CN117404465A - Gear shifting synchronous control method, device, equipment and storage medium - Google Patents

Abstract

The invention relates to the technical field of automobile control, and discloses a gear shifting synchronous control method, a gear shifting synchronous control device, gear shifting synchronous control equipment and a storage medium, wherein the method comprises the following steps: acquiring the output rotating speed of the gearbox at the current time point, and calculating the initial target rotating speed of the engine by utilizing the output rotating speed of the gearbox; acquiring the engine output rotating speed at the current time point, and calculating the current rotating speed difference between the engine output rotating speed and the initial engine target rotating speed; when the absolute value of the current rotating speed difference value falls in a preset speed interval, judging whether the rotating speed difference values corresponding to the preset number of time points after the current time point fall in the preset speed interval or not; if the rotational speed difference values corresponding to the preset number of time points after the current time point are all in the preset speed interval, the initial engine target rotational speed is adjusted based on the preset speed step length; regulating and controlling the engine output rotating speed after a preset number of time points according to the regulated engine target rotating speed. The invention solves the problem of shift synchronization failure caused by signal transmission delay.

Description

Gear shifting synchronous control method, device, equipment and storage medium

Technical Field

The invention relates to the technical field of automobile control, in particular to a gear shifting synchronous control method, a gear shifting synchronous control device, gear shifting synchronous control equipment and a storage medium.

Background

A very important device, namely a "synchronizer", is located within the structure of the manual transmission. Because the output rotating speed of the gearbox is different from the output rotating speed of the engine, the synchronizer is used for controlling the rotating speed of the engine to be matched with the rotating speed of the gearbox by virtue of friction force, so that the smoothness during gear shifting is ensured. However, more and more automatic gear automobiles and electric automobiles at present cancel sliding and friction structures such as clutches, synchronizers and the like, drive systems are all in rigid connection, and a driving motor is controlled to regulate speed through signals in the gear shifting synchronization process. The transmission controller monitors the current rotation speed of the transmission, then the transmission controller sends the monitored rotation speed to the whole vehicle controller, the whole vehicle controller sends the monitored rotation speed to the engine controller, and the engine controller adjusts the output rotation speed of the engine according to the received rotation speed, so that the rotation speed of the engine is matched with the rotation speed of the transmission. Especially for new energy vehicles, the electric control units are more, the electric control system is more complex, the transmission case controller and the motor controller cannot directly interact, and the whole vehicle controller is required to conduct command arbitration to forward signals again, so that unavoidable signal transmission delay is caused, namely, the request sent by the transmission case controller and the rotating speed signal responded by the motor controller are unequal, the rotating speed of the transmission case is changed, but the signal for controlling the rotating speed of the motor is old, and thus the synchronous overtime error is reported. Although the delay control problem can be improved by means of a PID algorithm, the design logic of the PID algorithm is complex, the difficulty of super-parameter adjustment is high, the development cost is increased seriously, and the synchronization problem caused by signal delay because the super-parameter adjustment is too slow can not be solved stably, so that a new gear shifting synchronization control method is needed.

Disclosure of Invention

In view of the above, the present invention provides a shift synchronization control method, apparatus, device and storage medium, so as to solve the problem of shift synchronization failure caused by signal transmission delay.

In a first aspect, the present invention provides a shift synchronous control method, applied to a vehicle controller, where the method includes: acquiring the output rotating speed of the gearbox at the current time point, and calculating the initial target rotating speed of the engine by utilizing the output rotating speed of the gearbox at the current time point; acquiring the engine output rotating speed at the current time point, and calculating the current rotating speed difference between the engine output rotating speed at the current time point and the initial engine target rotating speed; when the absolute value of the current rotating speed difference value falls in a preset speed interval, judging whether the rotating speed difference values corresponding to the preset number of time points after the current time point fall in the preset speed interval or not; if the rotational speed difference values corresponding to the preset number of time points after the current time point are all in the preset speed interval, the initial engine target rotational speed is adjusted based on the preset speed step length; regulating and controlling the engine output rotating speed after a preset number of time points according to the regulated engine target rotating speed.

In an alternative embodiment, if the rotational speed differences corresponding to the preset number of time points after the current time point all fall within the preset speed interval, the initial engine target rotational speed is adjusted based on the preset speed step, including: when the rotational speed difference value of each time point indicates that the corresponding engine output rotational speed of each time point is larger than the initial engine target rotational speed, and the absolute value of the rotational speed difference value of each time point falls in a first preset speed interval, small adjustment is carried out on the initial engine target rotational speed through a preset speed step; when the rotational speed difference value of each time point indicates that the engine output rotational speed corresponding to each time point is smaller than the initial engine target rotational speed, and the absolute value of the rotational speed difference value of each time point falls in a second preset speed interval, the initial engine target rotational speed is adjusted greatly through a preset speed step.

In an alternative embodiment, when the rotational speed difference value at each time point indicates that the engine output rotational speed corresponding to each time point is greater than the initial engine target rotational speed, and the absolute value of the rotational speed difference value at each time point falls within a first preset speed interval, performing small adjustment on the initial engine target rotational speed through a preset speed step, including: when the absolute value of the rotating speed difference value at each time point falls in a first preset speed interval, calculating a first adjustment amount based on the product of a preset negative number and a preset speed step; the initial engine target rotation speed is adjusted to be small by the first adjustment amount.

