first preset value, that is, the target gear needs to be calculated and the vehicle ascends with the target gear after the condition is satisfied, which process may also be called as predictive gear shifting enabling. In order to ensure that the vehicle can normally and safely run, the first preset range can be 600-1800 r/min, the second preset range can be 35-80 km/h, and the first preset value can be the speed of the vehicle at the current moment multiplied by 2 because the time of general gear shifting is 2 seconds. The premise of determining the target gear is that the horizon signal is credible, when the obtained horizon signal is not credible, if the vehicle is in the climbing process, the prediction gear shifting enabling is canceled again in the climbing process, and if the horizon signal is in the climbing process when the reliability is recovered from the non-credible state, the gear shifting enabling is not predicted in the climbing process, that is, the target gear is directly climbed by the target gear after the target gear is determined, and the gear is not shifted any more in the middle.

In another specific embodiment, in order to prevent frequent predicted shift enable and exit from predicted shift enable caused by rotational speed jitter, the engine does not continue to predict shift enable when the engine exceeds a third predetermined range, where the third predetermined range includes the first predetermined range and the third predetermined range belongs to the engine rotational speed range, the first predetermined range may be 600r/min to 2000r/min, the rotational speed is lower than 600r/min, the engine may stall, and the engine may be higher than 2000r/min, and jitter may be caused. In the case that the vehicle speed at the similar current time exceeds a fourth predetermined range, the fourth predetermined range includes the second predetermined range, and the fourth predetermined range may be 25km/h to 95km/h.

In still another specific embodiment, when the actual distance from the position of the vehicle to the starting point of the uphill is greater than a distance threshold, for example, after the uphill is completed, the first distance obtained by the horizon signal processing is greater than a distance threshold of 2000m and the real-time estimated gradient is less than a gradient threshold, the predicted gear shift is exited, and the gradient threshold may be the current gradient value plus 1%.

Step S203, determining a target gear according to at least whether a first difference exists, where the target gear is a minimum gear that enables the vehicle to pass an uphill, and the first difference is a difference that is not smaller than a second threshold value among differences between the uphill driving force and the uphill resistance corresponding to each gear of the vehicle;

specifically, a target gear that meets the vehicle's uphill drive force demand while minimizing loss is determined by at least the relationship between the uphill drive force and the uphill resistance.

In an alternative, step S203 may be implemented as: determining that a gear corresponding to the maximum uphill driving force is the target gear in an engine speed range of the vehicle, the engine speed range being a speed range in which an engine of the vehicle is operating normally, the first predetermined range being within the engine speed range, if the first difference does not exist; and determining a first gear when the first difference exists, and determining that a maximum gear in the corresponding engine speed range is the target gear between the gear at the current time and the first gear when the second difference is larger than a third threshold, wherein the first gear is the highest gear in the gears corresponding to the first differences, and the second difference is the difference between the first gear and the gear at the current time.

Specifically, the second threshold value may be zero, and there is no first difference, that is, there is no uphill driving force greater than the uphill resistance, and the problem of the vehicle falling uphill is required to be reduced as much as possible at this time, so that it is determined that the gear corresponding to the maximum uphill driving force is the target gear within the engine speed range of the vehicle. There is a first difference, that is, there is an uphill driving force greater than the uphill resistance, at which time a first gear needs to be determined, and then a comparison of the first gear and the gear at the current time of the vehicle is used to determine whether a shift is required before the vehicle goes uphill, so as to determine a target gear. The third threshold may be zero, that is, when the first gear is greater than the gear at the current time, it is determined that the maximum gear in the corresponding engine speed range is the target gear between the gear at the current time and the first gear, so that the vehicle ascends with the minimum gear that can smoothly pass through the ascending slope, and the engine of the vehicle is not flameout, and the ascending slope that can not be shifted in the ascending slope process is provided.

In another alternative, determining the target gear based at least on whether the first difference exists, further includes: when the first difference value exists and the second difference value is smaller than the third threshold value, determining the target gear according to whether the absolute value of the second difference value is larger than a fourth threshold value, wherein the third threshold value comprises zero, and the fourth threshold value is larger than the third threshold value; and determining that a gear corresponding to the maximum uphill driving force is the target gear within the engine speed range of the vehicle when the first difference exists and the second difference is equal to the third threshold. By comparing the difference between the first gear and the gear at the current moment, the target gear can be judged more accurately.

