CN117386806A - Vehicle gear shift control method, device, equipment and storage medium - Google Patents
Vehicle gear shift control method, device, equipment and storage medium Download PDFInfo
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- CN117386806A CN117386806A CN202311462067.2A CN202311462067A CN117386806A CN 117386806 A CN117386806 A CN 117386806A CN 202311462067 A CN202311462067 A CN 202311462067A CN 117386806 A CN117386806 A CN 117386806A
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- 238000000034 method Methods 0.000 title claims abstract description 62
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- 230000005540 biological transmission Effects 0.000 description 13
- 230000002159 abnormal effect Effects 0.000 description 9
- 238000012545 processing Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
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- 238000013473 artificial intelligence Methods 0.000 description 2
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/36—Inputs being a function of speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/36—Inputs being a function of speed
- F16H2059/366—Engine or motor speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Transmission Device (AREA)
Abstract
The application discloses a vehicle gear shift control method, device, equipment and storage medium, and belongs to the technical field of vehicles. The method comprises the following steps: acquiring the used power of a battery of the target vehicle under the condition that the gear of the target vehicle needs to be switched from the first gear to the second gear; switching the gear of the target vehicle from the first gear to the second gear under the condition that the power used by the battery meets the power use requirement of switching the first gear to the second gear; and under the condition that the power used by the battery does not meet the power use requirement of switching from the first gear to the second gear, determining the gear-shifting available power of the target vehicle, and switching the target vehicle from the first gear to the second gear based on the gear-shifting available power and the gear-shifting required power of the target vehicle. The gear switching is carried out based on available power and required power of shifting, the situation that the available power of shifting of a vehicle is lower and the requirement of shifting of the vehicle cannot be met can be avoided, and the control efficiency of the vehicle in the process of shifting is improved.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a vehicle gear shift control method, device, apparatus, and storage medium.
Background
With the rapid development of automobile technology, automobiles have become one of the current main transportation modes. In the daily running of a vehicle, it is generally necessary to control upshift and downshift of the engine speed of the vehicle to adjust the speed stage of the vehicle according to the change of the road environment and the driving demand.
When the vehicle shifts, because the influence of the running state of the vehicle on the vehicle shifting process is great, if the running state of the vehicle cannot meet the shifting requirement, the situations such as a bump, abnormal sound, insufficient power and the like can occur when the vehicle shifts, and the driving operation experience of a user is influenced, so that the current vehicle shifting control efficiency is poor.
Disclosure of Invention
The application provides a vehicle gear shifting control method, device, equipment and storage medium, which can improve the efficiency of vehicle gear shifting control. The technical scheme is as follows:
in one aspect, a vehicle shift control method is provided, the method comprising:
acquiring battery used power of a target vehicle under the condition that a gear of the target vehicle needs to be switched from a first gear to a second gear, wherein the first gear is not equal to the second gear;
switching a gear of the target vehicle from the first gear to the second gear in a case where the battery used power satisfies a power use demand for switching the first gear to the second gear;
And under the condition that the power used by the battery does not meet the power use requirement of switching the first gear to the second gear, determining gear-shifting available power of the target vehicle, and switching the target vehicle from the first gear to the second gear based on the gear-shifting available power and the gear-shifting required power of the target vehicle.
Optionally, the method further comprises:
if the battery used power is a positive value, determining that the battery used power does not meet the power use requirement for switching from the first gear to the second gear;
and under the condition that the first gear is smaller than the second gear, if the used power of the battery is positive, determining that the used power of the battery meets the power use requirement for switching from the first gear to the second gear, and if the used power of the battery is negative, determining that the used power of the battery does not meet the power use requirement for switching from the first gear to the second gear.
Optionally, the acquiring the battery used power of the target vehicle includes:
acquiring a battery voltage and a battery current of the target vehicle, and determining battery used power of the target vehicle based on the battery voltage and the battery current of the target vehicle;
the determining gear shift available power of the target vehicle includes:
determining a battery remaining power of the target vehicle based on a battery maximum peak power of the target vehicle and the battery used power;
and acquiring the use power of the driving motor of the target vehicle, and determining the smaller value of the residual power of the battery and the use power of the driving motor as the gear-shifting available power of the target vehicle.
Optionally, the switching the gear of the target vehicle from the first gear to the second gear based on the gear shift available power and the gear shift required power of the target vehicle includes:
determining a target rotational speed of an engine of the target vehicle when the gear-shifting available power is smaller than the gear-shifting required power, and switching a gear of the target vehicle from the first gear to the second gear based on a current rotational speed of the engine and the target rotational speed of the engine;
And when the gear-shifting available power is greater than or equal to the gear-shifting required power, switching the gear of the target vehicle from the first gear to the first gear.
Optionally, the determining the target rotation speed of the engine of the target vehicle includes:
and determining the target rotating speed of the engine based on the speed of the target vehicle, the tire rolling radius and the gearbox speed ratio corresponding to the second gear.
Optionally, the switching the gear of the target vehicle from the first gear to the second gear based on the current rotation speed of the engine and the target rotation speed of the engine includes:
when the current rotation speed of the engine is larger than the target rotation speed, the rotation speed of the engine is reduced, and when the rotation speed of the engine is smaller than or equal to the target rotation speed, the gear of the target vehicle is switched from the first gear to the second gear;
when the current rotation speed of the engine is smaller than the target rotation speed, the rotation speed of the engine is increased until the rotation speed of the engine is larger than or equal to the target rotation speed, and the gear of the target vehicle is switched from the first gear to the second gear;
And switching the gear of the target vehicle from the first gear to the second gear in the case where the current rotation speed of the engine is equal to the target rotation speed.
