WO2023226638A1

WO2023226638A1 - Gear shifting method and apparatus for vehicle

Info

Publication number: WO2023226638A1
Application number: PCT/CN2023/089538
Authority: WO
Inventors: 杨云波; 韩令海; 张学锋; 赵鹏遥; 钟云锋; 郑通; 陈国栋; 赵永强; 刘元治; 宁甲奎
Original assignee: 中国第一汽车股份有限公司
Priority date: 2022-05-25
Filing date: 2023-04-20
Publication date: 2023-11-30
Also published as: CN114802195A

Abstract

Disclosed in the embodiments of the present disclosure are a gear shifting method and apparatus for a vehicle. The method comprises: when the current vehicle enters a mode in which an engine is started during gear shifting, selecting a target engine starting strategy; starting the current vehicle by using the target engine starting strategy, and acquiring a high-voltage electric motor state of the current vehicle, the actual running gear thereof and a target gear thereof; determining a target gear-shifting type on the basis of the high-voltage electric motor state, actual running gear and target gear of the current vehicle; and by using the target gear-shifting type, controlling the current vehicle to start the engine during a gear shifting process.

Description

Vehicle gear shifting methods and devices

cross-citation

This disclosure claims priority to the Chinese patent application filed with the China Patent Office on May 25, 2022, with application number 202210577212.0 and the application title "Vehicle Shifting Method and Device", the entire content of which is incorporated into this application by reference.

Technical field

The present disclosure relates to the field of automobile control technology, and specifically, to a vehicle gear shifting method and device.

Background technique

Hybrid vehicles have always been a hot topic of research by various automobile manufacturers due to their low energy consumption, especially in recent years when they have developed rapidly. And hybrid vehicles have the capability of pure electric driving. During pure electric driving, when the high-voltage battery capacity is insufficient or the driver's demand for torque increases, the engine needs to be started. However, due to the large transient changes during engine starting, control cannot be achieved. Otherwise, the vehicle may experience impact during driving. For hybrid vehicles with multiple gears, the gear shifting process of the transmission is also a working condition where vehicle ride comfort is prone to problems. When the engine is started at the same time during the gear shift, the influencing factors of the two are superimposed. To meet the smoothness of the entire vehicle, there is a huge challenge in the coordinated control of the two.

In the related technology, regarding the coordinated control of gear shifting and engine starting, some methods are used to avoid the simultaneous execution of both, and it is determined by judging the status of the gear shift clutch whether to perform the shifting process or the starting process first. To start, complete the gear shift first and then start the engine. If the engine start (that is, start the generator) starts first, complete the startup first and then start the gear shift. Another implementation method is to maintain the clutch status, reduce the frequency of clutch separation and combination, and solve the problem of poor clutch service life and comfort; however, the disadvantage of these methods is that if the gear is shifted after the startup is completed, the gear shift will be delayed and the gear shift will be delayed. When the engine speed increases, it may overspeed in serious cases, affecting the ride comfort/safety of the vehicle; if the engine is started after the gear shift is completed, the startup time will be delayed, and the engine will not be able to provide power in time, affecting the performance of the entire vehicle. Dynamic and smooth.

In response to the above problems, no effective solution has yet been proposed.

Contents of the invention

Embodiments of the present disclosure provide a vehicle gear shifting method and device to at least solve the problem of vehicle shifting in related technologies. When the vehicle is in gear, the gear shifting and engine starting cannot be controlled in a coordinated manner, resulting in technical problems such as low vehicle ride smoothness and poor safety.

According to an aspect of an embodiment of the present disclosure, a vehicle gear shifting method is provided, including: when the current vehicle enters a mid-shift startup mode, selecting a target startup strategy; using the target startup strategy to activate all Describe the current vehicle, and obtain the high-voltage motor status, actual operating gear, and target gear of the current vehicle; determine the target shift type based on the high-voltage motor status, actual operating gear, and target gear of the current vehicle; use The target shift type controls the current vehicle to start the engine during the shift process.

Optionally, before the current vehicle enters the shift start mode, the method further includes: obtaining the engine start and stop conditions of the current vehicle; determining whether to start the engine based on the engine start and stop conditions; and determining whether to start the engine based on the engine start and stop conditions. When it is determined to start the engine, it is determined whether the actual operating gear of the transmission is consistent with the target gear; when the actual operating gear of the transmission is inconsistent with the target gear, it is determined to enter the mid-shift start mode.

Optionally, the step of starting the current vehicle using the target starting strategy includes: using a low-pressure starter to drive the engine to rotate, and when the engine speed meets the fuel injection and ignition conditions, the engine starts fuel injection and ignition, and controls the engine speed. Rush up to the idle speed and maintain the idle running state; control the engine speed to the target speed, and at the same time control the separation clutch to start filling oil; after the engine speed reaches the target speed, control the separation clutch to start combining, so that the engine speed Synchronized with the speed of the high-voltage motor.

Optionally, the step of determining the target shift type based on the current high-voltage motor state of the vehicle, the actual operating gear and the target gear includes: indicating that the torque of the high-voltage motor is greater than the first torque when the high-voltage motor state threshold, and the target gear is greater than the actual operating gear, the target shift type is determined to be power upshift start; when the high-voltage motor status indicates that the torque of the high-voltage motor is greater than the first torque threshold, And when the target gear is smaller than the actual operating gear, the target shift type is determined to be a power downshift to start the engine; when the high-voltage motor status indicates that the torque of the high-voltage motor is less than the first torque threshold, and the When the target gear is greater than the actual operating gear, the target shift type is determined to be a coasting upshift to start the engine; when the high-voltage motor status indicates that the torque of the high-voltage motor is less than the first torque threshold, and the target When the gear position is smaller than the actual operating gear position, the target shift type is determined to be a coasting downshift to start the engine.

Optionally, when the target shift type is a power upshift to start or a coasting downshift to start, the target shift type is used to control the step of starting the engine of the current vehicle during the shift process. , including: controlling the oil filling of the shift clutch in the target gear; controlling the torque transmission of the transmission from the shift clutch in the actual operating gear to the shift clutch in the target gear; controlling the motor speed, or controlling the motor The speed of the engine assembly changes from the speed of the transmission input shaft corresponding to the actual operating gear to the speed of the transmission input shaft corresponding to the target gear; when the speed of the transmission input shaft corresponding to the target gear is reached , it is determined that the current vehicle has completed the power upshift operation or the coasting downshift operation; after the current vehicle has completed During power upshift operation or coasting downshift operation, the engine is controlled to start smoothly.

Optionally, during the process of the current vehicle completing the power upshift operation, the step of controlling the engine to start smoothly includes: upon receiving an engine start request, starting to control the low-voltage starter to start the engine, and completing In the first stage of engine starting, during the process of controlling the low-voltage starter to start the engine, the closed-loop feedback torque of the motor is used to control the motor speed to reach the target speed; the low-voltage starter is controlled to complete the engine starting in the first stage to the third stage. The separation clutch is combined; the low-voltage starter is controlled to complete the power source torque switching from the third stage separation clutch combination to the fourth stage. Among them, after the third stage separation clutch combination is completed, the third stage separation clutch combination is obtained. The transmission input shaft speed corresponding to the actual operating gear plus the second speed deviation is obtained. The transmission input shaft speed corresponding to the target gear is obtained plus the second speed deviation. The transmission input shaft speed corresponding to the actual operating gear is obtained and the target gear is obtained. The transmission input shaft speed is added to the second speed deviation according to the preset transition curve; the current vehicle is controlled to complete the power source torque switching in the fourth stage, and the target speed of the motor returns to the normal state, so that the engine can start smoothly. In the process of returning to the normal state, the transmission input shaft speed corresponding to the target gear plus the first speed deviation is controlled.

Optionally, controlling the low-voltage starter to complete the steps of starting the engine in the first stage to coupling the separation clutch in the third stage includes: after controlling the low-voltage starter to complete starting the engine in the first stage, controlling the low-voltage starter. When the engine is started and enters the second engine synchronization stage, the target engine speed is equal to the motor speed plus the preset speed deviation; when the low-voltage starter starts the engine and enters the separation clutch coupling stage of the third stage, the target speed of the engine is controlled to reach the motor control level. The target speed of the motor during the rotation process connects the engine as a power input source to the power transmission system.

Optionally, controlling the low-pressure starter to complete the step of switching the power source torque to the fourth stage by combining the separation clutch in the third stage includes: after controlling the low-voltage starter to start the engine and combining the separation clutch in the third stage, Control the engine torque to increase to the driving request torque at the maximum rate; determine the closed-loop feedback torque based on the driving request torque and the motor target speed during the shift clutch control speed process, and combine the closed-loop feedback torque to control the motor speed to reach the shift clutch control speed Motor target speed during the process.

