CN117967780A - Vehicle gear control method, device, equipment and storage medium - Google Patents

Vehicle gear control method, device, equipment and storage medium Download PDF

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Publication number
CN117967780A
CN117967780A CN202410167981.2A CN202410167981A CN117967780A CN 117967780 A CN117967780 A CN 117967780A CN 202410167981 A CN202410167981 A CN 202410167981A CN 117967780 A CN117967780 A CN 117967780A
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CN
China
Prior art keywords
gear
bridge
double
current
current vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202410167981.2A
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Chinese (zh)
Inventor
席庆圆
李永圣
苏一钉
黄运
赵夜城
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Anhui Weidu Holding Co ltd
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Anhui Weidu Holding Co ltd
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Application filed by Anhui Weidu Holding Co ltd filed Critical Anhui Weidu Holding Co ltd
Priority to CN202410167981.2A priority Critical patent/CN117967780A/en
Publication of CN117967780A publication Critical patent/CN117967780A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • F16H61/0213—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 characterised by the method for generating shift signals
    • 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
    • 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
    • F16H59/74—Inputs being a function of engine parameters
    • 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
    • F16H59/74—Inputs being a function of engine parameters
    • F16H2059/746—Engine running state, e.g. on-off of ignition switch
    • 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
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Transmission Device (AREA)

Abstract

The invention discloses a vehicle gear control method, device, equipment and storage medium. The method comprises the following steps: obtaining vehicle parameters of a current vehicle, wherein the vehicle parameters comprise: the state information of the current double-bridge gear and the double-bridge motor; determining a target double-bridge gear of the current vehicle according to the vehicle parameters of the current vehicle; if the target double-bridge gear is different from the current double-bridge gear, the current vehicle is controlled to be switched from the current double-bridge gear to the target double-bridge gear according to the preset double-bridge gear shifting sequence and the state information of the double-bridge motor, and the driving performance and the running reliability of the vehicle can be improved through the technical scheme of the invention.

Description

Vehicle gear control method, device, equipment and storage medium
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a vehicle gear control method, a device, equipment and a storage medium.
Background
The electric operation of the commercial vehicle is already an important grip for carbon emission reduction in the field of transportation, and is in a rapid development period, and the electric operation, the networking operation and the intelligent operation become the core trend of the development of the commercial vehicle. The novel light energy electric drive bridge driving system has the advantages that the integration degree is high, the chassis space is greatly released, the comprehensive efficiency is further improved, and the novel light energy electric drive bridge driving system is widely applied.
Compared with the traditional central integrated driving system, the driving system with the multi-electric drive bridge can be provided with a single-stage and multi-stage combined transmission, and the problem of power interruption in a gear shifting process including the traditional new energy driving system can be effectively solved. The current gear shifting scheme of the driving system of the multi-electric drive axle mainly comprises the steps of obtaining control parameters, running parameters, environment parameters and the like of a vehicle, determining a multi-axle target gear of the vehicle based on the parameters of the vehicle, and controlling the vehicle to execute gear shifting based on the multi-axle target gear when the multi-axle target gear is inconsistent with the current gear of the multi-axle.
However, when a driving system of the multi-electric drive bridge shifts gears, no better adaptive working condition and efficient and reliable gearbox gear control scheme for shifting faults exist, hardware maturity and reliability of the gearbox are more depended, if shifting faults occur in the shifting process, a shifting method aiming at the adaptive working condition under the fault state is lacking, and the quality of gear control directly influences economical efficiency, dynamic performance, drivability and service life of related hardware of a vehicle.
Disclosure of Invention
The embodiment of the invention provides a vehicle gear control method, a device, equipment and a storage medium, which can solve the problems that gear control of a gearbox of a driving system of a multi-electric drive bridge cannot adapt to multiple working conditions and a gear shifting method aiming at self-adaptive working conditions under fault conditions is lacked in the prior art.
According to an aspect of the present invention, there is provided a vehicle gear control method including:
obtaining vehicle parameters of a current vehicle, wherein the vehicle parameters comprise: the state information of the current double-bridge gear and the double-bridge motor;
determining a target double-bridge gear of the current vehicle according to the vehicle parameters of the current vehicle;
And if the target double-bridge gear is different from the current double-bridge gear, controlling the current vehicle to switch from the current double-bridge gear to the target double-bridge gear according to the preset double-bridge gear shifting sequence and the state information of the double-bridge motor.
According to another aspect of the present invention, there is provided a vehicle gear control device including:
The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring vehicle parameters of a current vehicle, and the vehicle parameters comprise: the state information of the current double-bridge gear and the double-bridge motor;
The determining module is used for determining a target double-bridge gear of the current vehicle according to the vehicle parameters of the current vehicle;
And the switching module is used for controlling the current vehicle to switch from the current double-bridge gear to the target double-bridge gear according to the preset double-bridge gear shifting sequence and the state information of the double-bridge motor if the target double-bridge gear is different from the current double-bridge gear.
According to another aspect of the present invention, there is provided an electronic apparatus including:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle gear control method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the vehicle gear control method according to any one of the embodiments of the present invention.
The embodiment of the invention obtains the vehicle parameters of the current vehicle, wherein the vehicle parameters comprise: the state information of the current double-bridge gear and the double-bridge motor; determining a target double-bridge gear of the current vehicle according to the vehicle parameters of the current vehicle; if the target double-bridge gear is different from the current double-bridge gear, the current vehicle is controlled to be switched from the current double-bridge gear to the target double-bridge gear according to the preset double-bridge gear shifting sequence and the state information of the double-bridge motor, the problem that gear control of a gearbox of a multi-electric drive-axle driving system in the prior art cannot adapt to multiple working conditions and lacks a gear shifting method aiming at self-adaptive working conditions in a fault state is solved, the gear control method can better adapt to the multiple working conditions, gear shifting operation is executed more accurately under different state information of the double-bridge motor, and the effectiveness of gear control is improved, so that the drivability of the vehicle and the reliability of the vehicle operation are improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a vehicle gear control method according to a first embodiment of the invention;
FIG. 2 is a flow chart of a vehicle gear shift in accordance with a first embodiment of the present invention;
fig. 3 is a schematic structural view of a vehicle gear control device according to a second embodiment of the present invention;
Fig. 4 is a schematic structural diagram of an electronic device in a third embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be appreciated that prior to using the technical solutions disclosed in the embodiments of the present disclosure, the user should be informed and authorized of the type, usage range, usage scenario, etc. of the personal information related to the present disclosure in an appropriate manner according to the relevant legal regulations.