In still another alternative, determining the target gear according to whether the absolute value of the second difference is greater than a fourth threshold includes: and determining that the gear at the current moment is the target gear when the absolute value of the second difference is larger than the fourth threshold. The fourth threshold may be 2, and when the first gear is smaller than the gear at the current time and the difference between the first gear and the gear at the current time is within 2 gears, that is, the gear at the current time is enough to pass through the uphill smoothly, no gear shift is needed, and the gear at the current time is directly used as the target gear.

In still another alternative, determining the target gear according to whether the absolute value of the second difference is greater than a fourth threshold includes: and determining that a gear corresponding to the maximum uphill driving force is the target gear within the engine speed range when the absolute value of the second difference is not greater than the fourth threshold. In the case where the first gear is smaller than the gear at the present time and the difference between the first gear and the gear at the present time is not equal to 2, it is also necessary to minimize the problem of the vehicle falling uphill at this time, and therefore, it is determined that the gear corresponding to the largest uphill driving force is the target gear within the engine speed range of the vehicle.

Step S204, controlling the vehicle to ascend with the target gear.

Specifically, the target gear is used for ascending the vehicle before ascending the vehicle, and the ascending gear of the vehicle is reduced, so that the vehicle speed loss caused by power interruption is reduced, the clutch abrasion can be effectively reduced, and the service life is prolonged.

In order to calculate the target gear more precisely, the method further includes the steps of, before controlling the vehicle to ascend the target gear at step S204, as shown in fig. 4:

step 301, determining whether the first difference is greater than a fourth predetermined value and whether the acceleration of the vehicle at the current time is less than an acceleration threshold value when the first difference is present;

step 302, obtaining a gear correction table, where the gear correction table is a relation table between acceleration and gear correction value obtained through experiments and historical data, when the first difference value is greater than the fourth predetermined value and the acceleration at the current time is less than the acceleration threshold value;

step 303, obtaining the gear correction value corresponding to the acceleration at the current time according to the acceleration at the current time and the gear correction table;

and step 304, calculating the difference value between the target gear and the gear correction value to obtain a new target gear.

In practical application, because errors exist in the estimated vehicle weight, the road gradient estimated in real time and the signals acquired by the flat lines, the calculated gear is possibly higher, and the situation of insufficient power occurs. For this problem, the accuracy of the signal can be determined by the relationship between the current driving force and the uphill resistance and the vehicle acceleration condition. If the driving force is greater than the fourth preset value of the resistance and the vehicle acceleration is less than the acceleration threshold value, the gear correction table is checked according to the acceleration value to obtain a corrected gear, and then a corrected target gear is obtained, wherein the gear correction table is a relation table of the acceleration and the gear correction value obtained through experiments and historical data, and the fourth preset value and the acceleration threshold value can be determined according to the experiments and the historical data.

In another alternative, before controlling the vehicle to ascend in the target gear in step S204, the method further includes a step of, as shown in fig. 5:

step S401 of determining whether the target gear is within a predetermined gear range, wherein a minimum value of the predetermined gear range is a gear corresponding to the first rotational speed threshold value of the engine rotational speed, and a maximum value of the predetermined gear range is a gear corresponding to the second rotational speed threshold value of the engine rotational speed, and the second rotational speed threshold value is greater than the first rotational speed threshold value;

Step S402, determining the minimum value of the preset gear interval as a new target gear when the target gear is smaller than the minimum value of the preset gear interval;

step S403 of determining that the maximum value of the predetermined gear range is the new target gear when the target gear is greater than the maximum value of the predetermined gear range.