Optionally, when the target shift type is a power downshift to start or a coasting upshift to start, the target shift type is used to control the step of starting the engine of the current vehicle during the shift process. , including: controlling the speed of the motor or the speed of the combination of the motor and the engine, changing from the speed of the transmission input shaft corresponding to the actual operating gear to the speed of the transmission input shaft corresponding to the target gear, and at the same time, controlling the shift clutch of the target gear Filling with oil; controlling the torque transmission of the transmission from the shift clutch of the actual operating gear to the target gear clutch, enabling the current vehicle to complete the power downshift operation or the coasting upshift operation, thereby controlling the engine to start smoothly .

According to another aspect of the embodiment of the present disclosure, a vehicle gear shifting device is also provided, including: a selection unit, Set to select a target start strategy when the current vehicle enters the mid-shift start mode; a processing unit configured to start the current vehicle using the target start strategy and obtain the high-voltage motor status of the current vehicle , the actual operating gear and the target gear; the first determination unit is configured to determine the target shift type based on the high-voltage motor status of the current vehicle, the actual operating gear and the target gear; the control unit is configured to use the The target shift type controls the current vehicle to start the engine during the shift process.

Optionally, the vehicle's gear shifting device further includes an acquisition unit configured to acquire the engine start-stop conditions of the current vehicle before the current vehicle enters the shift start mode; a first judgment unit configured to acquire the engine start-stop condition based on the engine The start-stop condition determines whether the engine is to be started; the second determination unit is configured to determine whether the actual operating gear of the transmission is consistent with the target gear when the engine start-stop condition determines that the engine is to be started; the second determination unit , is set to determine to enter the mid-shift start mode when the actual operating gear of the transmission is inconsistent with the target gear.

Optionally, the processing unit includes: a first processing subunit, which is configured to use a low-pressure starter to drive the engine to rotate. When the engine speed meets the fuel injection and ignition conditions, the engine starts fuel injection and ignition, and controls the engine speed to rise to the idle speed. , to maintain the idle running state; the first control subunit is set to control the engine speed to the target speed, and at the same time control the separation clutch to start filling oil; the second control subunit is set to control the separation after the engine speed reaches the target speed. The clutch begins to engage to synchronize the engine's speed with that of the high-voltage motor.

Optionally, the first determination unit includes: a first determination sub-unit configured to indicate that the torque of the high-voltage motor is greater than the first torque threshold when the high-voltage motor state is, and the target gear is greater than the actual operating gear. In the case of , it is determined that the target shift type is power upshift start; the second determination subunit is configured to indicate that the torque of the high-voltage motor is greater than the first torque threshold when the high-voltage motor state is, and the target gear is less than In the case of the actual operating gear, it is determined that the target shift type is power downshift start; the third determination subunit is configured to indicate that the torque of the high-voltage motor is less than the first torque threshold in the state of the high-voltage motor, and When the target gear is greater than the actual operating gear, the target shift type is determined to be a coasting upshift start; the fourth determination subunit is configured to indicate that the torque of the high-voltage motor is less than When the first torque threshold is the first torque threshold and the target gear is smaller than the actual operating gear, the target shift type is determined to be a coasting downshift to start the engine.

Optionally, the control unit further includes: a third control subunit configured to control the shift in the target gear when the target shift type is a power upshift start or a coasting downshift start. The gear clutch is filled with oil; the fourth control subunit controls the torque transmission of the transmission from the shift clutch of the actual operating gear to the shift clutch of the target gear; the fifth control subunit is configured to control the motor speed, or, control The rotational speed of the motor and engine combination changes from the transmission input shaft rotational speed corresponding to the actual operating gear to the transmission input shaft rotational speed corresponding to the target gear; the fifth determination subunit is configured to operate when the target gear is reached The corresponding transmission In the case of input shaft speed, it is determined that the current vehicle has completed a power upshift operation or a coasting downshift operation; the sixth control subunit is configured to complete a power upshift operation or a coasting downshift operation when the current vehicle has completed the power upshift operation or coasting downshift operation. During the gear shifting operation, the engine is controlled to start smoothly.

Optionally, the sixth control subunit also includes: a first control module configured to start controlling the low-voltage starter to start the engine upon receiving an engine start request, and complete the first stage of engine start, wherein, after controlling the low-pressure starter When the starter starts the engine, the motor's closed-loop feedback torque is used to control the motor speed to reach the target speed; the second control module is set to control the low-voltage starter from the first stage of engine starting to the third stage of separation clutch engagement. ; The third control module is configured to control the low-voltage starter, completing the power source torque switching from the third stage separation clutch combination to the fourth stage, wherein the third stage separation clutch combination completes the third stage separation clutch combination. Then, obtain the transmission input shaft speed corresponding to the actual operating gear plus the second speed deviation, obtain the transmission input shaft speed corresponding to the target gear plus the second speed deviation, obtain the transmission input shaft speed corresponding to the actual operating gear and the target The transmission input shaft speed corresponding to the gear position is added to the second speed deviation according to the preset transition curve; the fourth control module is set to control the current vehicle to complete the power source torque switching in the fourth stage until the target speed of the motor returns to Normal state, so as to make the engine start smoothly, wherein, during the process of returning to the normal state, the transmission input shaft speed corresponding to the target gear plus the first speed deviation is controlled.

Optionally, the second control module includes: a first processing submodule configured to control the low-voltage starter to start the engine and enter the second-stage engine synchronization stage after controlling the low-voltage starter to complete the first stage of starting the engine. The target speed is equal to the motor speed plus the preset speed deviation; the second processing submodule is configured to control the target speed of the engine to reach the motor-controlled speed when the low-voltage starter starts the engine and enters the third stage of separation clutch combination. The target speed of the motor connects the engine as a power input source to the power transmission system.

Optionally, the third control module includes: a first control sub-module configured to control the engine torque to increase to the driving request torque at the maximum rate after controlling the engagement of the separation clutch in the third stage of starting the engine by the low-voltage starter; the determining sub-module The module is configured to determine the closed-loop feedback torque based on the driving request torque and the motor target speed during the shift clutch control speed process, and combine the closed-loop feedback torque to control the motor speed to reach the motor target speed during the shift clutch control speed process.

Optionally, the control unit also includes: a seventh control subunit, configured to control the motor speed or a combination of the motor and the engine when the target shift type is a power downshift start or a coasting upshift start. The speed of the body changes from the speed of the transmission input shaft corresponding to the actual operating gear to the speed of the transmission input shaft corresponding to the target gear, and at the same time, controls the oil filling of the shift clutch of the target gear; the eighth control subunit is configured to control the transmission The torque transmission is switched from the shift clutch of the actual operating gear to the target gear clutch, enabling the current vehicle to complete the power downshift operation or the coasting upshift operation, thereby controlling the engine to start smoothly.

In the present disclosure, when the current vehicle enters the mid-shift startup mode, a target startup strategy is first selected, and then the current vehicle is started using the target startup strategy, and the high-voltage motor status of the current vehicle is obtained. The actual operating gear and the target gear, and then based on the high-voltage motor status of the current vehicle, the actual operating gear and the target gear, the target shift type is determined, and finally the target shift type is used to control the current vehicle in The engine starts during gear shifting. In this application, the starting strategy is first selected, and then the shift type is determined according to the vehicle status and target gear requirements, and the engine start is controlled according to the shift type, thereby achieving the purpose of coordinated shift and engine start control. In order to improve the technical effect of vehicle smoothness, comfort and safety during the vehicle shifting process, it further solves the problem in related technologies that when the vehicle is shifting gears, the gear shifting and the engine start cannot be controlled in a coordinated manner, resulting in low smoothness and low safety of the vehicle. Poor technical issues.

Description of the drawings

The drawings described here are used to provide a further understanding of the present disclosure and constitute a part of the present application. The illustrative embodiments of the present disclosure and their descriptions are provided to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the attached picture:

Figure 1 is a flow chart of an optional vehicle gear shifting method according to an embodiment of the present disclosure;

Figure 2 is a flow chart of an optional mid-shift engine start control method according to an embodiment of the present disclosure;

Figure 3 is a structural diagram of an optional P2 configuration hybrid vehicle shifting system according to an embodiment of the present disclosure;

Figure 4 is a flow chart of a starting process of an optional low-voltage starter starting method according to an embodiment of the present disclosure;

Figure 5 is a flow chart of an optional power upshift process according to an embodiment of the present disclosure;

Figure 6 is a flow chart of a control process of an optional low-voltage starter to start the engine according to an embodiment of the present disclosure;

Figure 7 is a schematic diagram of rotation speed and torque changes during an optional power upshift starting control process according to an embodiment of the present disclosure;

Figure 8 is a schematic diagram of an optional power downshift and coasting upshift process according to an embodiment of the present disclosure;

Figure 9 is a schematic diagram of an optional coasting downshift shifting process according to an embodiment of the present disclosure;

FIG. 10 is a schematic diagram of an optional vehicle shifting device according to an embodiment of the present disclosure.