In an alternative embodiment, when the rotational speed difference value at each time point indicates that the engine output rotational speed corresponding to each time point is smaller than the initial engine target rotational speed, and the absolute value of the rotational speed difference value at each time point falls within a second preset speed interval, performing a large adjustment on the initial engine target rotational speed through a preset speed step, including: when the absolute value of the rotating speed difference value at each time point falls in a second preset speed interval, calculating a second adjustment amount based on the product of a preset positive number and a preset speed step; the initial engine target rotation speed is adjusted to be large by the second adjustment amount.

In an alternative embodiment, the method further comprises: when the absolute value of the current rotating speed difference value is smaller than the lower boundary of the preset speed interval, performing gear shifting operation; and if the absolute value of the rotational speed difference value at the second target time point is smaller than the lower boundary of the preset speed interval in the process of calculating the rotational speed difference value corresponding to the preset number of time points after the current time point, performing gear shifting operation at the second target time point.

In an alternative embodiment, the method further comprises: when the absolute value of the current rotation speed difference is larger than the upper boundary of the preset speed interval, regulating and controlling the engine output rotation speed of the next time point according to the initial engine target rotation speed so as to enable the engine output rotation speed of the next time point to approach the initial engine target rotation speed.

In an alternative embodiment, the method further comprises: after regulating the engine output rotation speed after the preset number of time points according to the regulated engine target rotation speed, calculating the rotation speed difference between the engine output rotation speed at the preset number of time points and the initial engine target rotation speed backwards again; if the absolute value of the rotation speed difference value of each time point still falls in the preset speed interval, the last adjusted engine target rotation speed is overlapped and adjusted by utilizing the preset speed step length, and the engine output rotation speed is regulated and controlled again according to the current adjusted engine target rotation speed.

In a second aspect, the present invention provides a gear shift synchronous control device, applied to a vehicle controller, where the device includes: the gearbox speed acquisition module is used for acquiring the gearbox output speed at the current time point and calculating the initial engine target speed by utilizing the gearbox output speed at the current time point; the engine speed acquisition module is used for acquiring the engine output speed at the current time point and calculating the current speed difference between the engine output speed at the current time point and the initial engine target speed; the rotating speed difference judging module is used for judging whether the rotating speed differences corresponding to the preset number of time points after the current time point fall in the preset speed interval or not when the absolute value of the current rotating speed difference falls in the preset speed interval; the target correction module is used for adjusting the initial engine target rotating speed based on the preset speed step length if the rotating speed difference values corresponding to the preset number of time points after the current time point are all in the preset speed interval; the regulation and control module is used for regulating and controlling the engine output rotating speed after a preset number of time points according to the regulated engine target rotating speed.

In a third aspect, the present invention provides a computer device comprising: the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions to perform the method of the first aspect or any implementation manner corresponding to the first aspect.

In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of the first aspect or any of its corresponding embodiments.

The technical scheme provided by the invention has the following advantages:

according to the invention, the output rotating speed of the gearbox and the output rotating speed of the engine are monitored when gear shifting is needed, the monitored output rotating speed of the gearbox is converted according to the transmission rotating speed of the transmission mechanism, and the initial engine target rotating speed is obtained, namely, if the monitored output rotating speed of the engine at the current time point is equal to the initial engine target rotating speed under the ideal synchronous condition, the gear shifting operation can be directly carried out. Based on this, the present embodiment calculates the rotational speed difference between the engine output rotational speed at the current time point and the initial engine target rotational speed, and determines whether the absolute value of the rotational speed difference at the current time point falls within the preset speed interval, if the absolute value of the rotational speed difference at the current time point falls within the preset speed interval, it is indicated that the difference between the engine output rotational speed and the initial engine target rotational speed is not small enough, a better synchronization state is not achieved, and the shift operation cannot be directly performed, and it is also indicated that the difference between the engine output rotational speed and the initial engine target rotational speed is not too large, and the difference between the engine output rotational speed and the initial engine target rotational speed is mainly caused by signal transmission delay, so that it is difficult to adjust the engine output rotational speed only according to the engine target rotational speed. Therefore, the present embodiment continuously monitors whether the situation continues to the preset number of time points, if the difference value falls within the preset speed interval for a period of time, it is verified that the current rotation speed error is caused by signal transmission delay, so that the engine target rotation speed is adjusted through the preset speed step, the active intervention target value is changed, the adjusted engine target rotation speed is obtained, the new engine target rotation speed is more strict than the old engine target rotation speed, for example, the requirement of the new engine target rotation speed is higher or lower than the requirement of the actual engine target rotation speed, so that the engine output rotation speed after the preset number of time points is adjusted according to the new engine target rotation speed, the subsequent engine output rotation speed approaches the new engine target rotation speed, the effect of adjusting the engine output rotation speed is achieved, the difference value between the engine output rotation speed in the subsequent step and the original old engine target rotation speed is smaller, the synchronization state is easier to be achieved, and the problem of gear shifting synchronization failure caused by signal transmission delay is solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a shift synchronization control method according to an embodiment of the present invention;