In another aspect, a vehicle shift control device is provided, the device comprising:
a battery power acquisition module; for obtaining battery used power of a target vehicle in a case where a shift position of the target vehicle needs to be shifted from a first shift position to a second shift position, the first shift position being different from the second shift position;
a gear switching module configured to switch a gear of the target vehicle from the first gear to the second gear when power used by the battery satisfies a power use requirement for switching the first gear to the second gear;
a shift power determination module further configured to determine shift available power of the target vehicle in a case where the battery used power does not meet a power use requirement for the first gear to be shifted to the second gear,
the gear switching module is further configured to switch the target vehicle from the first gear to the second gear based on the gear-shift available power and the gear-shift required power of the target vehicle.
Optionally, the gear switching module is specifically configured to:
if the battery used power is a positive value, determining that the battery used power does not meet the power use requirement for switching from the first gear to the second gear;
and under the condition that the first gear is smaller than the second gear, if the used power of the battery is positive, determining that the used power of the battery meets the power use requirement for switching from the first gear to the second gear, and if the used power of the battery is negative, determining that the used power of the battery does not meet the power use requirement for switching from the first gear to the second gear.
Optionally, the battery power acquisition module is specifically configured to:
acquiring a battery voltage and a battery current of the target vehicle, and determining battery used power of the target vehicle based on the battery voltage and the battery current of the target vehicle;
the gear shifting power determining module is specifically configured to:
Determining a battery remaining power of the target vehicle based on a battery maximum peak power of the target vehicle and the battery used power;
and acquiring the use power of the driving motor of the target vehicle, and determining the smaller value of the residual power of the battery and the use power of the driving motor as the gear-shifting available power of the target vehicle.
Optionally, the gear switching module is specifically configured to:
determining a target rotational speed of an engine of the target vehicle when the gear-shifting available power is smaller than the gear-shifting required power, and switching a gear of the target vehicle from the first gear to the second gear based on a current rotational speed of the engine and the target rotational speed of the engine;
and when the gear-shifting available power is greater than or equal to the gear-shifting required power, switching the gear of the target vehicle from the first gear to the first gear.
Optionally, the gear switching module is specifically configured to:
and determining the target rotating speed of the engine based on the speed of the target vehicle, the tire rolling radius and the gearbox speed ratio corresponding to the second gear.
Optionally, the gear switching module is specifically configured to:
when the current rotation speed of the engine is larger than the target rotation speed, the rotation speed of the engine is reduced, and when the rotation speed of the engine is smaller than or equal to the target rotation speed, the gear of the target vehicle is switched from the first gear to the second gear;
when the current rotation speed of the engine is smaller than the target rotation speed, the rotation speed of the engine is increased until the rotation speed of the engine is larger than or equal to the target rotation speed, and the gear of the target vehicle is switched from the first gear to the second gear;
and switching the gear of the target vehicle from the first gear to the second gear in the case where the current rotation speed of the engine is equal to the target rotation speed.
In another aspect, a vehicle is provided that includes a memory for storing a computer program and a processor for executing the computer program stored on the memory to implement the steps of the vehicle shift control method described above.
In another aspect, a computer readable storage medium is provided, in which a computer program is stored, which when executed by a processor, implements the steps of the vehicle shift control method described above.
In another aspect, a computer program product is provided comprising instructions which, when run on a computer, cause the computer to perform the steps of the vehicle shift control method described above.
The technical scheme that this application provided can bring following beneficial effect at least:
the method comprises the steps of obtaining the used power of a battery of a vehicle, and judging whether the used power of the battery meets the power use requirement of gear switching of the vehicle, so that the gear switching of the vehicle is directly realized under the condition that the used power of the battery meets the power use requirement of the gear switching of the vehicle, namely, the power provided by the battery can normally realize the gear switching of the vehicle; under the condition that the power used by the battery does not meet the power use requirement of vehicle gear switching, the gear switching of the vehicle is carried out based on the gear switching available power and the gear switching required power by determining the gear switching available power and the gear switching required power of the vehicle, so that the problems of abrupt and abnormal sound and the like in the vehicle gear switching process caused by the fact that the vehicle gear switching available power is lower and the vehicle gear switching requirement cannot be met are avoided, the gear switching experience of a driver is improved, and the control efficiency in the vehicle gear switching process is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of an implementation environment provided by embodiments of the present application;
FIG. 2 is a flow chart of a vehicle shift control method provided by an embodiment of the present application;
FIG. 3 is a flow chart of another vehicle shift control method provided by an embodiment of the present application;
FIG. 4 is a flow chart of another vehicle shift control method provided by an embodiment of the present application;
FIG. 5 is a flow chart of another vehicle shift control method provided by an embodiment of the present application;
FIG. 6 is a flowchart of another vehicle shift control method provided by an embodiment of the present application;
fig. 7 is a schematic structural view of a vehicle gear shift control device according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Before explaining the vehicle gear shift control method provided in the embodiment of the present application in detail, an application scenario and an implementation environment related to the embodiment of the present application are described.
The method and the device are mainly applied to scenes for switching gears of the vehicle, and the scenes can be daily use scenes of the vehicle.
It should be noted that, the embodiment of the application is mainly applied to a scene of gear switching of a hybrid power such as a PHEV (Plug-in Hybrid Electric vehicle) type vehicle, so that additional work can be applied through an engine when the battery power is insufficient to ensure smoothness of gear switching.
Referring to fig. 1, fig. 1 is a schematic diagram illustrating an implementation environment according to an exemplary embodiment. The implementation environment includes a battery 101, a gearbox 102, and a processor 103, where the processor 103 may be communicatively coupled to the battery 101 and the gearbox 102, respectively. The communication connection may be a wired or wireless connection, which is not limited in this embodiment of the present application.