Detailed ways

In order to enable those skilled in the art to better understand the present disclosure, the following will be combined with the examples in the present disclosure. The accompanying drawings clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of protection of this disclosure.

It should be noted that the terms "first", "second", etc. in the description and claims of the present disclosure and the above-mentioned drawings are set to distinguish similar objects, and are not necessarily set to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances so that the embodiments of the disclosure described herein can be practiced in sequences other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus that encompasses a series of steps or units and need not be limited to those explicitly listed. Those steps or elements may instead include other steps or elements not expressly listed or inherent to the process, method, product or apparatus.

The present disclosure can be used in various automatic driving systems\software\products, especially in electric vehicles or hybrid vehicles based on new energy vehicles. For example, P2 configuration hybrid vehicles can realize hybrid vehicle replacement. The method of starting the engine during the shifting process allows the engine to start and shift in a coordinated manner, so that the engine can provide power in a timely manner according to the shifting requirements to ensure the smoothness/comfort/safety of the hybrid vehicle.

New energy vehicles include three parts: electric drive system, power supply system and auxiliary system. The electric drive system includes electronic controllers, power converters, electric motors, mechanical transmission devices and wheels; the power system includes power supply, energy management system and charger; auxiliary system The system includes auxiliary power source, power steering system, navigation system, air conditioner, lighting and defrosting device, wiper and radio, etc.

This disclosure proposes a control method for engine starting during vehicle gear shifting. When a request to start the engine occurs during the gear shifting process, first select an appropriate starting method, and secondly, use the engine speed, motor speed, and transmission input shaft speed as control targets. According to different shift types, different control strategies are formulated to achieve coordinated control of engine start during the shift process. This method is conducive to improving the smoothness of the entire vehicle when the engine is started during the gear shifting process, thereby improving the dynamic comfort and safety performance of the entire vehicle, improving customer satisfaction with the vehicle product, and is conducive to enhancing the market competitiveness of the product. .

The present disclosure will be described in detail below with reference to various embodiments.

Embodiment 1

According to an embodiment of the present disclosure, a vehicle gear shifting method embodiment is provided. It should be noted that the steps shown in the flow chart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and ,Although a logical sequence is shown in the flowcharts, in some cases, the steps shown or described may be performed in a sequence different from that herein.

Figure 1 is a flow chart of an optional vehicle gear shifting method according to an embodiment of the present disclosure. As shown in Figure 1, the method includes the following steps:

Step S101: When the current vehicle enters the mid-shift startup mode, select a target startup strategy;

Step S102, use the target starting strategy to start the current vehicle, and obtain the high-voltage motor status, actual operating gear and target gear of the current vehicle;

Step S103, determine the target shift type based on the current vehicle's high-voltage motor status, actual operating gear, and target gear;

Step S104: Use the target shift type to control the current vehicle to start the engine during the shift process.

Through the above steps, when the current vehicle enters the mid-shift start mode, first select the target start strategy, then use the target start strategy to start the current vehicle, and obtain the current vehicle's high-voltage motor status, actual operating gear and target gear, and then determine the target shift type based on the current vehicle's high-voltage motor status, actual operating gear, and target gear. Finally, the target shift type is used to control the current vehicle to start the engine during the shift process. In this embodiment, the starting strategy is first selected, and then the shift type is determined according to the vehicle status and target gear requirements, and the engine start is controlled according to the shift type, thereby achieving the purpose of coordinated shifting and engine start control. The technical effect of improving the smoothness, comfort and safety of the vehicle during the vehicle shifting process is achieved, thereby solving the problem in related technologies that when the vehicle is shifting gears, the gear shifting and the engine start cannot be controlled in a coordinated manner, resulting in low smoothness and low driving smoothness of the vehicle. Technical issues with poor security.

The embodiments of the present disclosure will be described in detail below in conjunction with the above implementation steps.

As an optional implementation of this embodiment, before the current vehicle enters the shift start mode, it also includes: obtaining the engine start and stop conditions of the current vehicle; judging whether to start the engine based on the engine start and stop conditions; When the stopping condition determines that the engine needs to be started, it is determined whether the actual operating gear of the transmission is consistent with the target gear; when the actual operating gear of the transmission is inconsistent with the target gear, it is determined to enter the mid-shift start mode.

When the vehicle enters the shift start mode, the engine needs to be started because the high-voltage battery capacity is insufficient or the driver's demand for torque increases while the vehicle is driving. That is, the target gear selected by the driver is different from the actual gear, or the target gear is selected while driving. When the vehicle is a pure electric vehicle or a hybrid vehicle, the engine can be started when the battery capacity is insufficient, and the engine start and stop conditions of the current vehicle can be obtained. When the engine start and stop conditions determine that the engine should be started, the transmission can be judged Whether the actual operating gear of the transmission is consistent with the target gear; if the actual operating gear of the transmission is inconsistent with the target gear, it is determined to enter the mid-shift start mode.

Step S101: When the vehicle currently enters the mid-shift startup mode, select a target startup strategy.

Taking the P2 configuration hybrid vehicle (referring to a hybrid vehicle in which the motor is placed behind the clutch and in front of the gearbox) as an example, the starting strategy can include two starting methods, one is to use a low-voltage starter to start, and the other is to use a high-voltage motor to start. start up. For starting the engine during the shifting process, in order to avoid the rapid changes in torque and speed during the engine dragging and ignition process, which will cause the vehicle smoothness to deteriorate during the shifting process, a low-voltage starter can be used to start the engine. Since the clutch is disconnected during the engine dragging and ignition process In the separated state, the transient impact during engine starting will not be transmitted to the wheel ends, thus ensuring the smoothness of the vehicle.

Step S102: Use the target starting strategy to start the current vehicle, and obtain the high-voltage motor status, actual operating gear and target gear of the current vehicle.

Optionally, the steps to start the current vehicle using a target starting strategy include: using a low-pressure starter to drive the engine to rotate. When the engine speed meets the fuel injection ignition conditions, the engine starts fuel injection and ignition, and controls the engine speed to rise to idle speed. speed to maintain idling operation; control the engine speed to the target speed, and at the same time control the separation clutch to start filling oil; after the engine speed reaches the target speed, control the separation clutch to start combining to synchronize the engine speed with the high-voltage motor speed.

When the low-voltage starter starts the engine, the control process can be divided into the following four processes:

a) Engine starting process: The low-voltage starter drives the engine to rotate. When the engine speed meets the fuel injection and ignition conditions, the engine starts fuel injection and ignition, achieving a speed increase to the idle speed and maintaining the idle running state;

b) Speed synchronization process: The engine automatically adjusts its speed to the target speed set based on the high-voltage motor speed. At the same time, the separation clutch begins to fill with oil to prepare for the next stage of the clutch engagement process.

c) The separation clutch coupling process: After the engine speed reaches the target speed, the separation clutch is coupled at a certain rate, and finally the engine speed and the high-voltage motor speed are synchronized.

d) Power source torque switching process: the process of switching the power output from motor torque to engine torque.

Step S103: Determine the target shift type based on the current high-voltage motor status of the vehicle, the actual operating gear, and the target gear.

Optionally, the step of determining the target shift type based on the current vehicle's high-voltage motor status, actual operating gear, and target gear includes: indicating in the high-voltage motor status that the torque of the high-voltage motor is greater than the first torque threshold, and the target gear is If it is greater than the actual operating gear, determine that the target shift type is power upshift start; if the high-voltage motor status indicates that the torque of the high-voltage motor is greater than the first torque threshold, and the target gear is smaller than the actual operating gear, determine The target shift type is power downshift to start; when the high-voltage motor status indicates that the torque of the high-voltage motor is less than the first torque threshold, and the target gear is greater than the actual operating gear, the target shift type is determined to be coasting upshift to start. ;When the high-voltage motor status indicates that the torque of the high-voltage motor is less than the first torque threshold, and the target gear is smaller than the actual operating gear If the vehicle is in the right position, determine the target shift type as coasting downshift to start the engine.