Example 1
Fig. 1 is a flowchart of a vehicle gear control method according to a first embodiment of the present invention, where the present embodiment is applicable to a case of controlling a vehicle gear shift, the method may be performed by a vehicle gear control device according to the embodiment of the present invention, and the device may be implemented in software and/or hardware. As shown in fig. 1, the method specifically includes the following steps:
s110, acquiring vehicle parameters of a current vehicle, wherein the vehicle parameters comprise: current double-bridge gear and double-bridge motor status information.
Specifically, the vehicle controller may obtain vehicle parameters of the current vehicle, where the vehicle parameters include: the method comprises the steps that at present, a double-bridge gear and state information of a double-bridge motor are used for representing a middle bridge and a rear bridge, the double-bridge motor represents a motor connected with each bridge, the double-bridge motor is four motors, two motors are connected with the middle bridge, two motors are connected with the rear bridge, the state information of the double-bridge motor is state information of whether each motor fails or not, and the state information is a normal state or a failure state. The vehicle parameters may also include other parameters related to the current vehicle, not limited herein.
S120, determining a target double-bridge gear of the current vehicle according to the vehicle parameters of the current vehicle.
The target double-bridge gear is a gear which is adaptive to the working condition of the current vehicle.
Specifically, the working condition of the current vehicle is determined according to the vehicle parameters of the current vehicle, and the target double-bridge gear matched with the working condition of the current vehicle is obtained, for example, if the forced neutral gear of the vehicle is determined according to the vehicle parameters of the current vehicle, the target double-bridge gear of the current vehicle is the neutral gear.
And S130, if the target double-bridge gear is different from the current double-bridge gear, controlling the current vehicle to switch from the current double-bridge gear to the target double-bridge gear according to the preset double-bridge gear shifting sequence and the state information of the double-bridge motor.
The preset double-bridge gear shifting sequence can be that a middle bridge is firstly followed by a rear bridge, or can be that a middle bridge is successively followed by a rear bridge.
Specifically, if the target double-bridge gear is different from the current double-bridge gear, executing a corresponding gear shifting strategy according to a preset double-bridge gear shifting sequence and state information of a double-bridge motor, and controlling the current vehicle to switch from the current double-bridge gear to the target double-bridge gear.
For example, if the preset double-bridge gear shifting sequence is that the middle bridge is first followed by the rear bridge, the current middle bridge gear and the current rear bridge gear are both forward first gear (D1 gear), the target middle bridge gear and the target rear bridge gear are both forward second gear (D2 gear), at this time, the target middle bridge gear is different from the current middle bridge gear, and the state information of the double-bridge motor is in a normal state, the current vehicle is controlled to switch from the current middle bridge gear to the target middle bridge gear, after the target middle bridge gear is obtained, if the target rear bridge gear is different from the current rear bridge gear, and the state information of the double-bridge motor is in a normal state, the current vehicle is controlled to switch from the current rear bridge gear to the target rear bridge gear, so as to finish the gear switching; if the target middle axle gear is different from the current middle axle gear, but the state information of at least one motor in the two motors corresponding to the middle axle is in a fault state, the target middle axle gear is adjusted to be a neutral gear, if the current middle axle gear is successfully switched to the neutral gear, the target rear axle gear is different from the current rear axle gear, and the state information of the motors corresponding to the rear axles are all in a normal state, the current vehicle is controlled to be switched from the current rear axle gear to the target rear axle gear, and then a single rear axle driving mode is entered; if the target middle axle gear is different from the current middle axle gear, but the state information of at least one motor in the two motors corresponding to the middle axle is in a fault state, the target middle axle gear is adjusted to be a neutral gear, but the current middle axle gear is not successfully switched to the neutral gear, the rear axle gear control is directly skipped, gear switching is finished, and at the moment, double-axle limp drive is entered; if the target middle axle gear is different from the current middle axle gear, but state information of at least one motor exists in two motors corresponding to the middle axle is in a fault state, the target middle axle gear is adjusted to be in a neutral gear, if the current middle axle gear is successfully switched to the neutral gear, the target rear axle gear is different from the current rear axle gear, but state information of at least one motor exists in two motors corresponding to the rear axle is in a fault state, the target rear axle gear is adjusted to be in a neutral gear, if the current rear axle gear is successfully switched to the neutral gear, gear switching is ended, a double-axle fault mode is entered, gear switching is ended if the current rear axle gear is not successfully switched to the neutral gear, and a single rear axle limp driving mode is entered.
For example, if the current middle axle gear and the current rear axle gear are neutral gears, the target double-axle gear is a forward first gear, when the current middle axle gear is switched to the target middle axle gear, the switching fails, the switching of the current rear axle gear to the target rear axle gear is successful, the gear switching is ended, and the single-rear axle driving mode is entered, wherein the case of the switching failure includes: when the state information of the motors of the middle bridge is in a normal state, the current middle bridge gear is not switched to the target middle bridge gear, or the state information of at least one motor of the middle bridge is in a fault state, and the target middle bridge gear is adjusted to be a neutral gear; if the current middle axle gear is switched to the target middle axle gear, the switching is successful, but the switching fails when the current rear axle gear is switched to the target rear axle gear, the gear switching is ended, and a single rear axle driving mode is entered; if the switching failure occurs when the current middle axle gear is switched to the target middle axle gear and the switching failure occurs when the current rear axle gear is switched to the target rear axle gear, the middle axle and the rear axle are controlled to execute the other forward gear again, and the gear shifting treatment strategy is consistent with the strategy of the forward first gear.