Specifically, in practical application, in order to maintain the vehicle speed before shifting on an uphill, the engine is required to change correspondingly after shifting, for example, the uphill needs to be shifted up, the engine rotation speed needs to be reduced after shifting, for example, the engine rotation speed is 13 th gear before shifting, the gear speed ratio is 1.5 (the speed ratio determined by the mechanical structure of the gearbox), the engine rotation speed is 1300rpm before shifting, if shifting to 15 th gear, the gear speed ratio is 1.2, and the engine rotation speed needs to be reduced to 1300 x 1.2/1.5=1040 rpm in order to maintain the same vehicle speed. If downshifting from 13 to 11 (speed ratio 1.8), the engine speed 1300 x 1.8/1.5=1560 rpm after the downshift. The first rotational speed threshold is the highest rotational speed of the engine allowed after the downshift, i.e. the lowest gear to which the downshift is allowed can be limited according to the threshold (for example, 13 th gear before the downshift, engine speed 1300rpm, 11 th gear engine speed 1560rpm, if the engine speed is reduced to 1700rpm of 10 th gear, to 1900rpm of 9 th gear, the threshold is calibrated to 1800rpm, the lowest gear of the downshift is 10 th gear at this time); likewise, the second rotational speed threshold is used to limit the highest gear of the upshift, at which the engine rotational speed satisfies a value greater than threshold 2. The first rotating speed threshold value and the second rotating speed threshold value can be obtained by predicting the maximum value of the road gradient and checking a rotating speed meter of the vehicle which is estimated in real time, the rotating speed meter is a relation meter of the road gradient, the vehicle weight and the rotating speed threshold value obtained through experiments and historical data, and the higher the second rotating speed threshold value is, the larger driving force can be ensured to be kept after gear shifting.

According to the embodiment, under the condition that the road in front of the vehicle is an uphill slope, the target gear is determined at least according to the first difference value, so that the vehicle can adopt the minimum gear capable of passing through the uphill slope before the uphill slope, namely, the target gear with optimal power performance is met, frequent gear shifting on the slope caused by insufficient power performance is avoided, the speed loss caused by power interruption is reduced, the clutch abrasion is effectively reduced, the service life is prolonged, and the problems of low speed loss and low clutch life caused by frequent gear shifting on the uphill slope of the vehicle in the prior art are solved.

In order to enable those skilled in the art to more clearly understand the technical solutions of the present application, the implementation process of the vehicle uphill shift control method of the present application will be described in detail below with reference to specific embodiments.

The embodiment relates to a specific gear shift control method for a vehicle ascending slope, as shown in fig. 6, including the following steps:

step S1: acquiring a horizon signal and acquiring a plurality of first gradient values according to the horizon signal;

step S2: determining whether the front of the vehicle is an uphill grade;

step S3: determining whether the engine speed at the current time is within a first predetermined range, the vehicle speed at the current time is within a second predetermined range, and whether the first distance is less than a first predetermined value, if the vehicle is in front of the uphill;

Step S4: calculating an uphill driving force and an uphill resistance of the vehicle corresponding to each gear under the conditions that the engine rotating speed at the current moment is in a first preset range, the vehicle speed at the current moment is in a second preset range and the first distance is smaller than a first preset value;

step S5: determining whether a first difference exists;

step S6: determining a gear corresponding to the maximum uphill driving force as a target gear in the engine speed range of the vehicle under the condition that the first difference value does not exist;

step S7: determining a first gear and determining if the second difference is greater than a third threshold if the first difference is present;

step S8: under the condition that the second difference value is larger than a third threshold value, determining that the maximum gear in the corresponding engine rotating speed range is the target gear between the gear at the current moment and the first gear;

step S9: determining a gear corresponding to the maximum uphill driving force as a target gear in the engine speed range of the vehicle under the condition that the second difference value is equal to a third threshold value;

step S10: determining whether the difference between the first gear and the gear at the current moment is larger than a fourth threshold value or not under the condition that the second difference is smaller than the third threshold value;

Step S11: determining the gear at the current moment as a target gear under the condition that the difference value between the first gear and the gear at the current moment is larger than a fourth threshold value;

step S12: and determining a gear corresponding to the maximum uphill driving force as a target gear in the engine speed range under the condition that the difference value between the first gear and the gear at the current moment is not greater than a fourth threshold value.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.

The embodiment of the application also provides a gear shift control device for the vehicle ascending, and the gear shift control device for the vehicle ascending can be used for executing the gear shift control method for the vehicle ascending. The device is used for realizing the above embodiments and preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

The following describes a shift control device for a vehicle ascending a slope provided in the embodiment of the present application.