It can be determined according to the state of the high-voltage motor, the actual gear position, and the target gear position to determine which type of shift start control is to be entered. Specifically, it may mean that when the torque of the high-voltage motor is greater than the first torque threshold and the target gear position is greater than the actual gear position, Select power upshift start control; when the torque of the high-voltage motor is greater than the first torque threshold and the target gear is smaller than the actual gear, select power downshift start control; when the torque of the high-voltage motor is less than the first torque threshold and the target gear When it is greater than the actual gear, coasting upshift start control is selected; when the torque of the high-voltage motor is less than the first torque threshold and the target gear is smaller than the actual gear, coasting downshift start control is selected.

An optional, when the target shift type is power upshift start or coasting downshift start, the target shift type is used to control the steps of the current vehicle to achieve engine start during the shift process, including: control Filling the shift clutch in the target gear; controlling the torque transmission of the transmission from the shift clutch in the actual operating gear to the shift clutch in the target gear; controlling the speed of the motor, or controlling the speed of the motor and engine combination , changes from the transmission input shaft speed corresponding to the actual operating gear to the transmission input shaft speed corresponding to the target gear; when reaching the transmission input shaft speed corresponding to the target gear, it is determined that the current vehicle has completed the power upshift shifting operation or Coasting downshift operation; when the current vehicle completes the power upshift operation or coasting downshift operation, the engine is controlled to start smoothly.

During the power upshift shifting process, it can be divided into three steps: a) Shift clutch oil filling: the shift clutch in the target gear is filled with oil to prepare for the next stage of clutch torque switching; b) Shifting Clutch torque switching: The torque transmission of the transmission is switched from the actual gear shift clutch to the target gear clutch to achieve speed ratio switching; c) Power source speed regulation: motor speed (the separation clutch is in a separated state) or the motor and engine The rotation speed of the combination (the separation clutch is in a combined state) changes from the transmission input shaft rotation speed corresponding to the actual gear position to the transmission input shaft rotation speed corresponding to the target gear position. When the transmission input shaft speed corresponding to the target gear is reached, it is determined that the current vehicle has completed the power upshift operation. During the process of the current vehicle completing the power upshift operation, the engine can be controlled to start smoothly, that is, the engine can be started smoothly. The engine start control process during power upshift shifting.

During the coasting downshift process, the coasting downshift process is also divided into three steps: a) Shift clutch oil filling: The shift clutch in the target gear is filled with oil to prepare for the next stage of clutch torque switching; b ) Shift clutch torque switching: The torque transmission of the transmission is switched from the shift clutch of the actual gear to the target gear clutch to realize the switching of speed ratio; c) Power source speed regulation: Motor speed (the separation clutch is in a disconnected state) or The rotational speed of the motor and engine combination (the separation clutch is in a combined state) changes from the transmission input shaft rotational speed corresponding to the actual gear to the transmission input shaft rotational speed corresponding to the target gear. When the transmission input shaft speed corresponding to the target gear is reached, it is determined that the current vehicle has completed the coasting downshift operation. During the process of the current vehicle completing the coasting downshift operation, the engine can be controlled to start smoothly, that is, the coasting downshift operation is performed. The engine start control process during the gear shifting operation.

The function of the recovery process: After the start-up process is completed, the slipping speed of the shift clutch returns from the second speed deviation to the first speed deviation, and normal driving and shifting control are performed.

The engine starting control process during the coasting downshift is the same as the engine starting process during the coasting upshift, and the control content of each process is also the same.

The following is a detailed description of the steps to control the engine to start smoothly when the current vehicle completes the power upshift operation.

An optional step to control the smooth start of the engine during the current vehicle's completion of the power upshift operation, including: upon receiving an engine start request, start to control the low-voltage starter to start the engine, and complete In the first stage of engine starting, during the process of controlling the low-voltage starter to start the engine, the closed-loop feedback torque of the motor is used to control the motor speed to reach the target speed; the low-voltage starter is controlled to complete the engine starting in the first stage to the third stage. The separation clutch is combined; the low-voltage starter is controlled to complete the power source torque switching from the third stage separation clutch combination to the fourth stage. Among them, after the third stage separation clutch combination is completed, the third stage separation clutch combination is obtained. The transmission input shaft speed corresponding to the actual operating gear plus the second speed deviation is obtained. The transmission input shaft speed corresponding to the target gear is obtained plus the second speed deviation. The transmission input shaft speed corresponding to the actual operating gear is obtained and the target gear is obtained. The transmission input shaft speed is added to the second speed deviation according to the preset transition curve; the current vehicle is controlled to complete the power source torque switching in the fourth stage, and the target speed of the motor returns to the normal state, so that the engine can start smoothly. In the process of returning to the normal state, the transmission input shaft speed corresponding to the target gear plus the first speed deviation is controlled.

The smooth engine starting process during the power upshift shifting process: it can be the four stages of the starting process of the low-voltage starter starting method, that is, the first stage engine starting process, the second stage speed synchronization process, and the third stage The separation clutch is combined and the fourth stage power source torque is switched.

Specifically, it can refer to the four control processes of starting the engine based on the low-voltage starter in the above-mentioned starting method selection. Through specific control of the shift clutch, high-voltage motor speed, and engine speed, smooth power output of the entire vehicle is achieved. Figure 6 is based on this The flow chart of the control process of starting the engine with an optional low-voltage starter according to the disclosed embodiment is shown in Figure 6. The power upshift and start-up control process can be divided into four control stages. The four control stages can be It is the pre-control process, the motor-controlled speed process, the shift clutch speed-controlled process, and the recovery process. FIG. 7 is a schematic diagram of the changes in rotation speed and torque during an optional power upshift start control process according to an embodiment of the present disclosure. Combined with the changes in rotation speed and torque during the power upshift start control process in FIG. The four control stages and the four stages of the low-voltage starter starting process describe the steps to control the engine to start smoothly when the current vehicle completes the power upshift operation:

a) Pre-control process: from receiving the engine start request to the low-voltage starter starting the first stage of engine starting After the engine startup is completed, the actions of each component are as follows: Engine: The low-voltage starter drives the engine to rotate. When the engine speed meets the fuel injection and ignition conditions, the engine starts fuel injection and ignition. After the speed reaches above the idle speed, it maintains the idle running state; Motor: outputs torque according to the driving request torque; shift clutch: controls the motor speed to reach the motor target speed in the pre-control process by using the motor torque as the feedforward torque and the closed-loop feedback torque based on the difference between the motor speed and the motor target speed in the pre-control process. , wherein the motor target speed in the pre-control process may specifically refer to the transmission input shaft speed corresponding to the actual gear plus the first speed deviation. The role of the above pre-control process: the engine is started through the low-voltage starter. Since the separation clutch is in the separated state, the influencing factors of the engine starting process will not be transmitted to the 9-wheel end. Therefore, the shift clutch still maintains the control of the original shift process. .

b) Motor-controlled speed process: From the completion of the engine starting in the first stage of starting the engine with the low-voltage starter to the completion of the separation clutch combination in the third stage, the actions of each component are as follows: Engine: The engine performs autonomous speed control to make the engine speed reach the motor-controlled speed. Process engine target speed; motor: By using the driving request torque as the feedforward torque and the closed-loop feedback torque based on the difference between the motor speed and the motor target speed during the motor control speed process, the motor speed is controlled to reach the motor target speed during the motor control speed process; gear shifting Clutch: According to the driving request torque, the clutch is combined with the torque input for open-loop control.

c) Shift clutch speed control process: From the completion of the separation clutch combination in the third stage of starting the engine with the low-voltage starter to the completion of the fourth stage power source torque switching, the actions of each component are as follows: Engine: The engine torque increases at the maximum achievable rate to the driving request torque; motor: the motor torque is equal to the driving request torque minus the engine torque; the shift clutch: the difference between the motor target speed in the process of controlling the speed by using the driving request torque as the feedforward torque and the motor speed and the shift clutch The closed-loop feedback torque controls the motor speed to reach the motor target speed during the shift clutch control speed process.

d) Recovery process: From the completion of the fourth stage power source torque switching to the motor target speed returning to the normal state, the recovery process motor target speed specifically refers to the target transmission input shaft speed plus the target transmission input shaft speed in the speed regulation stage corresponding to the target gear. First speed deviation.

Optionally, the steps of controlling the low-voltage starter to complete the first stage of engine starting to the third stage of separation clutch coupling include: after controlling the low-voltage starter to complete the first stage of starting the engine, controlling the low-voltage starter to start the engine. Entering the second stage of the engine synchronization stage, the target engine speed is equal to the motor speed plus the preset speed deviation; when the low-voltage starter starts the engine and enters the third stage of separation clutch combination stage, the target speed of the engine is controlled to reach the motor controlled speed. The target speed of the motor connects the engine as a power input source to the power transmission system.