Optionally, the vehicle parameters further include: the physical position of the stop lever, the current speed of the vehicle and the rotating speed direction of the output shaft;
Correspondingly, determining the target double-bridge gear of the current vehicle according to the vehicle parameters of the current vehicle comprises the following steps:
determining a logic gear of the current vehicle according to the physical position of the stop lever, the current vehicle speed and the rotating speed direction of the output shaft;
and determining the target double-bridge gear of the current vehicle according to the logic gear of the current vehicle.
The rotating speed direction of the output shaft is the rotating speed direction of the output shaft of the gearbox.
Specifically, determining a logic gear of the current vehicle according to the physical position of the stop lever, the current vehicle speed and the rotation speed direction of the output shaft, for example, if the physical position of the stop lever is in a forward gear, and the current vehicle speed is smaller than a forward gear switching threshold value or the rotation speed direction of the output shaft is in a forward direction, the logic gear of the current vehicle is the forward gear; if the physical gear is a reverse gear, the current vehicle speed is smaller than a reverse gear switching threshold value or the rotating speed direction of the output shaft is a reverse direction, and the logic gear of the current vehicle is the reverse gear; and if the physical position of the stop lever is in the neutral gear, determining that the logic gear of the current vehicle is the neutral gear.
Specifically, the logic gear of the current vehicle is determined as the target double-bridge gear of the current vehicle, and it is to be noted that the target intermediate-bridge gear and the target rear-bridge gear in the target double-bridge gear should be the same gear.
Optionally, the vehicle parameters further include: load information and gradient information;
correspondingly, determining the target double-bridge gear of the current vehicle according to the logic gear of the current vehicle comprises the following steps:
If the logic gear of the current vehicle is a forward gear, determining a target load level of the current vehicle according to the load information;
Determining a target gradient level of the current vehicle according to the target load level of the current vehicle and the gradient information;
Determining a target load level of the current vehicle according to the target gradient level of the current vehicle;
determining a primary double-bridge gear of the current vehicle according to the target load level of the current vehicle;
And determining a target double-bridge gear of the current vehicle according to the current vehicle speed, the preset up-shift speed threshold value, the preset down-shift speed threshold value and the primary double-bridge gear of the current vehicle in the vehicle parameters.
The load level, the gradient level and the load level may be preset according to actual conditions, for example, the load level may be divided into 3 levels: l1 (0, load 1), L2 (Load 1, load2, L3 (Load 2, 100), under L1 Load level, grade is graded as 2, L1S1 (-50, S11), L1S2 (S11, 50), under L2 Load level, grade is graded as 3, L2S1 (-50, S21), L2S2 (S21, S22), L2S3 (S22, 50), grade is graded as 4 under L3 Load level, grade is graded as 4, grade is graded as L3S1[0, S31], L3S2 (S31, S32), L3S3 (S32, 50), and L3S0 (-50, -1) under heavy Load downhill conditions, grade is graded as 3, LS1 (including: L1S1, L2S1, L3S 0), LS 2S2, L3S1, L3S 2), LS3 (including: L2S3, S3) is determined based on the current grade of the Load information, grade is determined based on the current grade of the Load, grade is determined based on the current grade of the Load information.
Specifically, if the logic gear of the current vehicle is a forward gear, determining a target load level of the current vehicle according to load information in vehicle parameters of the current vehicle, acquiring gradient information of the vehicle after determining the target load level of the current vehicle, further determining a target gradient level under the target load level, and then determining the target load level of the current vehicle according to the target gradient level.
Specifically, the primary double-bridge gear of the current vehicle is determined according to the target load level of the current vehicle, if the target load level is LS2 or LS3, the primary double-bridge gear is a first forward gear (D1 gear), and if the target load level is LS1, the primary double-bridge gear is a second forward gear (D2 gear).
Specifically, the target double-bridge gear of the current vehicle is determined according to the current vehicle speed, the preset up-shift speed threshold, the preset down-shift speed threshold and the primary double-bridge gear of the current vehicle in the vehicle parameters, for example, if the primary double-bridge gear of the current vehicle is a forward first gear and the current vehicle speed is smaller than the preset up-shift speed threshold, the primary double-bridge gear of the current vehicle is determined as the target double-bridge gear of the current vehicle; and if the current vehicle speed is greater than or equal to a preset upshift speed threshold value, determining the forward second gear as a target double-bridge gear of the current vehicle. For example, if the current vehicle primary double-bridge gear is a forward second gear and the current vehicle speed is greater than or equal to a preset upshift speed threshold value, determining the current vehicle primary double-bridge gear as a target double-bridge gear of the current vehicle; if the primary double-bridge gear of the current vehicle is a forward second gear, the current vehicle speed is smaller than a preset upshift gear speed threshold and larger than or equal to a preset downshift gear speed threshold, whether downshift is executed is judged by combining the forced downshift requirement, if the downshift is required to be executed, the forward first gear is determined to be a target double-bridge gear of the current vehicle, otherwise, the primary double-bridge gear of the current vehicle is determined to be a target double-bridge gear of the current vehicle; and if the primary double-bridge gear of the current vehicle is a forward second gear and the current vehicle speed is smaller than a preset downshift speed threshold, determining the forward first gear as a target double-bridge gear of the current vehicle.
The target load grade of the current vehicle is determined through the load information and the gradient information of the current vehicle, the primary double-bridge gear of the current vehicle is determined according to the target load grade of the current vehicle, and then the target double-bridge gear of the current vehicle is determined according to the current speed, the preset up-gear speed threshold, the preset down-gear speed threshold and the primary double-bridge gear of the current vehicle in the vehicle parameters, so that the working condition of the current vehicle can be accurately acquired, and the accuracy of determining the target double-bridge gear of the current vehicle is improved.