FIG. 2 is another flow chart of a shift synchronization control method according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a downshift scenario effect of a shift synchronization control method according to an embodiment of the present invention;

fig. 4 is a schematic view of an upshift scene effect of a shift synchronous control method according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a shift synchronous control device according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a hardware structure of a computer device according to an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of 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, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The current rotation speed of the gearbox is generally required to be monitored through a gear shifting synchronization process controlled by signals, then the gearbox controller sends the monitored rotation speed to the whole vehicle controller, the whole vehicle controller sends the monitored rotation speed to the engine controller (when a transmission mechanism has a transmission ratio, the current rotation speed of the gearbox is always required to be converted according to the rotation speed ratio to obtain the target rotation speed of the engine for retransmission), and the engine controller adjusts the output rotation speed of the engine according to the received rotation speed, so that the rotation speed of the engine is matched with the rotation speed of the gearbox. If the target engine speed and the output engine speed are very different, the interference caused by the signal transmission delay is not obvious, the engine controller can control the output engine speed to gradually approach the target engine speed, but because the signal transmission delay exists, the actual output engine speed of the gearbox has changed slightly, and the change cannot be reflected on the target engine speed received by the engine controller, when the output engine speed approaches the target engine speed to a certain extent, the two are difficult to approach further, and the newly detected target engine speed always has larger error with the regulated output engine speed, so that the two are difficult to be equal and difficult to synchronize.

According to an embodiment of the present invention, a shift synchronization control method embodiment is provided, and it should be noted that the steps illustrated in the flowchart of the drawings 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 flowchart, in some cases, the steps illustrated or described may be performed in an order other than that illustrated herein.

In this embodiment, a shift synchronization control method is provided, which may be used in the above-mentioned computer device, and fig. 1 is a flowchart of a shift synchronization control method according to an embodiment of the present invention, where the flowchart includes the following steps:

step S101, obtaining the output rotation speed of the gearbox at the current time point, and calculating the initial target rotation speed of the engine by using the output rotation speed of the gearbox at the current time point.

Step S102, obtaining the engine output rotating speed at the current time point, and calculating the current rotating speed difference between the engine output rotating speed at the current time point and the initial engine target rotating speed.

Specifically, when a signal of a gear shifting operation is received, the embodiment of the invention starts to collect the output speed of the gearbox and the output speed of the engine at the current time point, wherein the output speed of the gearbox refers to the output speed of the output end of the gearbox, and the output speed is directly related to the rotation speed of wheels. In the present embodiment, the engine includes an engine and a motor, and the engine output speed refers to the engine output speed or the motor output speed. Because the transmission mechanism exists, the output rotating speed of the engine needs to be the same as the rotating speed of the driven gear corresponding to the gear shifting of the gearbox to realize synchronization, and therefore the output rotating speed of the gearbox also needs to be converted into the target rotating speed of the engine according to the transmission ratio of the gears. The calculation method comprises the following steps: transmission output speed ratio = engine target speed. The ideal state of gear shifting synchronization is that the output rotating speed of the engine is adjusted to be equal to the target rotating speed of the engine through control, so that the embodiment of the invention firstly calculates the difference value of the output rotating speed of the engine and the target rotating speed of the engine at the current time point to obtain the current rotating speed difference value between the output rotating speed of the engine and the initial target rotating speed of the engine.

Step S103, when the absolute value of the current rotational speed difference value falls within the preset speed interval, judging whether the rotational speed difference values corresponding to the preset number of time points after the current time point fall within the preset speed interval.

Step S104, if the rotational speed differences corresponding to the preset number of time points after the current time point are all within the preset speed interval, the initial engine target rotational speed is adjusted based on the preset speed step.

Specifically, after the current rotational speed difference is calculated through the foregoing steps, the embodiment of the present invention determines whether the absolute value of the current rotational speed difference falls within a predefined preset speed interval. The absolute value determination is used to consider that in practical application, it is not necessarily limited whether the calculated rotation speed difference is to use the engine output rotation speed minus the engine target rotation speed or to use the engine target rotation speed minus the engine output rotation speed.

If the absolute value of the rotating speed difference value at the current time point falls in a preset speed interval, the current rotating speed difference value is not smaller than the lower boundary of the interval, so that the difference between the output rotating speed of the engine and the initial target rotating speed of the engine is not small enough, a better synchronous state is not achieved, and the gear shifting operation cannot be directly carried out; it is also explained that the current rotational speed difference is not greater than the upper boundary of the interval, so that the difference between the engine output rotational speed and the initial engine target rotational speed is not too great, and the current rotational speed difference should be mainly caused by signal transmission delay, so that it is difficult to have a better effect to adjust the engine output rotational speed only according to the initial engine target rotational speed. However, this situation has a strong chance, and it is also required to verify whether the current rotational speed difference is mainly caused by signal delay, so that in this embodiment, starting at the first time point when the rotational speed difference falls into the preset speed interval, the engine output rotational speed is continuously monitored at the later time point, the rotational speed difference between the engine output rotational speed at each time point and the initial engine target rotational speed is calculated, then the relationship between each rotational speed difference and the preset speed interval is continuously determined, and whether this situation can last for the preset time point is monitored. If the condition exists for a period of time, the current rotation speed difference value is verified to be caused by signal transmission delay, so that the engine target rotation speed is adjusted through a preset speed step, the active intervention target value is changed, and an adjusted new engine target rotation speed is obtained, wherein the new engine target rotation speed is more strict than the old engine target rotation speed, for example, the requirement of the new engine target rotation speed is higher or lower than the requirement of the old engine target rotation speed.