Fig. 7 is a schematic diagram of a shift control device for a vehicle ascending a slope according to an embodiment of the present application. As shown in fig. 7, the apparatus includes a first determination unit 10, a first calculation unit 20, a second determination unit 30, and a control unit 40, wherein:

the first determining unit 10 is configured to obtain a plurality of first gradient values, determine whether the front of the vehicle is ascending according to whether an average value of the plurality of first gradient values is greater than a first threshold value, and determine that the front of the vehicle is ascending when the average value of the plurality of first gradient values is greater than the first threshold value, wherein the first gradient values are gradient values of a plurality of calibration points of the vehicle within a first predetermined distance in a traveling direction, the plurality of calibration points are sequentially arranged along the traveling direction of the vehicle, and a distance between any two adjacent calibration points is equal;

In practical applications, the plurality of first gradient values are determined according to a horizon signal, in one alternative, the first determining unit includes a first acquiring module, a first determining module, a second acquiring module, and a second determining module, where the first acquiring module is configured to acquire a horizon signal, the horizon signal is configured to represent road data of a plurality of calibration points within a second predetermined distance along the traveling direction of the vehicle, and the second predetermined distance is greater than the first predetermined distance, and the road data includes the gradient value; the first determining module is configured to determine, according to the horizon signal, a second distance and the slope value of the current position, where the second distance is a distance between the current position and a first calibration point along the traveling direction; the second obtaining module is configured to obtain a second gradient value, where the second gradient value is the gradient value of the position at the current time measured by the sensor; the second determining module is configured to determine, based on the horizon signal, that the gradient values of a plurality of calibration points within the first predetermined distance in the traveling direction of the vehicle are the plurality of first gradient values when the second distance is not greater than a second predetermined value or a difference between the gradient value of the position at the current time and the second gradient value is not greater than a third predetermined value.

Specifically, when the horizon signal is obtained, the road data of enough calibration points may not be obtained due to poor signals and the like, so that the reliability of the horizon signal is low, and therefore, in order to ensure the accuracy of the obtained first gradient value, the reliability of the horizon signal needs to be confirmed first, the horizon signal is the road data of a plurality of calibration points in a second preset distance for representing the travelling direction of the vehicle, and in order to ensure that the first gradient value with high accuracy can be obtained, more data of the calibration points can be obtained first, so that the second preset distance is larger than the first preset distance. The second distance is a distance between the current time and a first calibration point along the traveling direction of the vehicle, specifically, when the second predetermined distance is two kilometers and 50 data of the calibration points are collected, the first calibration point should be 40 meters away from the current time, so the second distance may be set to 40 meters, and when the second distance is greater than 40 meters, it is indicated that the first calibration point is not measured, and thus, the horizon signal is determined to be reliable when the second distance is not greater than the second predetermined value. The second gradient value is the gradient value of the position at the current moment measured by the sensor, is the accurate gradient value at the current moment, and the gradient value of the position at the current moment estimated by the horizon signal is compared with the second gradient value, so that the difference is not great, that is, the horizon signal is credible, and the third preset value can be zero or a value between-1% and 1%, and can be set by a person skilled in the art according to practical situations.

The first calculating unit 20 is configured to obtain an engine speed at a current time of the vehicle, a vehicle speed at the current time, an accelerator pedal opening at the current time, and a first distance between a position at the current time of the vehicle and an ascending start point, and calculate an ascending driving force corresponding to each gear and an ascending resistance of the vehicle based on the vehicle speed at the current time, the accelerator pedal opening at the current time, and a plurality of first gradient values when the engine speed at the current time is within a first predetermined range, the vehicle speed at the current time is within a second predetermined range, and the first distance is smaller than a first predetermined value;

The second determining unit 30 is configured to determine a target gear according to at least whether or not a first difference is present, where the first difference is a difference between the uphill driving force and the uphill resistance corresponding to each gear of the vehicle and the minimum gear that allows the vehicle to pass through an uphill, and the difference is not smaller than a second threshold;

In an alternative aspect, the second determining unit includes a third determining module and a fourth determining module, where the third determining module is configured to determine, in the absence of the first difference, that a gear corresponding to the maximum uphill driving force is the target gear in an engine speed range of the vehicle, the engine speed range being a speed range in which an engine of the vehicle operates normally, and the first predetermined range being in the engine speed range; the fourth determining module is configured to determine a first gear when the first difference exists, and determine, when the second difference is greater than a third threshold, that a maximum gear in the corresponding engine speed range is the target gear between the gear at the current time and the first gear, the first gear is a highest gear among gears corresponding to the first differences, and the second difference is a difference between the first gear and the gear at the current time.