Optionally, the forward gear includes: a first forward gear and a second forward gear;
Correspondingly, determining the target double-bridge gear of the current vehicle according to the current vehicle speed, the preset up-shift speed threshold, the preset down-shift speed threshold and the primary double-bridge gear of the current vehicle in the vehicle parameters comprises the following steps:
If the primary double-bridge gear of the current vehicle is a forward first gear and the current vehicle speed is smaller than a preset upshift speed threshold value, determining the target double-bridge gear of the current vehicle as the forward first gear;
If the primary double-bridge gear of the current vehicle is a forward first gear and the current vehicle speed is greater than or equal to a preset upshift speed threshold value, determining that the target double-bridge gear of the current vehicle is a forward second gear;
If the primary double-bridge gear of the current vehicle is a forward second gear and the current vehicle speed is greater than or equal to a preset upshift speed threshold value, determining that the target double-bridge gear of the current vehicle is the forward second gear;
If the primary double-bridge gear of the current vehicle is a forward second gear, the current vehicle speed is smaller than a preset upshift speed threshold, the current vehicle speed is larger than or equal to a preset downshift speed threshold, and the accelerator pedal opening is larger than a preset opening threshold, determining that the target double-bridge gear of the current vehicle is a forward first gear;
and if the primary double-bridge gear of the current vehicle is a forward second gear and the current vehicle speed is smaller than a preset downshift speed threshold, determining the target double-bridge gear of the current vehicle as a forward first gear.
Wherein the vehicle parameters further include: accelerator pedal opening.
Specifically, if the primary double-bridge gear of the current vehicle is the D1 gear and the current vehicle speed is smaller than a preset upshift speed threshold VehShf _1to2_Spd, determining the D1 gear as a target double-bridge gear of the current vehicle; if the primary double-bridge gear of the current vehicle is the D1 gear and the current vehicle speed is greater than or equal to VehShf _1to2_Spd, determining the D2 gear as a target double-bridge gear of the current vehicle; if the primary double-bridge gear of the current vehicle is the D2 gear and the current vehicle speed is greater than or equal to VehShf _1to2_Spd, determining the D2 gear as a target double-bridge gear of the current vehicle; if the primary double-bridge gear of the current vehicle is the D2 gear, the current vehicle speed is smaller than VehShf _1to2_Spd, meanwhile, the current vehicle speed is larger than or equal to a preset downshift speed threshold VehShf _2to1_Spd, whether the opening of an accelerator pedal is larger than a preset opening threshold or not is judged, if the opening of the accelerator pedal is larger than the preset opening threshold, the D1 gear is determined as the target double-bridge gear of the current vehicle, and if the opening of the accelerator pedal is smaller than or equal to the preset opening threshold, the D2 gear is still determined as the target double-bridge gear of the current vehicle; and if the primary double-bridge gear of the current vehicle is the D2 gear and the current vehicle speed is smaller than VehShf _2to1_Spd, determining the D1 gear as the target double-bridge gear of the current vehicle.
The target double-bridge gear of the current vehicle is adjusted through the current vehicle speed, the preset up-gear speed threshold value, the preset down-gear speed threshold value and the primary double-bridge gear of the current vehicle in the current vehicle parameters, so that the more accurate target double-bridge gear can be determined under different working conditions of the vehicle.
Optionally, the preset double-bridge gear shifting sequence is that a middle bridge is first followed by a rear bridge, and the target double-bridge gear comprises: the target middle axle gear and the target rear axle gear, the current double-axle gear comprises: a current center bridge gear and a current rear bridge gear;
Correspondingly, if the target double-bridge gear is different from the current double-bridge gear, the current vehicle is controlled to be switched from the current double-bridge gear to the target double-bridge gear according to the preset double-bridge gear shifting sequence and the state information of the double-bridge motor, and the method comprises the following steps:
If the target middle axle gear of the current vehicle is different from the current middle axle gear and the gearbox control unit of the current vehicle allows gear shifting, controlling the current vehicle to switch from the current middle axle gear to the target middle axle gear according to the state information of the double-axle motor;
And if the target middle axle gear of the current vehicle is the same as the current middle axle gear, the target rear axle gear of the current vehicle is different from the current rear axle gear, and the gearbox control unit of the current vehicle allows gear shifting, or if the operation of switching the current vehicle from the current middle axle gear to the target middle axle gear is finished, controlling the current vehicle to switch from the current rear axle gear to the target rear axle gear according to the state information of the double-axle motor.
Wherein, target double bridge gear includes: the target middle axle gear and the target rear axle gear are the same. The current double-bridge gear comprises: the current intermediate gear and the current rear axle gear may be the same or different.
Specifically, whether the target intermediate gear of the current vehicle is the same as the current intermediate gear is judged, that is, the gear shifting requirement of the intermediate is judged, if the target intermediate gear of the current vehicle is different from the current intermediate gear and a Transmission-Control-Unit (TCU) of the current vehicle allows gear shifting, the current vehicle is controlled to be switched from the current intermediate gear of the current vehicle to the target intermediate gear according to the state information of the double-bridge motor.
Specifically, if the target intermediate gear of the current vehicle is the same as the current intermediate gear, the intermediate gear does not need to be shifted, whether the target rear axle gear of the current vehicle is the same as the current rear axle gear is judged at the moment, and if the target rear axle gear of the current vehicle is different from the current rear axle gear and the gearbox control unit of the current vehicle allows shifting, the current vehicle is controlled to be switched from the current rear axle gear to the target rear axle gear according to the state information of the double-axle motor; or if the operation of switching the current vehicle from the current middle axle gear to the target middle axle gear is finished, controlling the current vehicle to switch from the current rear axle gear to the target rear axle gear according to the state information of the double-axle motor. It should be noted that, if the state information of the motor corresponding to the middle axle of the current vehicle is in a normal state, the current middle axle gear is switched to the target middle axle gear, and a successful switching or a switching failure occurs (after the switching operation is performed, the middle axle gear acquired in the preset time still maintains the original middle axle gear); if the state information of at least one motor corresponding to the middle axle of the current vehicle is in a fault state, the target middle axle gear is adjusted to be a neutral gear, and the situation that the switching is successful or the switching is failed when the current middle axle gear is switched to the neutral gear is the same, and the operation of switching the current vehicle from the current middle axle gear to the target middle axle gear is ended no matter the switching is successful or the switching is failed.
Whether the intermediate bridge has a gear shifting requirement or not is judged firstly through a preset double-bridge gear shifting sequence, whether the rear bridge has a gear shifting requirement or not is judged after gear shifting of the intermediate bridge is finished, and gear shifting operation is executed on the intermediate bridge and the rear bridge according to the preset double-bridge gear shifting sequence and the gear shifting requirement, so that the accuracy and the safety of gear shifting can be ensured.