It should be noted that, the preset number of time points may be flexibly adjusted according to the user requirement, if the user pursues the efficiency of the rotation speed adjustment, the preset number of time points may also be set to 0, that is, when the absolute value of the current rotation speed difference value falls within the preset speed interval, the subsequent rotation speed difference value is not verified any more, but the adjusted engine target rotation speed at the current time point is directly calculated, and the engine output rotation speed at the next time point is adjusted by using the adjusted engine target rotation speed.

Step S105, regulating and controlling the engine output rotating speed after a preset number of time points according to the regulated engine target rotating speed.

Specifically, the engine output rotating speed after the preset number of time points is regulated according to the regulated engine target rotating speed, so that the engine output rotating speed after the preset number of time points approaches to the regulated engine target rotating speed, and the effect of regulating the engine output rotating speed is deeper, in other words, compared with the original small regulation target or large regulation target, the effect of regulating the engine output rotating speed is required to be smaller or larger than the original target, so that the difference value between the engine output rotating speed after the preset number of time points and the actually monitored engine output rotating speed is smaller, the synchronous state is easier to be achieved, and the problem of shift synchronization failure caused by signal transmission delay is solved in an overshoot mode.

In some optional embodiments, the step S104 includes:

step a1, when the rotational speed difference value of each time point indicates that the corresponding engine output rotational speed of each time point is greater than the initial engine target rotational speed, and the absolute value of the rotational speed difference value of each time point falls in a first preset speed interval, small adjustment is carried out on the initial engine target rotational speed through a preset speed step;

and a2, when the rotational speed difference value of each time point indicates that the corresponding engine output rotational speed of each time point is smaller than the initial engine target rotational speed, and the absolute value of the rotational speed difference value of each time point falls in a second preset speed interval, performing large adjustment on the initial engine target rotational speed through a preset speed step.

Specifically, the embodiment of the invention subdivides two gear shifting synchronization means aiming at two scenes of gear shifting up-shifting and gear shifting down-shifting. First, it is necessary to distinguish whether the engine output rotation speed at a preset number of time points is greater than or less than the engine target rotation speed, and if the engine output rotation speed at each time point is greater than the engine target rotation speed, the engine output rotation speed needs to be adjusted to be small under normal conditions so as to approach the engine target rotation speed. Otherwise, the engine output rotation speed normally needs to be adjusted to a large value to approach the engine target rotation speed.

Therefore, if the absolute value of the difference between the two rotational speeds falls within the first preset speed interval in continuous time under the condition that the engine output rotational speed is greater than the initial engine target rotational speed, which means that the engine output rotational speed is difficult to be smaller because of the existence of signal transmission delay.

Similarly, if the absolute value of the difference between the two rotational speeds falls within the second preset speed interval (in this embodiment, the second preset speed interval and the first speed preset interval may be set to the same size interval or different size intervals, and need to be determined according to the device characteristics of the engine) under the condition that the engine output rotational speed is smaller than the initial engine target rotational speed, it is described that the engine output rotational speed is difficult to become larger due to the existence of signal transmission delay.

In some alternative embodiments, step a1 above includes:

step a11, calculating a first adjustment amount based on the product of a preset negative number and a preset speed step length when absolute values of rotational speed difference values at all time points fall in a first preset speed interval;

step a12, the initial engine target rotation speed is adjusted to be small by the first adjustment amount.

Specifically, when the target rotation speed of the engine needs to be adjusted to be small, the embodiment of the invention calculates the first adjustment amount needed to be adjusted to be small through the product of the preset negative number and the preset speed step, and because the calculated first adjustment amount is the negative number, the adjusted target rotation speed of the engine can be obtained through the summation operation of the first adjustment amount and the initial target rotation speed of the engine, and a simple and quick target speed adjustment method is realized. The accuracy and the reliability are higher, and the passive control is more reliable and accurate than the active or predictive control; the stability is higher, and the system oscillation caused by frequent and rapid dynamic correction cannot be caused by adopting passive ladder dynamic correction control; the coverage is higher, and the power platform can be covered for different power platforms.

In some alternative embodiments, step a2 above comprises:

step a21, calculating a second adjustment amount based on the product of a preset positive number and a preset speed step length when the absolute value of the rotating speed difference value at each time point falls in a second preset speed interval;

step a22, the initial engine target rotation speed is adjusted to be larger by the second adjustment amount.

Specifically, the principle of the engine target rotation speed adjustment method provided by the embodiment of the invention is the same as that of the steps a11 to a12, and only the speed increase adjustment is performed, so that the preset negative number is replaced by the preset positive number, and the principle description can refer to the related description of the steps a11 to a12, so that the description is omitted.

In some optional implementations, the shift synchronization control method provided by the embodiment of the invention further includes the following steps:

and b1, performing gear shifting operation when the absolute value of the current rotating speed difference value is smaller than the lower boundary of the preset speed interval.