In another alternative, the second determining unit further includes a fifth determining module and a sixth determining module, where the fifth determining module is configured to determine, when the first difference exists and the second difference is smaller than the third threshold, the target gear according to whether an absolute value of the second difference is greater than a fourth threshold, the third threshold includes zero, and the fourth threshold is greater than the third threshold; the sixth determining module is configured to determine, when the first difference exists and the second difference is equal to the third threshold, that a gear corresponding to the maximum uphill driving force is the target gear within the engine speed range of the vehicle. By comparing the difference between the first gear and the gear at the current moment, the target gear can be judged more accurately.

In still another alternative, the fifth determining module includes a first determining sub-module, and the fifth determining module is configured to determine that the gear at the current time is the target gear if the absolute value of the second difference is greater than the fourth threshold. The fourth threshold may be 2, and when the first gear is smaller than the gear at the current time and the difference between the first gear and the gear at the current time is within 2 gears, that is, the gear at the current time is enough to pass through the uphill smoothly, no gear shift is needed, and the gear at the current time is directly used as the target gear.

In still another alternative, the fifth determining module includes a second determining sub-module, and the sixth determining module is configured to determine, in the engine speed range, that a gear corresponding to the maximum uphill driving force is the target gear when an absolute value of the second difference is not greater than the fourth threshold. In the case where the first gear is smaller than the gear at the present time and the difference between the first gear and the gear at the present time is not equal to 2, it is also necessary to minimize the problem of the vehicle falling uphill at this time, and therefore, it is determined that the gear corresponding to the largest uphill driving force is the target gear within the engine speed range of the vehicle.

The control unit 40 is configured to control the vehicle to ascend at the target gear.

In order to calculate the target gear more precisely, the above-mentioned apparatus further includes a third determining unit, a first acquiring unit, a processing unit, and a second calculating unit, wherein the above-mentioned third determining unit is configured to determine, in the case where there is the above-mentioned first difference value, whether the above-mentioned first difference value is greater than a fourth predetermined value and whether the acceleration at the present moment of the above-mentioned vehicle is less than an acceleration threshold value, before controlling the above-mentioned vehicle to ascend with the above-mentioned target gear; the first obtaining unit is configured to obtain a gear correction table when the first difference is greater than the fourth predetermined value and the acceleration at the current time is less than the acceleration threshold value, where the gear correction table is a relationship table between acceleration and a gear correction value obtained through experiments and historical data; the processing unit is used for obtaining the gear correction value corresponding to the acceleration at the current moment according to the acceleration at the current moment and the gear correction table; the second calculating unit is used for calculating the difference value between the target gear and the gear correction value to obtain a new target gear.

According to the predicted engine speed after gear shifting, limiting a target gear so as to further improve the accuracy of the target gear, in another alternative scheme, the device further comprises a fourth determining unit, a fifth determining unit and a sixth determining unit, wherein the fourth determining unit is used for determining whether the target gear is in a preset gear interval before controlling the vehicle to ascend with the target gear, the minimum value of the preset gear interval is a gear corresponding to the engine speed as a first rotation speed threshold value, and the maximum value of the preset gear interval is a gear corresponding to the condition that the engine speed is as a second rotation speed threshold value, and the second rotation speed threshold value is larger than the first rotation speed threshold value; the fifth determining unit is configured to determine that a minimum value of the predetermined gear range is a new target gear range when the target gear range is smaller than the minimum value of the predetermined gear range; the sixth determination unit is configured to determine that the maximum value of the predetermined gear range is the new target gear when the target gear is larger than the maximum value of the predetermined gear range.

Specifically, in practical application, in order to maintain the vehicle speed before shifting on an uphill, the engine is required to change correspondingly after shifting, for example, the uphill needs to be shifted up, the engine rotation speed needs to be reduced after shifting, for example, the engine rotation speed is 13 th gear before shifting, the gear speed ratio is 1.5 (the speed ratio determined by the mechanical structure of the gearbox), the engine rotation speed is 1300rpm before shifting, if shifting to 15 th gear, the gear speed ratio is 1.2, and the engine rotation speed needs to be reduced to 1300 x 1.2/1.5=1040 rpm in order to maintain the same vehicle speed. If downshifting from 13 to 11 (speed ratio 1.8), the engine speed 1300 x 1.8/1.5=1560 rpm after the downshift. The first rotational speed threshold is the highest rotational speed of the engine allowed after the downshift, i.e. the lowest gear to which the downshift is allowed can be limited according to the threshold (for example, 13 th gear before the downshift, engine speed 1300rpm, 11 th gear engine speed 1560rpm, if the engine speed is reduced to 1700rpm of 10 th gear, to 1900rpm of 9 th gear, the threshold is calibrated to 1800rpm, the lowest gear of the downshift is 10 th gear at this time); likewise, the second rotational speed threshold is used to limit the highest gear of the upshift, at which the engine rotational speed satisfies a value greater than threshold 2. The first rotating speed threshold value and the second rotating speed threshold value can be obtained through predicting the maximum value of the road gradient and checking a vehicle weight table estimated in real time, and the higher the second rotating speed threshold value is, the larger driving force can be ensured to be kept after gear shifting.