The battery 101 may be a power battery of a vehicle for powering the vehicle.
The transmission 102 is used to effect a gear shift of the vehicle. For example, the transmission 102 may include multiple sets of gears, and the gear ratio of the transmission 102 may be adjusted based on the meshing of the different gears of the transmission 102 to achieve a shift in gear.
The processor 103 is used to implement shift control of the vehicle. For example, the processor 103 may determine the available power for shifting the vehicle based on the battery used power of the battery 101, and based on the available power for shifting and the required power for shifting the vehicle, by controlling the gearbox 102, to achieve a shift of the vehicle.
In some embodiments, the processor 103 may be integrated with a control module such as an HCU (Hybrid Control Unit, hybrid vehicle controller) of the vehicle, or the processor 103 may be separately configured with a control module such as a HUC, and implement determination of available power for gear shifting of the vehicle through communication connection with the control module such as the HCU.
The main execution body of the vehicle gear shifting control method provided in the embodiment of the present Application is the above-mentioned processor 103, where the processor 103 may be a general-purpose CPU (Central Processing Unit ), NP (Network Processor, network processor), microprocessor, or may be one or more integrated circuits for implementing the solution of the present Application, for example, an ASIC (Application-Specific Integrated Circuit, application specific integrated circuit), PLD (Programmable Logic Device ), or a combination thereof. The PLD may be a CPLD (Complex Programmable Logic Device ), an FPGA (Field-Programmable Gate Array, field programmable gate array), a GAL (Generic Array Logic, general array logic), or any combination thereof.
Those skilled in the art will appreciate that the above-described battery 101, gearbox 102, and processor 103 are by way of example only, and that other batteries, gearboxes, or processors, as may be present or hereafter presented, are intended to be within the scope of embodiments of the present application and are incorporated herein by reference.
It should be noted that, the application scenario and the implementation environment described in the embodiments of the present application are for more clearly describing the technical solution of the embodiments of the present application, and do not constitute a limitation on the technical solution provided in the embodiments of the present application, and those skilled in the art can know that, with the appearance of a new application scenario and the evolution of the implementation environment, the technical solution provided in the embodiments of the present application is equally applicable to similar technical problems.
The vehicle shift control method provided by the embodiment of the present application is explained in detail below.
Fig. 2 is a flowchart of a vehicle gear shift control method according to an embodiment of the present application, where the method is applied to the processor 103 described above. Referring to fig. 2, the method includes the following steps.
Step 201: in the case where the gear of the target vehicle needs to be shifted from the first gear to the second gear, the battery used power of the target vehicle is acquired, and the first gear is not equal to the second gear.
In some embodiments, the first gear may be a current gear of the target vehicle and the second gear may be a target gear to which the target vehicle needs to be shifted.
Based on the first gear and the second gear, a gear shift state of the target vehicle may be determined, that is, when the first gear is greater than the second gear, indicating that the target vehicle needs to be downshifted; when the first gear is smaller than the second gear, it indicates that the target vehicle needs to be upshifted. When the target vehicle downshifts, the transmission ratio of the vehicle becomes large; when the target vehicle upshifts, the transmission ratio of the vehicle becomes small.
It should be noted that, for the second gear, the second gear corresponding to the target vehicle may be automatically determined based on the current running state of the target vehicle, for example, in an automatic transmission vehicle, the second gear corresponding to the target vehicle may be determined based on the current running state of the vehicle (such as an engine load, a vehicle speed, a driver intention, etc.); in a manual transmission automobile, a second gear corresponding to a target vehicle can be determined based on a driver's control of a shift lever.
It will be appreciated that when the first gear is equal to the second gear, it is indicated that the target vehicle is not currently required to make a gear shift.
In some embodiments, the battery used power of the target vehicle may be determined based on the battery voltage and the battery current of the target vehicle.
Based on the power calculation formula, the battery has used the power P Has been used The present battery used power of the target vehicle can be obtained based on the present voltage U and the present current I of the battery of the target vehicle, and if the present battery used power is greater than 0, the battery is in a discharge state; if the battery has been using less than 0 power, it indicates that the battery is in a charged state.
In the embodiment of the application, the positive and negative of the power are only used for indicating the direction of acting, and are irrelevant to the magnitude of the power, if the power is positive, the release of the energy is meant, namely, the battery and the motor do work outwards, and the battery is in an outwards discharging state; when the power is negative, the recovery of energy refers to the work done in the battery and the motor pair, and the battery is in a charging state.
Step 202: and switching the gear of the target vehicle from the first gear to the second gear under the condition that the power used by the battery meets the power use requirement of switching the first gear to the second gear.
In some embodiments, as shown in fig. 3, in the case that the first gear is greater than the second gear, if the battery used power is negative, it is determined that the battery used power meets the power use requirement for switching from the first gear to the second gear, and if the battery used power is positive, it is determined that the battery used power does not meet the power use requirement for switching from the first gear to the second gear; and under the condition that the first gear is smaller than the second gear, if the used power of the battery is positive, determining that the used power of the battery meets the power use requirement of switching from the first gear to the second gear, and if the used power of the battery is negative, determining that the used power of the battery does not meet the power use requirement of switching from the first gear to the second gear.