And b2, if the absolute value of the rotational speed difference value at the second target time point is smaller than the lower boundary of the preset speed interval in the process of calculating the rotational speed difference value corresponding to the preset number of time points after the current time point, performing gear shifting operation at the second target time point.

Specifically, in this embodiment, if the controller receives the shift signal and calculates that the absolute value of the current rotational speed difference is smaller than the lower boundary of the preset speed interval, it indicates that the matching degree of the output rotational speed of the gearbox and the output rotational speed of the engine at the current moment is already high, and the two are in a synchronous state by default, so that the speed is not required to be regulated, and the shift operation is directly performed. In addition, in the process of verifying whether the current rotational speed difference value mainly falls into a preset speed interval due to signal delay, once the absolute value of the rotational speed difference value at a certain time point (a second target time point) is detected to be smaller than the lower boundary of the preset speed interval, the instant synchronous state at the time point is immediately grasped, and the gear shifting operation is completed, so that the gear shifting efficiency and the gear shifting accuracy are remarkably improved.

In some optional implementations, the shift synchronization control method provided by the embodiment of the invention further includes the following steps:

and c1, regulating and controlling the engine output rotation speed at the next time point according to the initial engine target rotation speed when the absolute value of the current rotation speed difference value is larger than the upper boundary of the preset speed interval, so that the engine output rotation speed at the next time point approaches the initial engine target rotation speed.

Specifically, in this embodiment, if the controller receives the shift signal and calculates that the absolute value of the current rotation speed difference is greater than the upper boundary of the preset speed interval, the difference between the matching degree of the transmission output rotation speed and the engine output rotation speed at the current moment is too large, and the rotation speed mismatch caused by the signal transmission delay is temporarily negligible, so that the engine output rotation speed at the next time point is directly regulated and controlled according to the initial engine target rotation speed, so that the engine output rotation speed at the next time point approaches the initial engine target rotation speed, and the effect of rapid synchronization is achieved.

In some optional implementations, a shift synchronization control method provided by the embodiment of the present invention further includes:

step S106, after step S105, of calculating a rotational speed difference between the engine output rotational speed and the initial engine target rotational speed at a preset number of time points backward again;

step S107, if the absolute value of the rotational speed difference value at each time point still falls within the preset speed interval, the last adjusted engine target rotational speed is adjusted by superposition of the preset speed step, and the engine output rotational speed is regulated again according to the current adjusted engine target rotational speed.

Specifically, after the engine output rotation speed is regulated based on the regulated engine target rotation speed, the embodiment needs to judge whether the rotation speed difference between the new engine output rotation speed and the initial engine target rotation speed reaches the synchronization requirement (i.e. is smaller than the lower boundary of the preset speed interval), if the rotation speed difference reaches the synchronization requirement, the gear shifting operation is directly performed, and if the rotation speed difference does not reach the synchronization requirement, the engine output rotation speed needs to be further changed. In other words, the target to be approximated to the engine output rotation speed is further increased or decreased, so as to obtain more overshoot, so as to compensate the control error caused by the signal delay. According to the technical scheme provided by the embodiment of the invention, through multiple overshoot control, the engine output rotating speed gradually and passively approaches the initial unadjusted engine target rotating speed, and the accuracy and efficiency of gear shifting synchronization can be obviously improved.

In order to facilitate popular understanding of the solution provided by the embodiment of the present invention, a specific application scenario embodiment is provided below to illustrate the solution provided by the embodiment of the present invention:

(1) As shown in fig. 2, a flowchart of the present application embodiment, at the beginning of the synchronization stage in the gear shifting process, first calculates an initial engine target rotation speed according to the output rotation speed of the gearbox, specifically, based on the output rotation speed of the gearbox, the transmission speed ratio=the initial engine target rotation speed;

(2) calculating a rotating speed difference value, wherein the specific logic is as follows: initial engine target speed-engine output speed = speed difference;

(3) determining based on the rotational speed difference:

assume that the preset speed interval is [ a-b ] (for convenience of description, it is assumed that the first preset speed interval and the second preset speed interval are equal)

1) If the absolute rotation speed difference value is smaller than a, judging that the synchronization is finished, directly executing the next action of the gear shifting process, resetting a counter to 0, setting timers 1 and 2 to 0 (the timers are used for counting the preset number of time points, the counters are used for superposing preset speed step sizes, and the superposition is repeated once, namely, the superposition is repeated and adjusted once, and the count value superposed by the counter each time is the preset positive number or the preset negative number);

2) If a < |rotation speed difference| < b, at the moment, considering that the large probability of the rotation speed difference between the engine output rotation speed and the engine target rotation speed is caused by signal transmission delay, starting to count by using a timer 1, increasing the timer 1 (setting the timer 2 to 0), and when the timer 1 is more than or equal to a preset number of time points, indicating that the rotation speed difference between the engine output rotation speed and the engine target rotation speed is stable and difficult to eliminate in a period of time, determining that the rotation speed difference between the engine output rotation speed and the engine target rotation speed is caused by signal transmission delay, resetting the timer 1 to 0, and superposing a preset positive number +1 or a preset negative number-1 on the counter (selecting whether the preset positive number or the preset negative number is determined by the size relation between the engine output rotation speed and the engine target rotation speed);

3) If b < |rotation speed difference|, at the moment, the timers 1 and 2 are set to 0, the previous value of the timers is kept unchanged, the fact that the difference between the engine output rotation speed and the engine target rotation speed is too large is indicated, intervention on the engine target rotation speed is not needed, and the engine output rotation speed is regulated and controlled according to the initial engine target rotation speed to be synchronous.