Optionally, the double-bridge motor includes: the first motor of the middle bridge, the second motor of the middle bridge and the third motor of the rear bridge;
Correspondingly, according to the state information of the double-bridge motor, the current vehicle is controlled to be switched from the current middle-bridge gear to the target middle-bridge gear, and the method comprises the following steps:
if the state information of the double-bridge motor is in a normal state, controlling the current vehicle to switch from the current middle-bridge gear to the target middle-bridge gear;
if the state information of the first motor of the middle bridge is in a fault state and/or the state information of the second motor of the middle bridge is in a fault state, the gear of the target middle bridge is adjusted to be neutral gear;
If the state information of the third motor of the rear axle is in a fault state, adjusting the gear of the middle axle of the target to be neutral gear;
controlling the current vehicle to switch from the current middle axle gear to the neutral gear, and if the switching is successful, ending the operation of switching the current vehicle from the current middle axle gear to the target middle axle gear;
and if the switching fails, maintaining the current double-bridge gear of the current vehicle.
Wherein, intermediate bridge first motor and intermediate bridge second motor can be Em1 and Em2 respectively, and the rear axle third motor is Em3, and wherein, intermediate bridge Em1 motor links to each other with the case of shifting, and intermediate bridge Em2 motor links to each other with single case that subtracts, and rear axle Em3 motor links to each other with single case that subtracts.
Specifically, if the state information of the double-bridge motors is in a normal state, that is, the first motor of the middle bridge, the second motor of the middle bridge and the motors corresponding to the rear axle are in a normal state, the target middle bridge gear is the final middle bridge gear, the whole vehicle controller controls the current vehicle to switch from the current middle bridge gear to the target middle bridge gear, if the middle bridge gear is detected to be the target middle bridge gear after the preset time, the switching is successful, if the middle bridge gear is detected to be the original middle bridge gear, the switching fails, and the neutral gear is tried to be engaged after the switching failure of the target middle bridge gear. And if the target middle axle gear is the neutral gear, directly switching from the current middle axle gear to the neutral gear.
Specifically, if the state information of the first motor and/or the second motor of the middle axle is in a fault state, the target middle axle gear is to be in a neutral gear, so that the target middle axle gear is adjusted to be in the neutral gear, or if the state information of the third motor of the rear axle is in the fault state, the target middle axle gear is adjusted to be in the neutral gear, the current vehicle is controlled to be switched from the current middle axle gear to the neutral gear, if the middle axle gear is detected to be in the neutral gear after a preset time, the switching is successful, the operation of the current vehicle from the current middle axle gear to the target middle axle gear is ended, if the switching fails, the current double-axle gear of the current vehicle is maintained, and at the moment, the operation of the current vehicle from the current middle axle gear to the target middle axle gear is ended.
Optionally, the double-bridge motor further includes: a rear axle fourth motor;
Correspondingly, according to the state information of the double-bridge motor, the current vehicle is controlled to be switched from the current rear axle gear to the target rear axle gear, and the method comprises the following steps:
if the state information of the double-bridge motor is in a normal state, controlling the current vehicle to switch from the current rear axle gear to the target rear axle gear;
If the state information of the third motor of the rear axle is in a fault state and/or the state information of the fourth motor of the rear axle is in a fault state, the target rear axle gear is adjusted to be neutral;
if the state information of the second motor of the intermediate bridge is in a fault state, the target rear axle gear is adjusted to be a neutral gear;
and controlling the current vehicle to switch from the current gear to the neutral gear, and if the switching is successful, controlling the current vehicle to switch from the current gear to a preset new target gear if the switching is successful, wherein the double-bridge gear is the neutral gear, the target gear is the reverse gear or the forward gear, and the neutral gear is successfully engaged in the current vehicle.
The fourth motors of the rear axle can be Em4 respectively, and the Em4 motors of the rear axle are connected with the gear shifting box.
Specifically, if the state information of the double-bridge motor is in a normal state, the state information of the first motor of the middle bridge, the second motor of the middle bridge, the third motor of the rear bridge and the fourth motor of the rear bridge are in a normal state, the target rear axle gear is the final rear axle gear, the whole vehicle controller controls the current vehicle to switch from the current rear axle gear to the target rear axle gear, if the middle bridge gear is detected to be the target middle bridge gear after the preset time, the switching is successful, if the middle bridge gear is detected to be the original middle bridge gear, the switching fails, and the neutral gear is tried to be hung after the switching of the target rear axle gear fails.
Specifically, if the state information of the third motor of the rear axle and/or the fourth motor of the rear axle is in a fault state, the target rear axle gear should be in a neutral gear, so that the target rear axle gear is adjusted to the neutral gear, or if the state information of the second motor of the middle axle is in a fault state, the target rear axle gear is adjusted to the neutral gear, the current vehicle is controlled to switch from the current rear axle gear to the neutral gear, if after a preset time, the rear axle gear is detected to be in the neutral gear, the switching is successful, and when the gear is switched, the current double-axle gear is in the neutral gear, the target double-axle gear is in the non-neutral gear (the reverse gear or the forward gear), and the neutral gear of the current vehicle is successful, that is, the middle axle of the current vehicle is in the neutral gear, the vehicle is controlled to attempt to switch from the current double-axle gear, the current double-axle gear is switched to the preset new target double-axle gear, wherein the preset new target double-axle gear is preset, for example, the new double-axle gear D1 is set to switch from the new target double-axle is executed, and the neutral gear is still controlled to attempt to switch from the current double-axle D.
It should be noted that, after the neutral gear of the rear axle fails, the original gear of the rear axle is maintained, at this time, a preset dual-axle gear coordination strategy may be further tried to be executed, where the preset dual-axle gear coordination strategy is used to keep the middle axle and the gear of the rear axle consistent, or keep the middle axle or the rear axle neutral, for example, if at least one motor of the middle axle is in a fault state and all motors of the rear axle are in a normal state, the gear of the rear axle is adjusted to be consistent with the gear of the front axle, if at least one motor of the rear axle is in a fault state and all motors of the middle axle are in a normal state, and then the gear of the middle axle is adjusted to be consistent with the gear of the rear axle.