The engine target speed during the motor-controlled speed process specifically refers to the engine speed synchronization stage in the second stage of the low-voltage starter starting the engine. The engine target speed during the motor-controlled speed process is equal to the motor speed plus the third speed deviation; in the low-voltage starter starting the engine, the engine target speed is equal to the motor speed plus the third speed deviation. In the three-stage separation clutch coupling stage, the engine target speed in the motor-controlled speed process is equal to the motor target speed in the above-mentioned motor-controlled speed process.

Optionally, control the low-pressure starter to complete the step of power source torque switching from the third stage separation clutch combination to the fourth stage, including: after the third stage separation clutch combination is completed, Control the engine torque to increase to the driving request torque at the maximum rate; determine the closed-loop feedback torque based on the driving request torque and the motor target speed during the shift clutch control speed process, and combine the closed-loop feedback torque to control the motor speed to reach the shift clutch control speed process The target speed of the motor, where the calculation steps of the target speed of the motor during the clutch control speed process include: obtaining the transmission input shaft speed corresponding to the actual operating gear plus the second speed deviation; obtaining the transmission input corresponding to the target gear The shaft speed is added to the second speed deviation; the transmission input shaft speed corresponding to the actual operating gear and the transmission input shaft speed corresponding to the target gear are obtained, and the second speed deviation is added according to the preset transition curve.

The above process will be explained based on the various components of driving a car. From the completion of the separation clutch combination in the third stage of starting the engine with the low-voltage starter to the completion of the power source torque switching in the fourth stage, the actions of each component are as follows: Engine: The engine torque is as high as achievable. The maximum rate increases to the driving request torque; motor: the motor torque is equal to the driving request torque minus the engine torque; shift clutch: the motor target speed in the speed control process by using the driving request torque as the feedforward torque and using the motor speed and the shift clutch The difference of the closed-loop feedback torque, combined with the closed-loop feedback torque, controls the motor speed to reach the motor target speed during the clutch control speed process, that is, by using the driving request torque as the feedforward torque and the motor speed and the motor control speed. The closed-loop feedback torque of the difference between the process motor target speed controls the motor speed to reach the motor control speed process motor target speed.

The target speed of the motor during the speed control process of the gear shifting clutch may specifically refer to the transmission input shaft speed corresponding to the actual gear plus the second speed before the start of the power source speed regulation process in the third stage of the power upshift. Deviation; after the power source speed adjustment process in the third stage of power upshift is completed, take the transmission input shaft speed corresponding to the target gear plus the second speed deviation; during the power source speed adjustment process in the third stage of power upshift ; Take the transmission input shaft speed corresponding to the actual gear and the transmission input shaft speed corresponding to the target gear and add the second speed deviation according to the preset transition curve.

The function of the gear shifting clutch speed control process: after the separation clutch combination is completed, the torque switching of the power source must be performed. Due to the different torque response characteristics of the engine and the motor, the output torque may be uneven during the power source torque switching process. There is a large speed difference and the torque of the shift clutch is adopted by the input shaft that still maintains the power source and transmission speed. Driving demand torque is used as a feedforward torque method to ensure the smoothness of the vehicle. Since the separation clutch has been combined, the rotational inertia of the power source has been redetermined, and the electric motor can be controlled through the shift clutch. The engine speed reaches the target speed to prepare for the shifting process to return to normal state.

An optional, when the target shift type is power downshift to start or coasting upshift to start, the target shift type is used to control the steps of the current vehicle to achieve engine start during the shift process, including: control The motor speed or the speed of the combination of the motor and the engine changes from the transmission input shaft speed corresponding to the actual operating gear to the transmission input shaft speed corresponding to the target gear. At the same time, the oil filling of the shift clutch of the target gear is controlled; control The torque transmission of the transmission is switched from the shift clutch of the actual operating gear to the target gear clutch, allowing the current vehicle to complete the power downshift operation or the coasting upshift operation, thereby controlling the engine to start smoothly.

The power downshift shifting process is divided into two steps: a) Power source speed regulation: the motor speed (the separation clutch is in the separated state) or the speed of the motor and engine combination (the separation clutch is in the combined state) is adjusted from the actual gear position The corresponding transmission input shaft speed changes to the transmission input shaft speed corresponding to the target gear; at the same time, the shift clutch of the target gear is filled with oil to prepare for the next stage of clutch torque switching; b) Shift clutch torque switching: The torque transmission is switched from the shift clutch of the actual gear to the target gear clutch to realize the switching of the speed ratio. The engine starting control process during the power downshift is the same as the engine starting process during the power upshift described above, and the control content of each process is also the same.

During the coasting upshift process, the coasting upshift process is divided into two steps. a) Power source speed regulation: motor speed (the separation clutch is in the separated state) or the speed of the motor and engine combination (the separation clutch is in the separation state). Combined state) changes from the transmission input shaft speed corresponding to the actual gear to the transmission input shaft speed corresponding to the target gear; at the same time, the shift clutch of the target gear is filled with oil to prepare for the next stage of clutch torque switching; b)

Shift clutch torque switching: The torque transmission of the transmission is switched from the shift clutch of the actual gear to the target gear clutch to achieve speed ratio switching.

The engine start control process during coasting upshift. The engine start control process during the coasting upshift is the same as the engine start process during the power upshift, but the calculation of the target speed in the control content is different. The details of the differences are as follows: a) Pre-control process The difference: During the engine start control process during the coasting upshift, the motor target speed during the pre-control process specifically refers to the transmission input shaft speed corresponding to the actual gear minus the first speed deviation. b) The difference in the motor-controlled speed process: During the coasting upshift process and the engine start control process, the motor target speed during the motor-controlled speed process specifically refers to the transmission input shaft speed corresponding to the actual gear minus the second speed. deviation.

The engine target speed during the motor-controlled speed process specifically refers to the engine synchronization stage in the second stage of starting the engine with the low-voltage starter. The engine target speed during the motor-controlled speed process is equal to the motor speed minus the third speed deviation. In the separation clutch coupling stage of the third stage of starting the engine with the low-voltage starter, the engine target speed in the motor speed control process is equal to the motor target speed in the motor pre-control process mentioned above;

The role of the motor speed control process: The engine speed synchronization and clutch combination process is to connect the engine as a power input source to the power transmission system. In order to avoid affecting the wheel end of the vehicle, the engine speed < motor speed < transmission input shaft speed The target speed control method ensures the direction of torque transmission, and the open-loop control method of the shift clutch torque using only the driving request torque as input ensures that the torque transmitted to the wheel ends is smooth, thereby ensuring the smoothness of the vehicle.

This embodiment proposes a method for controlling the engine start during the vehicle shifting process. When a request to start the engine occurs during the shifting process, first select an appropriate starting method, and secondly, use the engine speed, motor speed, and transmission input shaft speed as control targets. , according to different shift types, different control strategies are formulated to achieve coordinated control of engine start during the shift process. It is beneficial to improve the smoothness of the entire vehicle when the engine is started during the gear shifting process, thereby improving the dynamic comfort of the entire vehicle.

The present disclosure is described below in conjunction with another optional embodiment.

Embodiment 2

The embodiment of the present disclosure, combined with a schematic hybrid vehicle architecture, illustrates another optional vehicle shifting method, which can start control during the shift, that is, perform start control on the engine during the shift process. , Figure 2 is a flow chart of an optional mid-shift engine start control method according to an embodiment of the present disclosure. As shown in Figure 2, the mid-shift engine start control process is as follows:

(1) Judgment of starting conditions during shifting: It can be judged whether to enter the starting control mode during shifting based on the actual gear position, target gear and starting request;

(2) Start mode selection: After entering the mid-shift startup control mode, select a specific startup method;

(3) After determining the starting mode, determine the shifting type: determine which type of shifting to start the engine control process according to the status of the high-voltage motor, actual gear, and target gear. The shifting type can be power up Gear shift, power downshift, coasting upshift, coasting downshift.

(4) According to the shift type, enter the startup control process corresponding to the shift type: the above startup control method can be power upshift startup control, power downshift startup control, coasting upshift startup control, Coasting downshift start control, among which,

Power upshift start control: It can be the engine start control process during the power upshift process;

Power downshift start control: It can be the engine start control process during the power downshift shifting process;

Coasting upshift start control: It can be the engine start control process during the coasting upshift process;

Coasting downshift start control: It can be the engine start control process during coasting downshift.