(4) Calculating the first adjustment amount or the second adjustment amount, and obtaining a preset speed step value based on the counter value in the step 2);

(5) and calculating the adjusted engine target rotation speed, wherein the engine target rotation speed is obtained based on the engine target rotation speed before adjustment and the first adjustment amount or based on the engine target rotation speed before adjustment and the second adjustment amount and is used for controlling the driving motor to control the rotation speed.

Based on the above flow, in a specific application scenario, the preset speed interval is [100 rpm-300 rpm ], the preset speed step is 150rpm, assuming that a time point is 10ms, the preset number of time points are defined as 100ms, the initial value of the counter is 0, as shown in fig. 3, the flow chart is a shift synchronization scenario with a down-speed adjustment:

(1) in the synchronous starting stage, the absolute value of the calculated rotating speed difference is larger than 300rpm, and the output rotating speed of the engine is automatically controlled by the engine controller to approach the initial unadjusted target rotating speed of the engine;

(2) After a period of time, because of CAN delay or dynamic response problem of the motor controller MCU, the absolute value of the rotation speed difference tends to be stable and falls within the range of 100 rpm-300 rpm, at this time, the timer 1 starts timing, the absolute value of the statistics rotation speed difference is within the duration of the range of 100 rpm-300 rpm, when it reaches 100ms, the counter accumulates-1 (because the engine target rotation speed is smaller than the engine output rotation speed, the engine output rotation speed needs to be reduced, the superposition correction is performed by adopting the preset negative number-1), namely the counter value becomes-1, the adjusted engine target rotation speed=the initial engine target rotation speed-150 rpm, and the adjusted engine target rotation speed is used as a rotation speed request to control the motor to reduce the rotation speed;

(3) the rotation speed difference value is stable again and still is in the range of 100 rpm-300 rpm, at this time, the timer 1 starts to count again, when the rotation speed difference value reaches 100ms, the counter accumulates-1, namely the counter value becomes-2, the adjusted engine target rotation speed=initial engine target rotation speed-2×150rpm=initial engine target rotation speed-300 rpm, and the adjusted engine target rotation speed is used as a rotation speed request to control the motor to reduce the rotation speed;

(4) at this time, the engine target rotation speed responds to the rotation speed request, the engine target rotation speed is already close to the initial engine target rotation speed, then the absolute value of the rotation speed difference value is within 100rpm, the synchronization is completed, and the counter and the timer are all set to 0;

(5) And judging that the synchronization is completed, and executing the gear shifting action.

Similarly, as shown in fig. 4, a flow chart of a shift synchronization scenario for upshift adjustment is shown:

(1) in the synchronous starting stage, the absolute value of the calculated rotating speed difference is larger than 300rpm, and the output rotating speed of the engine is automatically controlled by the engine controller to approach the initial unadjusted target rotating speed of the engine;

(2) after a period of time, because of the problem of CAN delay or dynamic response of the motor controller MCU, the absolute value of the rotation speed difference tends to be stable and is in the range of 100 rpm-300 rpm, at this time, the timer 2 starts timing, the absolute value of the statistics rotation speed difference is in the duration of the range of 100 rpm-300 rpm, when the absolute value reaches 100ms, the counter accumulates +1 (because the target rotation speed of the engine is greater than the output rotation speed of the engine, the output rotation speed of the engine needs to be increased, the superposition correction is performed by adopting the preset negative number +1), namely the counter value becomes +1, the adjusted target rotation speed of the engine=the initial target rotation speed of the engine +150rpm, and the adjusted target rotation speed of the engine is used as a rotation speed request to control the motor to reduce the rotation speed;

(3) the rotational speed difference value is stable again and still is in the range of 100 rpm-300 rpm, at this time, the timer 2 starts to count again, when it reaches 100ms, the counter accumulates +1, namely the counter value becomes +2, the adjusted engine target rotational speed=initial engine target rotational speed +2x 150 rpm=initial engine target rotational speed +300rpm, the adjusted engine target rotational speed is used as the rotational speed request to control the motor to increase the rotational speed;

(4) At this time, the engine target rotation speed responds to the rotation speed request, the engine target rotation speed is already close to the initial engine target rotation speed, then the absolute value of the rotation speed difference value is within 100rpm, the synchronization is completed, and the counter and the timer are all set to 0;

(5) and judging that the synchronization is completed, and executing the gear shifting action.