It should be noted that, when the first gear is greater than the second gear, that is, the vehicle downshifts, it indicates that the engine speed of the vehicle needs to be increased, that is, the driving motor needs to provide forward power, and if the used power of the battery is a negative value at this time, it indicates that the battery is currently in a charging state, and the used power of the battery for doing work to the outside is zero. Therefore, when the target vehicle is shifted down, the power of the battery for doing work can meet the forward power requirement of the driving motor, and the gear can be directly switched, namely the power used by the battery meets the power use requirement of switching from the first gear to the second gear; if the used power of the battery is positive at this time, the current battery is in a discharging state, namely the battery is doing work externally, at this time, the gear cannot be directly switched, and the implementation mode (such as whether the engine is required to do additional work or not) of switching the first gear to the second gear needs to be comprehensively determined by further combining other power parameters (such as available gear shifting power, required gear shifting power and the like) of the vehicle, so that the problem that the gear shifting experience of a user is affected due to the fact that the vehicle is suddenly cut, abnormal sound and the like due to insufficient power in the gear shifting process is avoided. Therefore, when the first gear is larger than the second gear, if the battery used power is a positive value, the battery used power may be considered to be insufficient for directly switching the first gear to the second gear.
Similarly, when the first gear is smaller than the second gear, namely the vehicle is shifted up, the engine speed of the vehicle needs to be reduced, namely the driving motor is required to provide negative power (reverse braking power), if the used power of the battery is positive at the moment, the current battery is discharged, the used power of the battery in the negative direction (braking recovery power, namely battery charging power) is zero, and when the target vehicle is shifted up, the negative power requirement of the driving motor can be met, namely the power use requirement of the first gear to the second gear is met; if the used power of the battery is a negative value at this time, it indicates that the current battery is charging, that is, the battery is using part of negative power, in this state, the shift cannot be directly performed, and further, the implementation mode of switching from the first gear to the second gear (such as whether additional work of the engine is needed) needs to be comprehensively determined by combining other power parameters of the vehicle (such as available power for gear shifting, required power for gear shifting, etc.), so as to avoid the problem that the user is affected by the vehicle being blocked, abnormal sound, etc. due to insufficient power in the gear shifting process, therefore, if the used power of the battery is less than the second gear, if the used power of the battery is a negative value, the used power of the battery can be considered to not meet the power use requirement of directly switching the first gear to the second gear.
In summary, when the power used by the battery meets the power use requirement of switching from the first gear to the second gear, the power that the target vehicle can provide at present can ensure that the phenomenon of insufficient power can not occur in the process of switching from the first gear to the second gear, that is, the problems of gear shifting frustration, insufficient power of the vehicle and the like can not occur in the gear shifting process of the target vehicle, so that other power parameters of the target vehicle are not required to be further judged, the gear of the target vehicle can be directly switched from the first gear to the second gear, the gear switching speed of the target vehicle is improved while the gear shifting experience of a driver is ensured, and the gear shifting control efficiency of the vehicle is improved.
Step 203: and under the condition that the power used by the battery does not meet the power use requirement of switching the first gear to the second gear, determining the gear-shifting available power of the target vehicle, and switching the target vehicle from the first gear to the second gear based on the gear-shifting available power and the gear-shifting required power of the target vehicle.
In some embodiments, as shown in fig. 4, the battery remaining power of the target vehicle may be determined based on the battery maximum peak power of the target vehicle and the battery used power; and acquiring the use power of the driving motor of the target vehicle, and determining the smaller value of the residual power of the battery and the use power of the driving motor as the gear-shifting available power of the target vehicle.
The maximum peak power of the battery can be understood as the maximum power that the battery can currently provide, and can be determined by a battery software algorithm based on the current temperature of the battery, the current SOC (State of Charge) of the battery, and other related parameters. If the battery is currently in a discharge state, the maximum peak power of the battery refers to the current discharge peak power P of the battery Discharge of electric power The method comprises the steps of carrying out a first treatment on the surface of the If the battery is currently in a charged state, the maximum peak power of the battery refers to the current peak power P of the battery Charging method 。
It will be appreciated that due to physical conditions such as battery size, and safety considerations during battery use, electricity is a function ofThe discharge power of the battery and the charge power of the battery are both limited, and thus can be based on the power that the battery has currently used (battery used power P Has been used ) And the current maximum allowable power of the battery (the maximum peak power of the battery) to obtain the available residual power of the current battery (the residual power P of the battery Discharge remainder )。
Illustratively, in a discharged state, the battery remaining power P Discharge remainder ＝P Discharge of electric power -P Has been used The method comprises the steps of carrying out a first treatment on the surface of the In the charged state, the battery remaining power P Charge remainder ＝P Charging method -P Has been used 。
In the embodiment of the application, the driving motor may be a starting and power generation integrated machine of a vehicle, such as ISG (Integrated Starter and Generator, integrated intelligent starting and driving generator), and the like.
In the running process of the vehicle, the power of the battery is limited, and the load which needs to be powered by the battery is more, so that the power of the battery is distributed, and the corresponding use power (i.e., the power which can be used by the load) of each load is determined. Therefore, the power used by the driving motor is the available power P distributed to the driving motor Motor with a motor housing It may be determined by the HCU based on the status of the various loads of the vehicle.
In summary, when the target vehicle shifts, the shift available power is mainly determined based on the battery remaining power of the target battery and the used power allocated to the driving motor, when the current battery remaining power of the battery of the target vehicle is smaller, it indicates that the battery can provide the driving motor with smaller power to use, and the magnitude of the shift available power depends on (is equal to) the battery remaining power; when the battery of the target vehicle is allocated to the smaller use power of the drive motor, since the gear shift of the target vehicle is mainly achieved by the control of the transmission by the drive motor, the amount of the gear shift usable power depends on (is equal to) the use power of the drive motor when the use power allocated to the drive motor is smaller.
When the first gear is smaller than the second gear and the battery of the target vehicle is in a charged state, the battery remaining power and the driving motor used power are both negative values, and based on the above description, the negative sign is only used for indicating that the vehicle does work internally or externally, so that in this scenario, the smaller value of the battery remaining power and the driving motor used power refers to the smaller value of the absolute value of the battery remaining power and the driving motor used power.