This embodiment provides an engine start control method during vehicle gear shifting, which can be configured as a hybrid vehicle in the P2 configuration, and can also be configured as other types of hybrid vehicles or electric vehicles, and hybrid vehicles in other configurations. Vehicle, Figure 3 is a structural diagram of an optional P2 configuration hybrid vehicle shifting system according to an embodiment of the present disclosure, as shown in Figure 3:

First, let’s explain the numbers in the figure and their corresponding structural meanings:

In the picture: 1-low-voltage starter; 2-engine; 3-separation clutch; 4-high-voltage motor; 5-shift clutch; 6-transmission input shaft; 7-transmission; 8-transmission output shaft; 9-wheels.

The shift clutch generally refers to the clutch mechanism between the transmission and the power input source, not a specific clutch. For example: for a DCT transmission (Dual-clutch Transmission, dual-clutch automatic transmission), the shift clutch represents the two clutches of the odd-numbered shaft and the even-numbered shaft; for an AT transmission (Automatic Transmission, hydraulic automatic transmission), the shift clutch The gear clutch represents the combination of clutches and brakes with different speed ratios implemented by the planetary gear mechanism, the hydraulic torque converter and its locking clutch; for the AMT transmission (Automated Manual Transmission, electronically controlled mechanical automatic transmission), the gear shift clutch represents is a single clutch in the transmission; for a CVT transmission (Continuously Variable Transmission, mechanical stepless automatic transmission), the shift clutch represents the hydraulic torque converter and its locking clutch.

The transmission input shaft generally refers to the transmission input shaft calculated based on the output shaft speed and gear ratio, and does not represent a specific physical shaft. For example: the transmission target gear input shaft speed is equal to the transmission output shaft speed multiplied by the target gear ratio; the transmission actual gear input shaft speed is equal to the transmission output shaft speed multiplied by the actual gear ratio.

There are two main ways to start the P2 configuration hybrid: one is to use a low-voltage starter to start, and the other is to use a high-voltage motor to start. For starting the engine during the shifting process, in order to avoid the rapid changes in torque and speed during engine dragging and ignition, which will lead to the deterioration of the smoothness of the entire vehicle during the shifting process, a low-voltage starter is used to start the engine. Since the separation clutch is in the state during engine dragging and ignition, In the separated state, the transient impact during engine starting will not be transmitted to the wheel ends, thus ensuring the smoothness of the vehicle.

Each step of the engine control process during gear shifting is explained in detail below.

1. Judgment of starting conditions during gear shifting.

During the judgment of the starting process during shifting, it is judged based on the actual gear position, target gear and starting request whether to enter the starting control mode during shifting. Specifically, it refers to when the vehicle control unit determines to start the engine based on the engine start and stop conditions. When, it is judged whether the actual gear position of the transmission is consistent with the target gear position. If they are inconsistent, the engine control mode is entered during gear shifting.

2. Select the boot method.

In the selection of starting method, select a specific starting method, which may specifically refer to the starting method of using a low-voltage starter to start the engine. Figure 4 is a flow chart of the starting process of an optional low-voltage starter starting method according to an embodiment of the present disclosure. The low-voltage starter starts the engine starting method. The control process is divided into the following four processes, as shown in Figure 4 Shown:

1) Engine starting process: The low-voltage starter drives the engine to rotate. When the engine speed meets the fuel injection and ignition conditions, the engine starts fuel injection and ignition, achieving a speed increase to the idle speed and maintaining the idle running state;

2) Speed synchronization process: The engine automatically adjusts its speed to the target speed set based on the high-voltage motor speed. At the same time, the separation clutch begins to fill with oil to prepare for the next stage of the clutch engagement process.

3) The separation clutch binding process: After the engine speed reaches the target speed, the separation clutch is combined at a certain rate, and finally the engine speed and the high-voltage motor speed are synchronized.

4) Power source torque switching process: the process of switching the power output from motor torque to engine torque.

3. Determine the shift type.

During the determination of the shift type, it is determined according to the status of the high-voltage motor, the actual gear position, and the target gear to determine which type of shift start control will be entered. Specifically, it means that when the torque of the high-voltage motor is greater than the first torque threshold and the target gear is greater than the actual When the gear is in gear, the power upshift start control is selected; when the torque of the high-voltage motor is greater than the first torque threshold and the target gear is smaller than the actual gear, the power downshift start control is selected; when the torque of the high-voltage motor is less than the first torque threshold And when the target gear is greater than the actual gear, coasting upshift start control is selected; when the torque of the high-voltage motor is less than the first torque threshold and the target gear is smaller than the actual gear, coasting downshift start control is selected.

4. According to the shift type determined in the shift type determination, enter the startup control process of the shift type.

The mid-shift engine control for each shift type is described in detail below.

4.1 Power upshift start control.

1) Power upshift shifting process. Figure 5 is a flow chart of an optional power upshift process according to an embodiment of the present disclosure. As shown in Figure 5, the power upshift process is divided into three steps:

a) Shift clutch oil filling: The shift clutch of the target gear is filled with oil to prepare for the next stage of clutch torque switching;

b) Shift clutch torque switching: The torque transmission of the transmission is switched from the shift clutch of the actual gear to the target gear clutch to achieve speed ratio switching;

c) Power source speed regulation: The motor speed (the separation clutch is in the separated state) or the speed of the motor and engine combination (the separation clutch is in the combined state) changes from the transmission input shaft speed corresponding to the actual gear to the transmission corresponding to the target gear. Input shaft speed.

2) The engine start control process during the power upshift shifting process: specifically refers to the four control processes of starting the engine according to the low-voltage starter selected in the above-mentioned starting method. By specifying the shift clutch, high-voltage motor speed, and engine speed, Control to achieve smooth vehicle power output. Figure 6 is a flow chart of the control process of an optional low-voltage starter to start the engine according to an embodiment of the present disclosure. As shown in Figure 6, it can be divided into four control stages. The four control stages can be the pre-control process, the motor-controlled speed process, the shift clutch speed-controlled process, and the recovery process. Figure 7 is a schematic diagram of changes in rotational speed and torque during an optional power upshift start control process according to an embodiment of the present disclosure. As shown in Figure 7, the shift start control includes four stages (embodied in Figure 7 Top): pre-control process, motor-controlled speed process, shift clutch speed-controlled process, recovery process; and the starting process includes: engine starting, speed synchronization, separation clutch combination and power source torque switching; on the left side of Figure 7 It illustrates two reference quantities regarding speed (such as the first speed difference, the second speed difference and the third speed difference, the high-voltage motor speed and the engine speed at different stages illustrated in Figure 7), torque and shift clutch. The changing state; the bottom side of Figure 7 illustrates the shifting process, including: shifting clutch oil filling, shifting clutch torque exchange, and power source speed adjustment; the rightmost side of Figure 7 shows the shifting process at different stages. The gear reference quantity includes: actual gear transmission input shaft speed, target gear transmission input shaft speed, separation clutch torque, engine torque, high-voltage motor torque, target gear shift clutch torque and actual gear shift clutch torque.

The following describes the four control stages in Figure 6 in conjunction with the changes in speed and torque during the power upshift starting control process in Figure 7:

a) Pre-control process:

From the reception of the engine start request to the completion of the first stage of engine starting by the low-voltage starter, the actions of each component are as follows:

Engine: The low-voltage starter drives the engine to rotate. When the engine speed meets the fuel injection and ignition conditions, the engine starts fuel injection and ignition. After the speed reaches above the idle speed, it maintains the idle running state;

Motor: output torque according to driving request torque;

Shift clutch: By using the motor torque as the feedforward torque and the closed-loop feedback torque using the difference between the motor speed and the motor target speed in the pre-control process, the motor speed is controlled to reach the motor target speed in the pre-control process, where the motor target speed in the pre-control process is , specifically may refer to the transmission input shaft speed corresponding to the actual gear plus the first speed deviation.

The role of the above pre-control process: the engine is started through the low-voltage starter. Since the separation clutch is in the disconnected state, the influencing factors of the engine starting process will not be transmitted to the wheels. Therefore, the shift clutch still maintains the original shifting state. Blocking process control.

b) Motor speed control process.

From the completion of the engine starting in the first stage of starting the engine with the low-voltage starter to the completion of the separation clutch coupling in the third stage, the actions of each component are as follows:

Engine: The engine performs autonomous speed control to make the engine speed reach the engine target speed during the motor-controlled speed process;

Motor: By using the driving request torque as the feedforward torque and the closed-loop feedback torque based on the difference between the motor speed and the motor target speed during the motor control speed process, the motor speed is controlled to reach the motor target speed during the motor control speed process;

Shift clutch: According to the driving request torque, the clutch is combined with the torque input open-loop control;

The motor target speed in the motor control speed process specifically refers to the transmission input shaft speed corresponding to the actual gear plus the second speed deviation. The value of the second speed deviation is greater than the first speed deviation.