In a specific example, fig. 2 is a flowchart of a vehicle gear shifting in the first embodiment of the present invention, as shown in fig. 2, a target double-bridge gear and a current double-bridge gear of a current vehicle are obtained, the vehicle gear shifting is performed according to a preset double-bridge shifting sequence, if the target double-bridge gear is different from the current double-bridge gear, and a TCU (transmission control unit) allows shifting, state information of a first motor and a second motor of the middle bridge and state information of a third motor of the rear bridge are obtained, if the state information of the first motor and/or the second motor of the middle bridge is in a fault state, or if the state information of the third motor of the rear bridge is in a fault state, the target middle-bridge gear is adjusted to be in a neutral gear, the current middle-bridge gear is shifted to be in a neutral gear, if the neutral gear is successfully shifted, the rear-bridge is determined to be in a gear, if the neutral gear is successfully shifted, the current double-bridge gear is maintained, the rear-bridge is directly jumped to be shifted, if the target middle-bridge is identical to the current middle-bridge gear or the TCU does not allow shifting, the state is not allowed, the first motor is determined to be shifted to be in a gear, if the first gear is required to be shifted to be in a neutral gear, and if the shift state is required to be shifted from the first middle-bridge is normally, and if the shift state is required to be shifted from the first middle-bridge is required to be shifted to be the second motor is required to be the second motor. If the target rear axle gear is different from the current rear axle gear, and the TCU allows gear shifting, acquiring state information of a third motor of the rear axle and state information of a fourth motor of the rear axle and state information of a second motor of the middle axle, if the state information of the third motor of the rear axle and/or the state information of the fourth motor of the middle axle is in a fault state, or the state information of the second motor of the middle axle is in a fault state, adjusting the target rear axle gear to be in a neutral gear, switching from the current rear axle gear to the neutral gear, if the neutral gear is successful, judging whether the middle axle and the rear axle are both in the neutral gear but the gear is failed (i.e., the gear-shifting from the target double-axle gear is failed), if the neutral gear is failed, executing a preset double-axle gear coordination strategy, if the target rear axle gear is the same as the current rear axle gear or the TCU does not allow gear shifting, keeping the current double-axle gear, if the state information of the third motor of the rear axle, the state information of the fourth motor of the middle axle, and the state information of the second motor of the middle axle are in a normal state, switching from the current rear axle gear to the target rear axle gear, if the gear is successful, and if the gear-shifting from the neutral gear is successful, switching from the current rear axle gear is successful. If the middle axle and the rear axle are both neutral gears and the gear is failed to be engaged, the operation of attempting to switch the current double-axle gear to the preset new target double-axle gear is executed, if the attempt is successful, the gear switching is completed, and if the attempt is failed, the current double-axle gear is maintained. If the target intermediate gear is the same as the current intermediate gear or the TCU does not allow gear shifting, and the target rear axle gear is the same as the current rear axle gear or the TCU does not allow gear shifting, the current intermediate gear and the current rear axle gear possibly exist and are different, and a preset double-bridge gear coordination strategy is executed; and if the current middle axle gear is the same as the current rear axle gear, maintaining the current double-axle gear. If the preset double-bridge gear coordination strategy is executed, the coordinated gears are kept, and if the coordination fails, the coordination can be retried.
According to the technical scheme of the embodiment, the vehicle parameters of the current vehicle are obtained, wherein the vehicle parameters comprise: the state information of the current double-bridge gear and the double-bridge motor; determining a target double-bridge gear of the current vehicle according to the vehicle parameters of the current vehicle; if the target double-bridge gear is different from the current double-bridge gear, the current vehicle is controlled to be switched from the current double-bridge gear to the target double-bridge gear according to the preset double-bridge gear shifting sequence and the state information of the double-bridge motor, the problem that gear control of a gearbox of a multi-electric drive-axle driving system in the prior art cannot adapt to multiple working conditions and lacks a gear shifting method aiming at self-adaptive working conditions in a fault state is solved, the gear control method can better adapt to the multiple working conditions, gear shifting operation is executed more accurately under different state information of the double-bridge motor, and the effectiveness of gear control is improved, so that the drivability of the vehicle and the reliability of the vehicle operation are improved.
Example two
Fig. 3 is a schematic structural view of a vehicle gear control device according to a second embodiment of the present invention. The present embodiment may be applied to a case of controlling a shift of a vehicle, and the device may be implemented in software and/or hardware, and the device may be integrated in any apparatus that provides a function of controlling a vehicle shift, as shown in fig. 3, where the vehicle shift control device specifically includes: acquisition module 210, and switching module 230.
The obtaining module 210 is configured to obtain vehicle parameters of a current vehicle, where the vehicle parameters include: the state information of the current double-bridge gear and the double-bridge motor;
a determining module 220, configured to determine a target dual-bridge gear of the current vehicle according to the vehicle parameters of the current vehicle;
And the switching module 230 is configured to control the current vehicle to switch from the current dual-bridge gear to the target dual-bridge gear according to a preset dual-bridge gear shifting sequence and state information of the dual-bridge motor if the target dual-bridge gear is different from the current dual-bridge gear.
Optionally, the vehicle parameters further include: the physical position of the stop lever, the current speed of the vehicle and the rotating speed direction of the output shaft;
Correspondingly, the determining module is specifically configured to:
determining a logic gear of the current vehicle according to the physical position of the stop lever, the current vehicle speed and the rotating speed direction of the output shaft;
and determining the target double-bridge gear of the current vehicle according to the logic gear of the current vehicle.
Optionally, the vehicle parameters further include: load information and gradient information;
Correspondingly, the determining module is specifically configured to:
If the logic gear of the current vehicle is a forward gear, determining a target load level of the current vehicle according to the load information;
Determining a target gradient level of the current vehicle according to the target load level of the current vehicle and the gradient information;
Determining a target load level of the current vehicle according to the target gradient level of the current vehicle;
determining a primary double-bridge gear of the current vehicle according to the target load level of the current vehicle;
And determining a target double-bridge gear of the current vehicle according to the current vehicle speed, the preset up-shift speed threshold value, the preset down-shift speed threshold value and the primary double-bridge gear of the current vehicle in the vehicle parameters.