For example, assuming that the battery remaining power is-10 kw and the driving motor using power is-8 kw, in the embodiment of the present application, the smaller value of the battery remaining power and the driving motor using power is-8 kw, that is, the shift available power of the target vehicle is-8 kw.
In some embodiments, as shown in fig. 5, a target rotational speed of an engine of the target vehicle may be determined and a gear of the target vehicle may be shifted from the first gear to the second gear based on a current rotational speed of the engine and the target rotational speed of the engine when the shift available power is less than the shift required power; and when the gear-shifting available power is greater than or equal to the gear-shifting required power, switching the gear of the target vehicle from the first gear to the second gear.
The gear-shifting required power refers to power required for realizing a vehicle gear shift (switching a first gear to a second gear), and can be determined based on a vehicle test bench under the condition of testing parameter changes such as different temperature environments, different vehicle models and the like.
When a vehicle shifts gears, the rotating speed of the engine is usually required to be regulated to a certain rotating speed range, so that the problems of jerk and abnormal sound during the vehicle gear shifting are avoided. The rotation speed of the engine is usually regulated by a driving motor to realize the rapid regulation of the rotation speed of the engine, and if the available power for gear shifting of the driving motor is insufficient (i.e. less than the required power for gear shifting) due to the angle of the influencing factors of the power of the driving motor, the driving motor can not normally regulate the rotation speed of the engine; if the gear shifting available power of the driving motor is enough (namely, greater than or equal to the gear shifting required power), the driving motor is indicated to be capable of normally adjusting the rotation speed of the engine, and gear switching of the target vehicle is completed.
It should be noted that, the gear-shifting required power may be understood as a calibrated threshold power, that is, when the gear-shifting available power is greater than or equal to the gear-shifting required power, the gear-shifting available power of the current target vehicle is considered to be large enough to meet the power requirement of the target vehicle for gear shifting, and the gear of the target vehicle may be directly shifted from the first gear to the second gear; under the condition that the available power for gear shifting is smaller than the required power for gear shifting, the available power for gear shifting of the current target vehicle is considered to be smaller, the power requirement of gear shifting of the target vehicle cannot be met, the engine is required to do additional work, the problem of insufficient power can not occur when the first gear is switched to the second gear through self-adjustment of the rotating speed of the engine, and the gear shifting experience of a driver is improved.
Similarly, because the available power for gear shifting and the required power for gear shifting are positive and negative, the available power for gear shifting is only used for indicating the direction of power, namely, whether to do work internally (battery charging) or externally (battery discharging). Thus, in the embodiment of the present application, the magnitude relation between the shift available power and the shift required power may be understood as a magnitude relation between the absolute value of the shift available power and the absolute value of the shift required power.
For example, if the available power for the shift is 8kw and the required power for the shift is 9kw, the available power for the shift is considered to be less than the required power for the shift; if the available power for gear shifting is-8 kw and the required power for gear shifting is-9 kw, the available power for gear shifting is still considered to be smaller than the required power for gear shifting.
In some embodiments, the target rotational speed of the engine may be determined based on the speed of the target vehicle, the tire rolling radius, and the corresponding gearbox speed ratio for the second gear.
Calculation formula based on vehicle speed and engine speedThe target rotation speed of the engine is availableWherein V is the speed of the target vehicle, n is the target rotation speed of the engine, r r Tire rolling radius for target vehicle、r g The transmission ratio corresponding to the second gear of the target vehicle.
In some embodiments, as shown in fig. 5, in the case where the current rotational speed of the engine is greater than the target rotational speed, the rotational speed of the engine is reduced until the rotational speed of the engine is less than or equal to the target rotational speed, the gear of the target vehicle is shifted from the first gear to the second gear; under the condition that the current rotating speed of the engine is smaller than the target rotating speed, the rotating speed of the engine is increased until the rotating speed of the engine is larger than or equal to the target rotating speed, and the gear of the target vehicle is switched from the first gear to the second gear; and switching the gear of the target vehicle from the first gear to the second gear in the case where the current rotation speed of the engine is equal to the target rotation speed.
Because the available power for gear shifting and the required power for gear shifting are positive and negative, the available power for gear shifting is only used for indicating the direction of power, namely, the internal acting (battery charging) or the external acting (battery discharging). Thus, in the embodiment of the present application, the magnitude relation between the shift available power and the shift required power may be understood as a magnitude relation between the absolute value of the shift available power and the absolute value of the shift required power.
It should be noted that, when the first gear is greater than the second gear, if the battery already uses positive power and the available power for gear shifting is less than the required power for gear shifting, it is usually indicated that the driving motor has insufficient capability to perform speed regulation (when the gear is shifted up or down in parallel), that is, sufficient power cannot be provided to the driving motor, so that the driving motor finishes the speed raising of the engine, and the gear shifting of the target vehicle is achieved. Therefore, it is necessary to determine the target rotation speed of the engine required for the target vehicle to switch to the second gear, and increase the current rotation speed to the target rotation speed through the self-response of the engine, so as to ensure smoothness in the gear shifting process of the target vehicle.
Similarly, under the condition that the first gear is smaller than the second gear, if the battery used power is negative and the available power for gear shifting is smaller than the required power for gear shifting, the current rotating speed of the engine of the target vehicle is usually indicated to be too high (when the gear is lifted in parallel), and at the moment, the driving motor does not have enough available power to realize the rotating speed adjustment of the engine, namely the available power for gear shifting is insufficient to realize the gear shifting of the target vehicle, so that the target rotating speed of the engine required for switching to the second gear needs to be determined, and the current rotating speed is reduced to the target rotating speed through the self-response of the engine, so that smoothness in the gear shifting process of the target vehicle is ensured.