The engine target speed during the motor-controlled speed process specifically refers to the engine synchronization stage in the second stage of starting the engine with the low-voltage starter (corresponding to the speed synchronization in Figure 7). The engine target speed during the motor-controlled speed process is equal to the motor speed plus the third speed. Deviation; In the separation clutch combination stage of the third stage of starting the engine with the low-voltage starter, the engine target speed in the motor-controlled speed process is equal to the motor target speed in the motor-controlled speed process mentioned above.

The role of the motor speed control process: The engine speed synchronization and clutch combination process is to connect the engine as a power input source to the power transmission system. In order to avoid affecting the vehicle wheel end, the engine speed > motor speed > transmission input shaft speed The target speed control method ensures the direction of torque transmission, and the open-loop control method of the shift clutch torque using only the driving request torque as input ensures that the torque transmitted to the wheel ends is smooth, thereby ensuring the smoothness of the vehicle.

c) Shift clutch speed control process:

From the completion of the separation clutch coupling in the third stage of starting the engine with the low-voltage starter to the completion of the power source torque switching in the fourth stage, the actions of each component are as follows:

Engine: Engine torque increases to the driving request torque at the maximum achievable rate;

Motor: Motor torque is equal to driving request torque minus engine torque;

Shift clutch: By using the driving request torque as the feedforward torque and the closed-loop feedback torque using the difference between the motor speed and the motor target speed during the shift clutch control speed process, the motor speed is controlled to reach the motor speed during the shift clutch control speed process. Target speed. Among them, the target speed of the motor during the speed control process of the shift clutch specifically refers to the speed change corresponding to the actual gear before the start of the power source speed regulation process in the third stage of the power upshift. The input shaft speed of the transmission plus the second speed deviation; after the power source speed adjustment process in the third stage of the power upshift is completed, the transmission input shaft speed corresponding to the target gear is taken plus the second speed deviation; in the third stage of the power upshift During the stage power source speed adjustment process, the transmission input shaft speed corresponding to the actual gear and the transmission input shaft speed corresponding to the target gear are taken according to the preset transition curve and the second speed deviation is added.

The function of the gear shifting clutch speed control process: after the separation clutch combination is completed, the torque switching of the power source must be performed. Due to the different torque response characteristics of the engine and the motor, the output torque may be uneven during the power source torque switching process. There is a large speed difference and the torque of the shift clutch is adopted by the input shaft that still maintains the power source and transmission speed. Driving demand torque is used as a feedforward torque method to ensure the smoothness of the vehicle. Since the separation clutch has been combined, the rotational inertia of the power source has been re-determined, and the motor speed can be controlled through the shift clutch to reach the target speed, preparing for the shift process to return to the normal state.

d) Recovery process: From the completion of the fourth stage power source torque switching to the motor target speed returning to the normal state, the actions of each component are as follows:

Engine: The engine torque output torque is requested according to the hybrid strategy;

Motor: The motor torque output torque is requested according to the hybrid strategy;

Shift clutch: By using the driving request torque as the feedforward torque and the closed-loop feedback torque that is the difference between the motor target speed in the recovery process, the motor speed is controlled to reach the motor target speed in the recovery process, where the motor target speed in the recovery process specifically refers to the The target transmission input shaft speed in the speed regulation stage corresponding to the target gear plus the first speed deviation.

4.2 Power downshift start control.

1) Power downshift shifting process. Figure 8 is a schematic diagram of an optional power downshift and coasting upshift process according to an embodiment of the present disclosure. As shown in Figure 8, the power downshift process is divided into two steps:

a) Power source speed regulation: The motor speed (the separation clutch is in the separated state) or the speed of the motor and engine combination (the separation clutch is in the combined state) changes from the transmission input shaft speed corresponding to the actual gear to the transmission corresponding to the target gear. Input shaft speed; at the same time, the shift clutch of the target gear is filled with oil to prepare for the next stage of clutch torque switching;

b) Shift clutch torque switching: The torque transmission of the transmission is switched from the shift clutch of the actual gear to the target gear clutch to realize the switching of the speed ratio.

2) The engine startup control process during the power downshift is the same as the engine startup process during the power upshift. The control content of each process is also the same, and will not be described again here.

4.3 Coasting upshift start control.

1) Coasting upshift shifting process.

Figure 8 is a schematic diagram of an optional power downshift and coasting upshift process according to an embodiment of the present disclosure. In the coasting upshift start control, the coasting upshift process is divided into two steps. , Figure 8:

2) The engine start control process during coasting upshift.

The engine start control process during the coasting upshift is the same as the engine start process during the power upshift, but the calculation of the target speed in the control content is different. The details of the differences are as follows:

a) Differences in the pre-control process:

During the engine start control process during coasting upshift, the motor target speed in the pre-control process specifically refers to the transmission input shaft speed corresponding to the actual gear minus the first speed deviation.

b) Differences in the motor speed control process:

During the engine start control process during the coasting upshift, the motor target speed during the motor control speed process specifically refers to the transmission input shaft speed corresponding to the actual gear minus the second speed deviation.

The role of the motor speed control process: The engine speed synchronization and clutch combination process is to connect the engine as a power input source to the power transmission system. In order to avoid affecting the wheel end of the vehicle, the engine speed < motor speed < transmission input shaft speed The target speed control method ensures the direction of torque transmission, and the open-loop control method of the shift clutch torque only uses the driving request torque as input to ensure that the torque transmitted to the wheel end is smooth. This ensures the smoothness of the vehicle.

c) Differences in the clutch speed control process:

During the engine start control process during the coasting upshift, the gear shift clutch controls the motor target speed during the speed process. Specifically, it refers to the value corresponding to the actual gear before the start of the power source speed regulation process in the third stage of the power upshift. The speed of the transmission input shaft minus the second speed deviation; after the power source speed adjustment process in the third stage of the power upshift is completed, take the speed of the transmission input shaft corresponding to the target gear minus the second speed deviation; in the power upshift During the third stage of power source speed regulation, the transmission input shaft speed corresponding to the actual gear and the transmission input shaft speed corresponding to the target gear are taken according to the preset transition curve and then subtracted from the second speed deviation.

d) Differences in the recovery process:

During the engine start control process during the coasting upshift, the motor target speed during the recovery process specifically refers to the transmission input shaft speed corresponding to the target gear minus the first speed deviation.

4.3 Coasting downshift start control.

1) Coasting downshift process. Figure 9 is a schematic diagram of an optional coasting downshift process according to an embodiment of the present disclosure. During coasting downshift startup control, the coasting downshift process is divided into three steps, as shown in Figure 9:

The engine starting control process during coasting downshift is the same as the engine starting process during coasting upshift. The control content of each process is also the same and will not be described again here.

This embodiment proposes a method for controlling engine start during vehicle gear shifting. When a request to start the engine occurs during the shifting process, first select the appropriate starting method. Secondly, use the engine speed, motor speed, and transmission input shaft speed as the control targets. According to different shift types, different control strategies are formulated to achieve Coordinated control of engine start during gear shifting. It is beneficial to improve the smoothness of the entire vehicle when the engine is started during the gear shifting process, thereby improving the dynamic comfort of the entire vehicle.

Embodiment 3

This embodiment provides an optional vehicle shifting device, and each implementation unit included in the shifting device corresponds to each implementation step in the above embodiment.

It should be noted that the vehicle shifting device according to the embodiment of the present disclosure may be configured to execute the vehicle shifting method provided by the embodiment of the present disclosure. The vehicle shifting device provided by the embodiment of the present disclosure is introduced below.

Figure 10 is a schematic diagram of an optional vehicle shifting device according to an embodiment of the present disclosure. As shown in Figure 10, it includes: a selection unit 111, a processing unit 112, a first determination unit 113, and a control unit 114, wherein,

The selection unit 111 is configured to select a target starting strategy when the current vehicle enters the mid-shift starting mode;

The processing unit 112 is configured to start the current vehicle using the target starting strategy, and obtain the high-voltage motor status, actual operating gear and target gear of the current vehicle;

The first determination unit 113 is configured to determine the target shift type based on the current high-voltage motor status of the vehicle, the actual operating gear and the target gear;

The control unit 114 is configured to use the target shift type to control the current vehicle to start the engine during the shift process.