The shift control device for vehicle uphill includes a processor and a memory, wherein the first determining unit, the first calculating unit, the second determining unit, the control unit, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions. The modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.

The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The inner core can be provided with one or more than one, and the problems of vehicle speed loss and low clutch service life caused by frequent gear shifting on the uphill of the vehicle in the prior art are solved by adjusting the inner core parameters.

The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.

The embodiment of the invention provides a computer readable storage medium, which comprises a stored program, wherein the program is used for controlling equipment where the computer readable storage medium is positioned to execute the gear shifting control method of the vehicle ascending slope.

Specifically, the shift control method for the vehicle ascending includes:

Step S204, controlling the vehicle to ascend with the target gear.

The embodiment of the invention provides a processor, which is used for running a program, wherein the program runs to execute the gear shifting control method for the vehicle ascending slope.

Specifically, the shift control method for the vehicle ascending includes:

Step S204, controlling the vehicle to ascend with the target gear.

The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes at least the following steps when executing the program:

step S204, controlling the vehicle to ascend with the target gear.

The device herein may be a server, PC, PAD, cell phone, etc.

The present application also provides a computer program product adapted to perform a program initialized with at least the following method steps when executed on a data processing device:

step S204, controlling the vehicle to ascend with the target gear.

It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

1) In the shift control method for the vehicle ascending according to the present invention, first, a plurality of first gradient values are obtained, whether the vehicle is ascending in front is determined according to whether an average value of the plurality of first gradient values is larger than a first threshold value, and when the average value of the plurality of first gradient values is larger than the first threshold value, the vehicle is determined to be ascending in front, the first gradient values are gradient values of a plurality of calibration points within a first predetermined distance of the vehicle in a traveling direction, the plurality of calibration points are sequentially arranged along the traveling direction of the vehicle, and distances between any two adjacent calibration points are equal; then, acquiring an engine speed at the current time of the vehicle, a vehicle speed at the current time, an accelerator pedal opening at the current time and a first distance, wherein the first distance is a distance between a position at the current time of the vehicle and an ascending slope starting point, and when the engine speed at the current time is within a first preset range, the vehicle speed at the current time is within a second preset range and the first distance is smaller than a first preset value, calculating ascending slope driving force corresponding to each gear and ascending slope resistance of the vehicle according to the vehicle speed at the current time, the accelerator pedal opening at the current time and a plurality of first gradient values; then, determining a target gear according to at least whether a first difference value exists, wherein the target gear is the minimum gear for enabling the vehicle to pass through an ascending slope, and the first difference value is a difference value which is not smaller than a second threshold value in difference values of ascending slope driving force and ascending slope resistance corresponding to each gear of the vehicle; finally, the vehicle is controlled to ascend with the target gear. According to the method, under the condition that the road in front of the vehicle is an uphill slope, the target gear is determined at least according to the first difference value, so that the vehicle can adopt the smallest gear capable of passing through the uphill slope before the uphill slope, namely the target gear with optimal power performance is met, frequent gear shifting on the slope caused by insufficient power performance is avoided, the speed loss caused by power interruption is reduced, the clutch abrasion is effectively reduced, the service life is prolonged, and the problems of speed loss and low clutch life caused by frequent gear shifting on the uphill slope of the vehicle in the prior art are solved.