In addition, if the gear shift of the target vehicle is serial-in-parallel, because the power use condition is complex, the current rotation speed of the engine may be greater than the target rotation speed, may be less than the target rotation speed, or may be equal to the target rotation speed, so that the current rotation speed of the engine is only required to be adjusted to the target rotation speed under the condition that the current rotation speed is not equal to the target rotation speed, and further the gear shift of the target vehicle is achieved.
If the current rotation speed is equal to the target rotation speed, the current rotation speed of the target vehicle engine meets the gear shifting requirement, and gear shifting of the target vehicle can be directly achieved.
In some embodiments, the self-response of the engine may be understood as putting the engine of the target vehicle into a speed control (also referred to as idling) state, so that the engine of the target vehicle automatically responds to the target speed, and thus, the gear speed of the engine of the target vehicle is adjusted to the target speed.
Next, an overall scheme of the embodiment of the present application will be described with reference to fig. 3 to 6. As shown in fig. 6, the vehicle gear shift control method provided in the embodiment of the present application may first obtain a current gear (i.e., a first gear) of a transmission of a target vehicle and a target gear (i.e., a second gear) of the transmission, determine whether the target vehicle needs to switch gears based on the first gear and the second gear, and execute different gear shift modes based on a magnitude relation between the first gear and the second gear when the first gear is not equal to the second gear, i.e., the target vehicle needs to switch gears.
For example, it may be determined whether the battery-used power of the current target vehicle satisfies the power use requirement for the gear shift in the manner shown in fig. 3, based on the magnitude relation between the first gear and the second gear and the battery-used power of the current target vehicle, and in the case where the battery-used power of the current target vehicle does not satisfy the power use requirement for the gear shift, the shift available power of the target vehicle is determined in the manner shown in fig. 4, and whether the shift available power is greater than or equal to the shift required power. Switching the gear of the target vehicle from the first gear to the second gear when the gear-shifting available power is greater than or equal to the gear-shifting required power; in the case where the shift available power is smaller than the shift required power, the target rotation speed of the engine of the target vehicle is determined, and the shift position of the target vehicle is switched from the first shift position to the second shift position based on the target rotation speed of the engine of the target vehicle and the current rotation speed of the engine in a manner as shown in fig. 5.
The embodiment of the application provides a vehicle gear shifting control method, which is characterized in that battery voltage and battery current of a target vehicle are obtained, used power of the battery of the target vehicle is determined, whether the power requirement of vehicle gear shifting is met currently is determined through the used power of the battery, and when the used power of the battery meets the power use requirement of first gear shifting to second gear shifting, the problem that the gear of the target vehicle is not blocked, abnormal sound and the like due to insufficient power in the gear shifting process of the target vehicle is not caused, and the gear of the target vehicle can be directly shifted from the first gear shifting to the second gear. In the case where the power used by the battery does not meet the power use requirement for switching from the first gear to the second gear, it is necessary to further combine the shift available power and the shift required power of the target vehicle to achieve the gear switching of the target vehicle.
If the gear-shifting available power of the target vehicle is greater than or equal to the gear-shifting required power, the gear-shifting available power of the target vehicle can ensure the normal gear shifting of the target vehicle, namely the problem of insufficient power cannot occur, so that the gear switching of the target vehicle can be directly completed; if the available power for gear shifting of the target vehicle is smaller than the required power for gear shifting, the fact that the driving motor of the target vehicle cannot effectively control the engine speed is indicated, and if gear shifting of the target vehicle is directly achieved, problems such as jerk and abnormal sound in the gear shifting process can occur due to insufficient power. At the moment, the engine rotating speed (target rotating speed) required by normal gear shifting of the vehicle can be determined based on various parameters of the target vehicle, the engine is enabled to respond to the target rotating speed, the gear of the target vehicle is switched from a first gear to a second gear under the condition that the current rotating speed of the engine reaches the target rotating speed, the gear shifting of the engine is realized, and the efficiency of the gear shifting control of the vehicle is improved by sequentially considering whether the gear shifting of the vehicle is directly realized from different dimensions based on whether the power used by a battery meets the power requirement of the gear shifting of the vehicle, whether the available power of the gear shifting is greater than or equal to the power requirement of the gear shifting and whether the current rotating speed of the engine reaches the target rotating speed or not in the gear shifting control process.
Fig. 7 is a schematic structural diagram of a vehicle gear shift control device provided in an embodiment of the present application, where the vehicle gear shift control device may be implemented by software, hardware, or a combination of both as part or all of a vehicle gear shift control device, and the vehicle gear shift control device may be a processor shown in fig. 1. Referring to fig. 7, the apparatus includes: a battery power acquisition module 701, a gear shift module 702, and a shift power determination module 703.
A battery power acquisition module 701; for obtaining battery used power of a target vehicle in a case where a gear of the target vehicle needs to be shifted from a first gear to a second gear, the first gear being different from the second gear;
a gear switching module 702, configured to switch a gear of the target vehicle from the first gear to the second gear when the power usage requirement of the battery for switching the first gear to the second gear is satisfied;
the shift power determination module 703 is further configured to, in a case where the battery used power does not meet the power use requirement for the first gear to be shifted to the second gear, determine a shift available power of the target vehicle,
the gear shift module 702 is further configured to shift the target vehicle from the first gear to the second gear based on the shift available power and a shift required power of the target vehicle.
Optionally, the gear shifting module 702 is specifically configured to:
under the condition that the first gear is larger than the second gear, if the used power of the battery is negative, determining that the used power of the battery meets the power use requirement of switching from the first gear to the second gear, and if the used power of the battery is positive, determining that the used power of the battery does not meet the power use requirement of switching from the first gear to the second gear;
and under the condition that the first gear is smaller than the second gear, if the used power of the battery is positive, determining that the used power of the battery meets the power use requirement of switching from the first gear to the second gear, and if the used power of the battery is negative, determining that the used power of the battery does not meet the power use requirement of switching from the first gear to the second gear.