Optionally, the forward gear includes: a first forward gear and a second forward gear;
Correspondingly, the determining module is specifically configured to:
If the primary double-bridge gear of the current vehicle is a forward first gear and the current vehicle speed is smaller than a preset upshift speed threshold value, determining the target double-bridge gear of the current vehicle as the forward first gear;
If the primary double-bridge gear of the current vehicle is a forward first gear and the current vehicle speed is greater than or equal to a preset upshift speed threshold value, determining that the target double-bridge gear of the current vehicle is a forward second gear;
If the primary double-bridge gear of the current vehicle is a forward second gear and the current vehicle speed is greater than or equal to a preset upshift speed threshold value, determining that the target double-bridge gear of the current vehicle is the forward second gear;
If the primary double-bridge gear of the current vehicle is a forward second gear, the current vehicle speed is smaller than a preset upshift speed threshold, the current vehicle speed is larger than or equal to a preset downshift speed threshold, and the accelerator pedal opening is larger than a preset opening threshold, determining that the target double-bridge gear of the current vehicle is a forward first gear;
and if the primary double-bridge gear of the current vehicle is a forward second gear and the current vehicle speed is smaller than a preset downshift speed threshold, determining the target double-bridge gear of the current vehicle as a forward first gear.
Optionally, the preset double-bridge gear shifting sequence is that a middle bridge is first followed by a rear bridge, and the target double-bridge gear comprises: the target middle axle gear and the target rear axle gear, the current double-axle gear comprises: a current center bridge gear and a current rear bridge gear;
correspondingly, the switching module is specifically configured to:
If the target middle axle gear of the current vehicle is different from the current middle axle gear and the gearbox control unit of the current vehicle allows gear shifting, controlling the current vehicle to switch from the current middle axle gear to the target middle axle gear according to the state information of the double-axle motor;
And if the target middle axle gear of the current vehicle is the same as the current middle axle gear, the target rear axle gear of the current vehicle is different from the current rear axle gear, and the gearbox control unit of the current vehicle allows gear shifting, or if the operation of switching the current vehicle from the current middle axle gear to the target middle axle gear is finished, controlling the current vehicle to switch from the current rear axle gear to the target rear axle gear according to the state information of the double-axle motor.
Optionally, the double-bridge motor includes: the first motor of the middle bridge, the second motor of the middle bridge and the third motor of the rear bridge;
correspondingly, the switching module is specifically configured to:
if the state information of the double-bridge motor is in a normal state, controlling the current vehicle to switch from the current middle-bridge gear to the target middle-bridge gear;
if the state information of the first motor of the middle bridge is in a fault state and/or the state information of the second motor of the middle bridge is in a fault state, the gear of the target middle bridge is adjusted to be neutral gear;
If the state information of the third motor of the rear axle is in a fault state, adjusting the gear of the middle axle of the target to be neutral gear;
controlling the current vehicle to switch from the current middle axle gear to the neutral gear, and if the switching is successful, ending the operation of switching the current vehicle from the current middle axle gear to the target middle axle gear;
and if the switching fails, maintaining the current double-bridge gear of the current vehicle.
Optionally, the double-bridge motor further includes: a rear axle fourth motor;
correspondingly, the switching module is specifically configured to:
if the state information of the double-bridge motor is in a normal state, controlling the current vehicle to switch from the current rear axle gear to the target rear axle gear;
If the state information of the third motor of the rear axle is in a fault state and/or the state information of the fourth motor of the rear axle is in a fault state, the target rear axle gear is adjusted to be neutral;
if the state information of the second motor of the intermediate bridge is in a fault state, the target rear axle gear is adjusted to be a neutral gear;
and controlling the current vehicle to switch from the current gear to the neutral gear, and if the switching is successful, controlling the current vehicle to switch from the current gear to a preset new target gear if the switching is successful, wherein the double-bridge gear is the neutral gear, the target gear is the reverse gear or the forward gear, and the neutral gear is successfully engaged in the current vehicle.
The product can execute the method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example III
Fig. 4 is a schematic structural diagram of an electronic device in a third embodiment of the present invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM12 and the RAM13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a vehicle gear control method.
In some embodiments, the vehicle gear control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM12 and/or the communication unit 19. When the computer program is loaded into the RAM13 and executed by the processor 11, one or more steps of the vehicle gear control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle gear control method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A vehicle gear control method characterized by comprising:
obtaining vehicle parameters of a current vehicle, wherein the vehicle parameters comprise: the state information of the current double-bridge gear and the double-bridge motor;
determining a target double-bridge gear of the current vehicle according to the vehicle parameters of the current vehicle;
And if the target double-bridge gear is different from the current double-bridge gear, controlling the current vehicle to switch from the current double-bridge gear to the target double-bridge gear according to the preset double-bridge gear shifting sequence and the state information of the double-bridge motor.
2. The method of claim 1, wherein the vehicle parameters further comprise: the physical position of the stop lever, the current speed of the vehicle and the rotating speed direction of the output shaft;
Correspondingly, determining the target double-bridge gear of the current vehicle according to the vehicle parameters of the current vehicle comprises the following steps:
determining a logic gear of the current vehicle according to the physical position of the stop lever, the current vehicle speed and the rotating speed direction of the output shaft;
and determining the target double-bridge gear of the current vehicle according to the logic gear of the current vehicle.
3. The method of claim 2, wherein the vehicle parameters further comprise: load information and gradient information;
correspondingly, determining the target double-bridge gear of the current vehicle according to the logic gear of the current vehicle comprises the following steps:
If the logic gear of the current vehicle is a forward gear, determining a target load level of the current vehicle according to the load information;
Determining a target gradient level of the current vehicle according to the target load level of the current vehicle and the gradient information;
Determining a target load level of the current vehicle according to the target gradient level of the current vehicle;
determining a primary double-bridge gear of the current vehicle according to the target load level of the current vehicle;
And determining a target double-bridge gear of the current vehicle according to the current vehicle speed, the preset up-shift speed threshold value, the preset down-shift speed threshold value and the primary double-bridge gear of the current vehicle in the vehicle parameters.