2) The gear shift control device for the vehicle ascending comprises a first determining unit, a first calculating unit, a second determining unit and a control unit, wherein the first determining unit is used for obtaining a plurality of first gradient values, determining whether the front of the vehicle is ascending according to whether the average value of the plurality of first gradient values is larger than a first threshold value, determining that the front of the vehicle is ascending when the average value of the plurality of first gradient values is larger than the first threshold value, the first gradient values are gradient values of a plurality of target points of the vehicle within a first preset distance of the traveling direction, the target points are sequentially arranged along the traveling direction of the vehicle, and the distances between any two adjacent target points are equal; the first calculating unit is configured to obtain an engine speed at a current time of the vehicle, a vehicle speed at the current time, an accelerator pedal opening at the current time, and a first distance, where the first distance is a distance between a position at the current time of the vehicle and an ascending start point, and calculate an ascending driving force corresponding to each gear and an ascending resistance of the vehicle according to the vehicle speed at the current time, the accelerator pedal opening at the current time, and a plurality of first gradient values when the engine speed at the current time is within a first predetermined range, the vehicle speed at the current time is within a second predetermined range, and the first distance is less than a first predetermined value; the second determining unit is configured to determine a target gear according to at least whether a first difference exists, where the target gear is a minimum gear that enables the vehicle to pass an uphill, and the first difference is a difference between the uphill driving force and the uphill resistance corresponding to each gear of the vehicle and is not less than a second threshold; the control unit is configured to control the vehicle to ascend with the target gear. According to the device, under the condition that a road in front of a vehicle is an uphill slope, a target gear is determined at least according to the fact that a first difference value exists, so that the vehicle can adopt a minimum gear capable of passing through the uphill slope before the uphill slope, namely, the target gear with optimal power performance is met, frequent gear shifting caused by insufficient power performance on the slope is avoided, the speed loss caused by power interruption is reduced, the clutch abrasion is effectively reduced, the service life is prolonged, and the problems of low speed loss and low clutch life caused by frequent gear shifting on the uphill slope of the vehicle in the prior art are solved.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A shift control method for a vehicle ascending a slope, comprising:

acquiring a plurality of first gradient values, determining whether the front of the vehicle is an ascending slope according to whether the average value of the plurality of first gradient values is larger than a first threshold value, and determining that the front of the vehicle is an ascending slope under the condition that the average value of the plurality of first gradient values is larger than the first threshold value, wherein the first gradient values are gradient values of a plurality of calibration points of the vehicle within a first preset distance of the traveling direction, the plurality of calibration points are sequentially arranged along the traveling direction of the vehicle, and the distances between any two adjacent calibration points are equal;

acquiring an engine rotating speed at the current moment of the vehicle, a vehicle speed at the current moment, an accelerator pedal opening at the current moment and a first distance, wherein the first distance is a distance between a position at the current moment of the vehicle and an ascending slope starting point, and when the engine rotating speed at the current moment is in a first preset range, the vehicle speed at the current moment is in a second preset range and the first distance is smaller than a first preset value, an ascending slope driving force corresponding to each gear and ascending slope resistance of the vehicle are calculated according to the vehicle speed at the current moment, the accelerator pedal opening at the current moment and a plurality of first gradient values;

Determining a target gear according to at least the existence of a first difference value, wherein the target gear is the minimum gear for enabling the vehicle to pass through an ascending slope, and the first difference value is a difference value which is not smaller than a second threshold value in difference values of ascending slope driving force and ascending slope resistance corresponding to each gear of the vehicle;

and controlling the vehicle to ascend with the target gear.

2. The method of claim 1, wherein determining the target gear based at least on whether the first difference exists comprises:

determining that a gear corresponding to the maximum uphill driving force is the target gear in an engine speed range of the vehicle when the first difference value does not exist, wherein the engine speed range is a speed range in which an engine of the vehicle works normally, and the first preset range is in the engine speed range;

and under the condition that the first difference value exists, determining a first gear, and under the condition that the second difference value is larger than a third threshold value, determining that the maximum gear in the corresponding engine rotating speed range between the gear at the current moment and the first gear is the target gear, wherein the first gear is the highest gear in the gears corresponding to the first difference values, and the second difference value is the difference value between the first gear and the gear at the current moment.

3. The method of claim 2, wherein determining the target gear based at least on whether the first difference exists, further comprises:

determining the target gear according to whether the absolute value of the second difference value is larger than a fourth threshold value when the first difference value exists and the second difference value is smaller than the third threshold value, wherein the third threshold value comprises zero, and the fourth threshold value is larger than the third threshold value;

and when the first difference value exists and the second difference value is equal to the third threshold value, determining that a gear corresponding to the maximum uphill driving force is the target gear in the engine speed range of the vehicle.