Optionally, the battery power acquisition module 701 is specifically configured to:
acquiring battery voltage and battery current of the target vehicle, and determining battery used power of the target vehicle based on the battery voltage and the battery current of the target vehicle;
the shift power determining module 703 is specifically configured to:
determining a battery remaining power of the target vehicle based on the battery maximum peak power of the target vehicle and the battery used power;
And acquiring the use power of the driving motor of the target vehicle, and determining the smaller value of the residual power of the battery and the use power of the driving motor as the gear-shifting available power of the target vehicle.
Optionally, the gear shifting module 702 is specifically configured to:
determining a target rotational speed of an engine of the target vehicle when the gear-shifting available power is smaller than the gear-shifting required power, and switching a gear of the target vehicle from the first gear to the second gear based on a current rotational speed of the engine and the target rotational speed of the engine;
and switching the gear of the target vehicle from the first gear to the first gear under the condition that the gear-shifting available power is greater than or equal to the gear-shifting required power.
Optionally, the gear shifting module 702 is specifically configured to:
a target rotational speed of the engine is determined based on a vehicle speed of the target vehicle, a tire rolling radius, and a transmission ratio corresponding to the second gear.
Optionally, the gear shifting module 702 is specifically configured to:
when the current rotation speed of the engine is larger than the target rotation speed, the rotation speed of the engine is reduced until the rotation speed of the engine is smaller than or equal to the target rotation speed, and the gear of the target vehicle is switched from the first gear to the second gear;
Under the condition that the current rotating speed of the engine is smaller than the target rotating speed, the rotating speed of the engine is increased until the rotating speed of the engine is larger than or equal to the target rotating speed, and the gear of the target vehicle is switched from the first gear to the second gear;
and switching the gear of the target vehicle from the first gear to the second gear in the case where the current rotation speed of the engine is equal to the target rotation speed.
In the embodiment of the application, the battery used power of the target vehicle is determined by acquiring the battery voltage and the battery current of the target vehicle, so that whether the power requirement of vehicle gear shifting is met currently is determined through the battery used power, and when the battery used power meets the power use requirement of first gear shifting to second gear, the problem that the target vehicle is not blocked, abnormal sound and the like due to insufficient power in the gear shifting process is indicated, and the gear of the target vehicle can be directly shifted from the first gear to the second gear. In the case where the power used by the battery does not meet the power use requirement for switching from the first gear to the second gear, it is necessary to further combine the shift available power and the shift required power of the target vehicle to achieve the gear switching of the target vehicle.
If the gear-shifting available power of the target vehicle is greater than or equal to the gear-shifting required power, the gear-shifting available power of the target vehicle can ensure the normal gear shifting of the target vehicle, namely the problem of insufficient power cannot occur, so that the gear switching of the target vehicle can be directly completed; if the available power for gear shifting of the target vehicle is smaller than the required power for gear shifting, the fact that the driving motor of the target vehicle cannot effectively control the engine speed is indicated, and if gear shifting of the target vehicle is directly achieved, problems such as jerk and abnormal sound in the gear shifting process can occur due to insufficient power. At the moment, the engine rotating speed (target rotating speed) required by normal gear shifting of the vehicle can be determined based on various parameters of the target vehicle, the engine is enabled to respond to the target rotating speed, the gear of the target vehicle is switched from a first gear to a second gear under the condition that the current rotating speed of the engine reaches the target rotating speed, the gear shifting of the engine is realized, and the efficiency of the gear shifting control of the vehicle is improved by sequentially considering whether the gear shifting of the vehicle is directly realized from different dimensions based on whether the power used by a battery meets the power requirement of the gear shifting of the vehicle, whether the available power of the gear shifting is greater than or equal to the power requirement of the gear shifting and whether the current rotating speed of the engine reaches the target rotating speed or not in the gear shifting control process.
It should be noted that: in the vehicle gear shift control device provided in the above embodiment, when the vehicle gear shift is controlled, only the division of the above functional modules is used for illustration, in practical application, the above functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to perform all or part of the functions described above. In addition, the vehicle shift control device provided in the above embodiment and the vehicle shift control method embodiment belong to the same concept, and the specific implementation process of the vehicle shift control device is detailed in the method embodiment and will not be repeated here.
Fig. 8 is a schematic structural diagram of a vehicle provided in an embodiment of the present application, where the vehicle 800 includes a memory 801 and a processor 802, the memory 801 is used for storing a computer program, and the processor 802 is used for executing the computer program stored in the memory 801 to implement the steps of the vehicle gear shift control described above.
The memory 801 may include one or more computer-readable storage media, which may be non-transitory. Memory 801 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 801 is used to store at least one instruction for execution by processor 802 to implement vehicle shift control provided by method embodiments herein.
The processor 802 may include one or more processing cores, such as a 4-core processor, an 8-core processor, or the like. The processor 802 may be implemented in at least one hardware form of a DSP (Digital Signal Processing ), FPGA (Field Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 802 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 802 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 802 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.
Those skilled in the art will appreciate that the configuration shown in fig. 8 is not limiting and that more or fewer components than shown may be included or certain components may be combined or a different arrangement of components may be employed.
In some embodiments, there is also provided a computer readable storage medium having stored therein a computer program which when executed by a processor performs the steps of the vehicle shift control of the above embodiments. For example, the computer readable storage medium may be ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
It is noted that the computer readable storage medium mentioned in the embodiments of the present application may be a non-volatile storage medium, in other words, may be a non-transitory storage medium.