The embodiment also provides a gear shifting synchronous control device, which is used for realizing the embodiment and the preferred implementation mode, 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 present embodiment provides a gear shifting synchronization control device, as shown in fig. 5, applied to a vehicle controller, where the device includes:

the gearbox rotation speed acquisition module 501 is configured to acquire a gearbox output rotation speed at a current time point, and calculate an initial engine target rotation speed by using the gearbox output rotation speed at the current time point;

an engine speed obtaining module 502, configured to obtain an engine output speed at a current time point, and calculate a current speed difference between the engine output speed at the current time point and an initial engine target speed;

A rotational speed difference judging module 503, configured to judge whether rotational speed differences corresponding to a preset number of time points after the current time point all fall within a preset speed interval when an absolute value of the current rotational speed difference falls within the preset speed interval;

the target correction module 504 is configured to adjust an initial target engine speed based on a preset speed step if the rotational speed differences corresponding to a preset number of time points after the current time point are all within a preset speed interval;

the regulation module 505 is configured to regulate the engine output rotation speed after a preset number of time points according to the adjusted target rotation speed of the engine.

In some alternative embodiments, the target modification module 504 includes:

the speed reduction correction unit is used for carrying out small adjustment on the initial engine target rotating speed through a preset speed step when the rotating speed difference value of each time point indicates that the corresponding engine output rotating speed of each time point is larger than the initial engine target rotating speed and the absolute value of the rotating speed difference value of each time point is in a first preset speed interval;

and the speed-up correction unit is used for greatly adjusting the initial engine target rotating speed through a preset speed step when the rotating speed difference value of each time point indicates that the corresponding engine output rotating speed of each time point is smaller than the initial engine target rotating speed and the absolute value of the rotating speed difference value of each time point is in a second preset speed interval.

In some alternative embodiments, the deceleration correction means comprises:

the first adjustment amount unit is used for calculating a first adjustment amount based on the product of a preset negative number and a preset speed step length when the absolute value of the rotating speed difference value at each time point falls in a first preset speed interval;

and a first adjustment unit for performing small adjustment of the initial engine target rotation speed by a first adjustment amount.

In some alternative embodiments, the ramp-up correction unit includes:

a second adjustment amount unit for calculating a second adjustment amount based on a product of a preset positive number and a preset speed step when absolute values of the rotational speed difference values at the respective time points fall within a second preset speed interval;

and a second adjustment unit for performing large adjustment of the initial engine target rotation speed by a second adjustment amount.

In some alternative embodiments, a shift synchronization control device further includes:

the first gear shifting module is used for performing gear shifting operation when the absolute value of the current rotating speed difference value is smaller than the lower boundary of the preset speed interval;

and the second gear shifting module is used for carrying out gear shifting operation at the second target time point if the absolute value of the rotating speed difference value at the second target time point is smaller than the lower boundary of the preset speed interval in the process of calculating the rotating speed difference value corresponding to the preset number of time points after the current time point.

In some alternative embodiments, a shift synchronization control device further includes:

and the original synchronization module is used for regulating and controlling the engine output rotating speed at the next time point according to the initial engine target rotating speed when the absolute value of the current rotating speed difference value is larger than the upper boundary of the preset speed interval so as to enable the engine output rotating speed at the next time point to approach the initial engine target rotating speed.

In some alternative embodiments, a shift synchronization control device further includes:

the repetition detection module is used for calculating the rotation speed difference between the engine output rotation speed at the preset number of time points and the initial engine target rotation speed backwards again after regulating the engine output rotation speed at the preset number of time points according to the regulated engine target rotation speed;

and the repeated regulation and control module is used for superposing and adjusting the last adjusted engine target rotating speed by utilizing the preset speed step length if the absolute value of the rotating speed difference value of each time point still falls in the preset speed interval, and regulating and controlling the engine output rotating speed again according to the current adjusted engine target rotating speed.

Further functional descriptions of the above respective modules and units are the same as those of the above corresponding embodiments, and are not repeated here.

A shift synchronization control device in this embodiment is presented in the form of functional units, where the units are ASIC (Application Specific Integrated Circuit ) circuits, processors and memories executing one or more software or fixed programs, and/or other devices that can provide the above-described functions.

The embodiment of the invention also provides computer equipment, which is provided with the gear shifting synchronous control device shown in the figure 5.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a computer device according to an alternative embodiment of the present invention, as shown in fig. 6, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are communicatively coupled to each other using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the computer device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In some alternative embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple computer devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 10 is illustrated in fig. 6.

The processor 10 may be a central processor, a network processor, or a combination thereof. The processor 10 may further include a hardware chip, among others. The hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general-purpose array logic, or any combination thereof.

Wherein the memory 20 stores instructions executable by the at least one processor 10 to cause the at least one processor 10 to perform a method for implementing the embodiments described above.

The memory 20 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, memory 20 may optionally include memory located remotely from processor 10, which may be connected to the computer device 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.

Memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk, or solid state disk; the memory 20 may also comprise a combination of the above types of memories.

The computer device also includes a communication interface 30 for the computer device to communicate with other devices or communication networks.

The embodiments of the present invention also provide a computer readable storage medium, and the method according to the embodiments of the present invention described above may be implemented in hardware, firmware, or as a computer code which may be recorded on a storage medium, or as original stored in a remote storage medium or a non-transitory machine readable storage medium downloaded through a network and to be stored in a local storage medium, so that the method described herein may be stored on such software process on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, a solid state disk or the like; further, the storage medium may also comprise a combination of memories of the kind described above. It will be appreciated that a computer, processor, microprocessor controller or programmable hardware includes a storage element that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the methods illustrated by the above embodiments.

Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.

Claims (10)

1. The gear shifting synchronous control method is characterized by being applied to a whole vehicle controller, and comprises the following steps of:

acquiring the output rotating speed of the gearbox at the current time point, and calculating the initial engine target rotating speed by utilizing the output rotating speed of the gearbox at the current time point;

acquiring the engine output rotating speed of the current time point, and calculating the current rotating speed difference between the engine output rotating speed of the current time point and the initial engine target rotating speed;

when the absolute value of the current rotating speed difference value falls in a preset speed interval, judging whether the rotating speed difference values corresponding to the preset number of time points after the current time point fall in the preset speed interval or not;

if the rotational speed difference values corresponding to the preset number of time points after the current time point are all in the preset speed interval, adjusting the initial engine target rotational speed based on a preset speed step;

regulating and controlling the engine output rotating speed after the preset number of time points according to the regulated engine target rotating speed.

2. The method of claim 1, wherein adjusting the initial engine target rotational speed based on a preset speed step if rotational speed differences corresponding to a preset number of time points after the current time point all fall within the preset speed interval comprises:

when the rotational speed difference value of each time point indicates that the engine output rotational speed corresponding to each time point is larger than the initial engine target rotational speed, and the absolute value of the rotational speed difference value of each time point falls in a first preset speed interval, small adjustment is carried out on the initial engine target rotational speed through a preset speed step;

and when the rotation speed difference value of each time point indicates that the corresponding engine output rotation speed of each time point is smaller than the initial engine target rotation speed, and the absolute value of the rotation speed difference value of each time point falls in a second preset speed interval, the initial engine target rotation speed is greatly adjusted through the preset speed step.

3. The method according to claim 2, wherein when the rotational speed difference value at each time point indicates that the engine output rotational speed corresponding to each time point is greater than the initial engine target rotational speed, and the absolute value of the rotational speed difference value at each time point falls within a first preset speed interval, performing small adjustment on the initial engine target rotational speed through a preset speed step, including:

When the absolute value of the rotating speed difference value at each time point falls in a first preset speed interval, calculating a first adjustment amount based on the product of a preset negative number and the preset speed step;

and small-adjusting the initial engine target rotation speed through the first adjustment amount.

4. A method according to claim 3, wherein when the rotational speed difference at each time point indicates that the engine output rotational speed corresponding to each time point is smaller than the initial engine target rotational speed, and the absolute value of the rotational speed difference at each time point falls within a second preset speed interval, performing a large adjustment on the initial engine target rotational speed through the preset speed step comprises:

when the absolute value of the rotating speed difference value at each time point falls in a second preset speed interval, calculating a second adjustment amount based on the product of a preset positive number and the preset speed step;

and the initial engine target rotation speed is adjusted to be large by the second adjustment amount.

5. The method according to claim 1 or 4, characterized in that the method further comprises:

when the absolute value of the current rotating speed difference value is smaller than the lower boundary of the preset speed interval, performing gear shifting operation;

And if the absolute value of the rotational speed difference value at the second target time point is smaller than the lower boundary of the preset speed interval in the process of calculating the rotational speed difference value corresponding to the preset number of time points after the current time point, performing gear shifting operation at the second target time point.

6. The method of claim 5, wherein the method further comprises:

when the absolute value of the current rotation speed difference value is larger than the upper boundary of the preset speed interval, regulating and controlling the engine output rotation speed of the next time point according to the initial engine target rotation speed so as to enable the engine output rotation speed of the next time point to approach the initial engine target rotation speed.

7. The method of claim 6, wherein the method further comprises:

after regulating the engine output rotation speed after the preset number of time points according to the regulated engine target rotation speed, calculating the rotation speed difference value between the engine output rotation speed at the preset number of time points and the initial engine target rotation speed backwards again;

if the absolute value of the rotation speed difference value of each time point still falls in the preset speed interval, the last adjusted engine target rotation speed is overlapped and adjusted by utilizing the preset speed step, and the engine output rotation speed is regulated and controlled again according to the current adjusted engine target rotation speed.

8. A shift synchronous control device, characterized in that it is applied to a vehicle controller, the device comprising:

the speed changing box rotating speed acquisition module is used for acquiring the speed changing box output rotating speed at the current time point and calculating the initial engine target rotating speed by utilizing the speed changing box output rotating speed at the current time point;

the engine speed acquisition module is used for acquiring the engine output speed at the current time point and calculating the current speed difference between the engine output speed at the current time point and the initial engine target speed;

the rotating speed difference judging module is used for judging whether the rotating speed differences corresponding to the preset number of time points after the current time point fall in the preset speed interval or not when the absolute value of the current rotating speed difference falls in the preset speed interval;

the target correction module is used for adjusting the initial engine target rotating speed based on a preset speed step length if the rotating speed difference values corresponding to the preset number of time points after the current time point are all in the preset speed interval;

and the regulation and control module is used for regulating and controlling the engine output rotating speed after the preset number of time points according to the regulated engine target rotating speed.

9. A computer device, comprising:

a memory and a processor in communication with each other, the memory having stored therein computer instructions which, upon execution, cause the processor to perform the method of any of claims 1 to 7.

10. A computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1 to 7.