4. A method according to claim 3, wherein determining the target gear based on whether the absolute value of the second difference is greater than a fourth threshold value comprises:

and under the condition that the absolute value of the second difference value is larger than the fourth threshold value, determining the gear at the current moment as the target gear.

5. A method according to claim 3, wherein determining the target gear based on whether the absolute value of the second difference is greater than a fourth threshold value comprises:

And determining that the gear corresponding to the maximum uphill driving force is the target gear in the engine speed range under the condition that the absolute value of the second difference value is not larger than the fourth threshold.

6. The method of claim 1, wherein obtaining a plurality of first grade values comprises:

acquiring a horizon signal representing road data for a plurality of said calibration points within a second predetermined distance of said vehicle along said direction of travel, said second predetermined distance being greater than said first predetermined distance, said road data comprising said grade value;

determining a second distance and the gradient value of the position at the current moment according to the horizon signal, wherein the second distance is the distance between the position at the current moment and the first calibration point along the travelling direction;

acquiring a second gradient value, wherein the second gradient value is the gradient value of the position of the current moment measured by a sensor;

and determining that the gradient values of a plurality of calibration points of the vehicle within the first preset distance in the travelling direction are a plurality of first gradient values according to the horizon signal under the condition that the second distance is not more than a second preset value or the difference value between the gradient value of the position at the current moment and the second gradient value is not more than a third preset value.

7. The method according to any one of claims 1 to 6, characterized in that before controlling the vehicle to ascend with the target gear, the method further comprises:

determining, if the first difference is present, if the first difference is greater than a fourth predetermined value and if an acceleration of the vehicle at a current time is less than an acceleration threshold;

acquiring a gear correction table under the condition that the first difference value is larger than the fourth preset value and the acceleration at the current moment is smaller than the acceleration threshold value, wherein the gear correction table is a relation table of acceleration and gear correction value obtained through experiments and historical data;

obtaining the gear correction value corresponding to the acceleration at the current moment according to the acceleration at the current moment and the gear correction table;

and calculating the difference value between the target gear and the gear correction value to obtain a new target gear.

8. The method according to any one of claims 1 to 6, characterized in that before controlling the vehicle to ascend with the target gear, the method further comprises:

determining whether the target gear is in a preset gear interval, wherein the minimum value of the preset gear interval is a gear corresponding to the engine speed being a first speed threshold, the maximum value of the preset gear interval is a gear corresponding to the condition that the engine speed is a second speed threshold, and the second speed threshold is larger than the first speed threshold;

Determining that the minimum value of the preset gear interval is a new target gear under the condition that the target gear is smaller than the minimum value of the preset gear interval;

and determining that the maximum value of the preset gear interval is the new target gear under the condition that the target gear is larger than the maximum value of the preset gear interval.

9. A shift control device for a vehicle ascending a slope, comprising:

a first determining unit, configured to obtain a plurality of first gradient values, determine whether a front of the vehicle is an upward slope according to whether an average value of the plurality of first gradient values is greater than a first threshold value, and determine that the front of the vehicle is an upward slope when the average value of the plurality of first gradient values is greater than the first threshold value, where the first gradient values are gradient values of a plurality of calibration points of the vehicle within a first predetermined distance in a traveling direction, the plurality of calibration points are sequentially arranged along the traveling direction of the vehicle, and distances between any two adjacent calibration points are equal;

a first calculating unit, configured to obtain an engine speed at a current time of the vehicle, a vehicle speed at the current time, an accelerator pedal opening at the current time, and a first distance, where the first distance is a distance between a position at the current time of the vehicle and an ascending start point, and calculate an ascending driving force corresponding to each gear and an ascending resistance of the vehicle according to the vehicle speed at the current time, the accelerator pedal opening at the current time, and a plurality of first gradient values when the engine speed at the current time is within a first predetermined range, the vehicle speed at the current time is within a second predetermined range, and the first distance is less than a first predetermined value;

A second determining unit, configured to determine a target gear according to at least whether a first difference exists, where the target gear is a minimum gear that enables the vehicle to pass an uphill, and the first difference is a difference that is not smaller than a second threshold value among differences between the uphill driving force and the uphill resistance corresponding to each gear of the vehicle;

and the control unit is used for controlling the vehicle to ascend the slope with the target gear.

10. A shift control system for a vehicle ascending a slope, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the shift control method of the vehicle ascending a slope of any one of claims 1 to 8.