It should be understood that all or part of the steps to implement the above-described embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.
That is, in some embodiments, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps of vehicle shift control described above.
It should be understood that references herein to "at least one" mean one or more, and "a plurality" means two or more. In the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", and the like are used to distinguish the same item or similar items having substantially the same function and effect. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ.
It should be noted that, information (including but not limited to user equipment information, user personal information, etc.), data (including but not limited to data for analysis, stored data, presented data, etc.), and signals related to the embodiments of the present application are all authorized by the user or are fully authorized by the parties, and the collection, use, and processing of related data is required to comply with the relevant laws and regulations and standards of the relevant countries and regions.
The above embodiments are provided for the purpose of not limiting the present application, but rather, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application are intended to be included within the scope of the present application.
Claims (10)
1. A vehicle shift control method, characterized in that the method comprises:
acquiring battery used power of a target vehicle under the condition that a gear of the target vehicle needs to be switched from a first gear to a second gear, wherein the first gear is not equal to the second gear;
switching a gear of the target vehicle from the first gear to the second gear in a case where the battery used power satisfies a power use demand for switching the first gear to the second gear;
and under the condition that the power used by the battery does not meet the power use requirement of switching the first gear to the second gear, determining gear-shifting available power of the target vehicle, and switching the target vehicle from the first gear to the second gear based on the gear-shifting available power and the gear-shifting required power of the target vehicle.
2. The method of claim 1, wherein the method further comprises:
If the battery used power is a positive value, determining that the battery used power does not meet the power use requirement for switching from the first gear to the second gear;
and under the condition that the first gear is smaller than the second gear, if the used power of the battery is positive, determining that the used power of the battery meets the power use requirement for switching from the first gear to the second gear, and if the used power of the battery is negative, determining that the used power of the battery does not meet the power use requirement for switching from the first gear to the second gear.
3. The method of claim 1 or 2, wherein the obtaining battery used power of the target vehicle comprises:
acquiring a battery voltage and a battery current of the target vehicle, and determining battery used power of the target vehicle based on the battery voltage and the battery current of the target vehicle;
the determining gear shift available power of the target vehicle includes:
Determining a battery remaining power of the target vehicle based on a battery maximum peak power of the target vehicle and the battery used power;
and acquiring the use power of the driving motor of the target vehicle, and determining the smaller value of the residual power of the battery and the use power of the driving motor as the gear-shifting available power of the target vehicle.
4. The method of claim 1 or 2, wherein the shifting the gear of the target vehicle from the first gear to the second gear based on the shift available power and a shift required power of the target vehicle includes:
determining a target rotational speed of an engine of the target vehicle when the gear-shifting available power is smaller than the gear-shifting required power, and switching a gear of the target vehicle from the first gear to the second gear based on a current rotational speed of the engine and the target rotational speed of the engine;
and when the gear-shifting available power is greater than or equal to the gear-shifting required power, switching the gear of the target vehicle from the first gear to the first gear.
5. The method of claim 4, wherein the determining the target rotational speed of the engine of the target vehicle comprises:
And determining the target rotating speed of the engine based on the speed of the target vehicle, the tire rolling radius and the gearbox speed ratio corresponding to the second gear.
6. The method of claim 4, wherein the shifting the gear of the target vehicle from the first gear to the second gear based on the current rotational speed of the engine and the target rotational speed of the engine comprises:
when the current rotation speed of the engine is larger than the target rotation speed, the rotation speed of the engine is reduced, and when the rotation speed of the engine is smaller than or equal to the target rotation speed, the gear of the target vehicle is switched from the first gear to the second gear;
when the current rotation speed of the engine is smaller than the target rotation speed, the rotation speed of the engine is increased until the rotation speed of the engine is larger than or equal to the target rotation speed, and the gear of the target vehicle is switched from the first gear to the second gear;
and switching the gear of the target vehicle from the first gear to the second gear in the case where the current rotation speed of the engine is equal to the target rotation speed.
7. A vehicle shift control device, characterized by comprising:
a battery power acquisition module; for obtaining battery used power of a target vehicle in a case where a shift position of the target vehicle needs to be shifted from a first shift position to a second shift position, the first shift position being different from the second shift position;
a gear switching module configured to switch a gear of the target vehicle from the first gear to the second gear when power used by the battery satisfies a power use requirement for switching the first gear to the second gear;
a shift power determination module further configured to determine shift available power of the target vehicle in a case where the battery used power does not meet a power use requirement for the first gear to be shifted to the second gear,
the gear switching module is further configured to switch the target vehicle from the first gear to the second gear based on the gear-shift available power and the gear-shift required power of the target vehicle.
8. The apparatus of claim 7, wherein the gear shift module is specifically configured to:
if the battery used power is a positive value, determining that the battery used power does not meet the power use requirement for switching from the first gear to the second gear;
And under the condition that the first gear is smaller than the second gear, if the used power of the battery is positive, determining that the used power of the battery meets the power use requirement for switching from the first gear to the second gear, and if the used power of the battery is negative, determining that the used power of the battery does not meet the power use requirement for switching from the first gear to the second gear.
9. A vehicle comprising a memory for storing a computer program and a processor for executing the computer program stored on the memory to implement the steps of the method of any of the preceding claims 1-6.
10. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when executed by a processor, implements the steps of the method of any of claims 1-6.
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| CN202311462067.2A CN117386806A (en) | 2023-11-02 | 2023-11-02 | Vehicle gear shift control method, device, equipment and storage medium |
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| CN202311462067.2A CN117386806A (en) | 2023-11-02 | 2023-11-02 | Vehicle gear shift control method, device, equipment and storage medium |
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