4. A method according to claim 3, wherein the forward gear comprises: a first forward gear and a second forward gear;
Correspondingly, determining the target double-bridge gear of the current vehicle according to the current vehicle speed, the preset up-shift speed threshold, the preset down-shift speed threshold and the primary double-bridge gear of the current vehicle in the vehicle parameters comprises the following steps:
If the primary double-bridge gear of the current vehicle is a forward first gear and the current vehicle speed is smaller than a preset upshift speed threshold value, determining the target double-bridge gear of the current vehicle as the forward first gear;
If the primary double-bridge gear of the current vehicle is a forward first gear and the current vehicle speed is greater than or equal to a preset upshift speed threshold value, determining that the target double-bridge gear of the current vehicle is a forward second gear;
If the primary double-bridge gear of the current vehicle is a forward second gear and the current vehicle speed is greater than or equal to a preset upshift speed threshold value, determining that the target double-bridge gear of the current vehicle is the forward second gear;
If the primary double-bridge gear of the current vehicle is a forward second gear, the current vehicle speed is smaller than a preset upshift speed threshold, the current vehicle speed is larger than or equal to a preset downshift speed threshold, and the accelerator pedal opening is larger than a preset opening threshold, determining that the target double-bridge gear of the current vehicle is a forward first gear;
and if the primary double-bridge gear of the current vehicle is a forward second gear and the current vehicle speed is smaller than a preset downshift speed threshold, determining the target double-bridge gear of the current vehicle as a forward first gear.
5. The method of claim 1, wherein the predetermined double-bridge shift sequence is mid-bridge-first-then-rear-bridge, and the target double-bridge gear comprises: the target middle axle gear and the target rear axle gear, the current double-axle gear comprises: a current center bridge gear and a current rear bridge gear;
Correspondingly, if the target double-bridge gear is different from the current double-bridge gear, the current vehicle is controlled to be switched from the current double-bridge gear to the target double-bridge gear according to the preset double-bridge gear shifting sequence and the state information of the double-bridge motor, and the method comprises the following steps:
If the target middle axle gear of the current vehicle is different from the current middle axle gear and the gearbox control unit of the current vehicle allows gear shifting, controlling the current vehicle to switch from the current middle axle gear to the target middle axle gear according to the state information of the double-axle motor;
And if the target middle axle gear of the current vehicle is the same as the current middle axle gear, the target rear axle gear of the current vehicle is different from the current rear axle gear, and the gearbox control unit of the current vehicle allows gear shifting, or if the operation of switching the current vehicle from the current middle axle gear to the target middle axle gear is finished, controlling the current vehicle to switch from the current rear axle gear to the target rear axle gear according to the state information of the double-axle motor.
6. The method of claim 5, wherein the double bridge motor comprises: the first motor of the middle bridge, the second motor of the middle bridge and the third motor of the rear bridge;
Correspondingly, according to the state information of the double-bridge motor, the current vehicle is controlled to be switched from the current middle-bridge gear to the target middle-bridge gear, and the method comprises the following steps:
if the state information of the double-bridge motor is in a normal state, controlling the current vehicle to switch from the current middle-bridge gear to the target middle-bridge gear;
if the state information of the first motor of the middle bridge is in a fault state and/or the state information of the second motor of the middle bridge is in a fault state, the gear of the target middle bridge is adjusted to be neutral gear;
If the state information of the third motor of the rear axle is in a fault state, adjusting the gear of the middle axle of the target to be neutral gear;
controlling the current vehicle to switch from the current middle axle gear to the neutral gear, and if the switching is successful, ending the operation of switching the current vehicle from the current middle axle gear to the target middle axle gear;
and if the switching fails, maintaining the current double-bridge gear of the current vehicle.
7. The method of claim 6, wherein the double bridge motor further comprises: a rear axle fourth motor;
Correspondingly, according to the state information of the double-bridge motor, the current vehicle is controlled to be switched from the current rear axle gear to the target rear axle gear, and the method comprises the following steps:
if the state information of the double-bridge motor is in a normal state, controlling the current vehicle to switch from the current rear axle gear to the target rear axle gear;
If the state information of the third motor of the rear axle is in a fault state and/or the state information of the fourth motor of the rear axle is in a fault state, the target rear axle gear is adjusted to be neutral;
if the state information of the second motor of the intermediate bridge is in a fault state, the target rear axle gear is adjusted to be a neutral gear;
and controlling the current vehicle to switch from the current gear to the neutral gear, and if the switching is successful, controlling the current vehicle to switch from the current gear to a preset new target gear if the switching is successful, wherein the double-bridge gear is the neutral gear, the target gear is the reverse gear or the forward gear, and the neutral gear is successfully engaged in the current vehicle.
8. A vehicle gear control device characterized by comprising:
The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring vehicle parameters of a current vehicle, and the vehicle parameters comprise: the state information of the current double-bridge gear and the double-bridge motor;
The determining module is used for determining a target double-bridge gear of the current vehicle according to the vehicle parameters of the current vehicle;
And the switching module is used for controlling the current vehicle to switch from the current double-bridge gear to the target double-bridge gear according to the preset double-bridge gear shifting sequence and the state information of the double-bridge motor if the target double-bridge gear is different from the current double-bridge gear.
9. An electronic device, the electronic device comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle gear control method according to any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to implement the vehicle gear control method according to any one of claims 1-7 when executed.
CN202410167981.2A 2024-02-06 2024-02-06 Vehicle gear control method, device, equipment and storage medium Pending CN117967780A (en)

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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118669524A (en) * 2024-08-23 2024-09-20 质子汽车科技有限公司 Manual-automatic integrated gear shifting control method and system for double electric drive bridge and double TCU

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118669524A (en) * 2024-08-23 2024-09-20 质子汽车科技有限公司 Manual-automatic integrated gear shifting control method and system for double electric drive bridge and double TCU

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