The gear shifting device of the above-mentioned vehicle can first select the target starting strategy through the selection unit 111 when the current vehicle enters the shifting starting mode, and then use the target starting strategy to start the current vehicle through the processing unit 112, and obtain the current The vehicle's high-voltage motor status, actual operating gear, and target gear are then used to determine the target shift type based on the current vehicle's high-voltage motor status, actual operating gear, and target gear through the first determination unit 113 , and finally the target shift type is determined through the control unit 114 The target shift type is used to control the current vehicle to start the engine during the shift process. In this embodiment, by first selecting a startup strategy, and then determining the shift type according to the vehicle's status and target gear requirements, and controlling the engine start according to the shift type, the purpose of coordinated shift and engine start control is achieved. This achieves the technical effect of improving the smoothness, comfort and safety of the vehicle during the vehicle shifting process, and further solves the problem in related technologies that when the vehicle is shifting, the shifting and the engine start cannot be controlled in a coordinated manner, resulting in low smoothness of the vehicle. , Technical problems with poor security.

Optionally, the vehicle's gear shifting device also includes an acquisition unit configured to acquire the engine start and stop conditions of the current vehicle before the current vehicle enters the shift start mode; a first judgment unit configured to acquire the engine start and stop conditions based on the engine start and stop conditions, Determine whether to start the engine; the second determination unit is configured to determine whether the actual operating gear of the transmission is consistent with the target gear when the engine start-stop condition determines that the engine is to be started; the second determination unit is configured to determine whether the actual operating gear of the transmission is consistent with the target gear. If the actual operating gear is inconsistent with the target gear, it is determined to enter the mid-shift start mode.

Optionally, the processing unit includes: a first processing subunit, which is configured to use a low-pressure starter to drive the engine to rotate. When the engine speed meets the fuel injection and ignition conditions, the engine starts fuel injection and ignition, and controls the engine speed to rise to the idle speed. , to maintain the idle running state; the first control subunit is set to control the engine speed to the target speed, and at the same time control the separation clutch to start filling; the second control subunit is set to control the separation clutch to start after the engine speed reaches the target speed. Combined to synchronize the speed of the engine and the speed of the high-voltage motor.

Optionally, the first determination unit includes: a first determination sub-unit configured to determine the target gear shift when the high-voltage motor status indicates that the torque of the high-voltage motor is greater than the first torque threshold and the target gear is greater than the actual operating gear. The type is power upshift start; the second determination subunit is configured to determine the target shift type when the high-voltage motor status indicates that the torque of the high-voltage motor is greater than the first torque threshold and the target gear is smaller than the actual operating gear. Power downshift starts; the third determination subunit is configured to determine the target shift type as coasting up when the high-voltage motor status indicates that the torque of the high-voltage motor is less than the first torque threshold and the target gear is greater than the actual operating gear. Gear start; the fourth determination subunit is configured to determine that the target shift type is coasting downshift start when the high-voltage motor status indicates that the torque of the high-voltage motor is less than the first torque threshold and the target gear is smaller than the actual operating gear. machine.

Optionally, the control unit also includes: a third control subunit, configured to control the oil filling of the shift clutch in the target gear when the target shift type is power upshift start or coasting downshift start. ; The fourth control subunit controls the torque transmission of the transmission from the shift clutch of the actual operating gear to the shift clutch of the target gear; the fifth control subunit is configured to control the motor speed, or to control the combination of the motor and the engine. The speed of the body changes from the speed of the transmission input shaft corresponding to the actual operating gear to the speed of the transmission input shaft corresponding to the target gear; the fifth determination subunit is set to when the speed of the transmission input shaft corresponding to the target gear is reached, It is determined that the current vehicle has completed the power upshift operation or the coasting downshift operation; the sixth control subunit is configured to control the smoothness of the engine during the process of the current vehicle completing the power upshift operation or the coasting downshift operation. Start the machine.

Optionally, the sixth control subunit also includes: a first control module, configured to start controlling the low-voltage starter to start the engine upon receiving an engine start request, and complete the first stage of engine start, wherein, after controlling the low-pressure When the starter starts the engine, the motor's closed-loop feedback torque is used to control the motor speed to reach the target speed; the second control module is set to control the low-voltage starter from the first stage of engine starting to the third stage of separation clutch engagement. ; The third control module is configured to control the low-voltage starter, completing the power source torque switching from the third stage separation clutch combination to the fourth stage, wherein the third stage separation clutch combination completes the third stage separation clutch combination. Then, obtain the transmission input shaft speed corresponding to the actual operating gear plus the second speed deviation, obtain the transmission input shaft speed corresponding to the target gear plus the second speed deviation, obtain the transmission input shaft speed corresponding to the actual operating gear and the target The transmission input shaft speed corresponding to the gear position is added to the second speed deviation according to the preset transition curve; the fourth control module is set to control the current vehicle to complete the power source torque switching in the fourth stage until the target speed of the motor returns to Normal state to enable the engine to start smoothly, where, During the process of returning to the normal state, the transmission input shaft speed corresponding to the target gear plus the first speed deviation is controlled.

Optionally, the second control module includes: a first processing submodule, which is configured to control the low-voltage starter to start the engine and enter the second-stage engine synchronization stage after controlling the low-voltage starter to complete the first stage of starting the engine. It is equal to the motor speed plus the preset speed deviation; the second processing submodule is set to start the engine with the low-voltage starter and enter the third stage of the separation clutch combination stage, and control the target speed of the engine to reach the target speed of the motor during the process of motor control speed. Connect the engine as the power input source to the power transmission system.

Optionally, the third control module includes: a first control sub-module, which is configured to control the engine torque to increase to the driving request torque at the maximum rate after the third-stage separation clutch combination is completed; the determination sub-module The module is configured to determine the closed-loop feedback torque based on the driving request torque and the motor target speed during the shift clutch control speed process, and combine the closed-loop feedback torque to control the motor speed to reach the motor target speed during the shift clutch control speed process.

Optionally, the control unit also includes: a seventh control subunit, configured to control the motor speed or the combination of the motor and the engine when the target shift type is a power downshift start or a coasting upshift start. The speed changes from the speed of the transmission input shaft corresponding to the actual operating gear to the speed of the transmission input shaft corresponding to the target gear. At the same time, it controls the oil filling of the shift clutch of the target gear; the eighth control subunit is set to control the torque of the transmission The transmission is switched from the shift clutch of the actual operating gear to the target gear clutch, allowing the current vehicle to complete the power downshift operation or the coasting upshift operation, thereby controlling the engine to start smoothly.

The above serial numbers of the embodiments of the present disclosure are only for description and do not represent the advantages and disadvantages of the embodiments.

In the above-mentioned embodiments of the present disclosure, each embodiment is described with its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of units can be a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into Another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the units or modules may be in electrical or other forms.

Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in various embodiments of the present disclosure can be integrated into one processing unit, or Each unit physically exists alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or software functional units.

Integrated units may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. Based on this understanding, the technical solution of the present disclosure is essentially or contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present disclosure. The aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code. .

The above are only preferred embodiments of the present disclosure. It should be pointed out that for those of ordinary skill in the art, several improvements and modifications can be made without departing from the principles of the present disclosure, and these improvements and modifications should also be regarded as It is the protection scope of this disclosure.

Industrial applicability

The vehicle gear shifting method and device provided by the embodiments of the present disclosure can be applied to vehicles. The gear shifting type can be determined according to the vehicle's status and target gear requirements, and then the engine start can be controlled based on the gear shifting type to achieve coordinated gear shifting. The purpose is to coordinate the control with the engine start, thereby achieving the technical effect of improving the smoothness, comfort and safety of the vehicle during the vehicle shifting process, thereby solving the problem in related technologies that when the vehicle is shifting gears, the gear shifting and engine starting cannot be controlled in a coordinated manner. , causing technical problems such as low vehicle ride comfort and poor safety.

Claims

A vehicle gear shifting method, which includes:

When the current vehicle enters the mid-shift startup mode, select the target startup strategy;

Start the current vehicle using the target starting strategy, and obtain the high-voltage motor status, actual operating gear and target gear of the current vehicle;

Determine the target shift type based on the current vehicle's high-voltage motor status, actual operating gear and target gear;

Using the target shift type, the current vehicle is controlled to start the engine during the shift process.
The shifting method according to claim 1, wherein before the current vehicle enters the shifting start mode, it further includes:

Obtain the engine start and stop conditions of the current vehicle;

Based on the engine start and stop conditions, determine whether to start the engine;

When the engine start-stop condition determines that the engine is to be started, determine whether the actual operating gear of the transmission is consistent with the target gear;

When the actual operating gear of the transmission is inconsistent with the target gear, it is determined to enter the mid-shift start mode.
The gear shifting method according to claim 1, wherein the step of starting the current vehicle using the target starting strategy includes:

A low-voltage starter is used to drive the engine to rotate. When the engine speed meets the fuel injection and ignition conditions, the engine starts fuel injection and ignition, and controls the engine speed to rise to the idle speed and maintain the idle running state;

Control the engine speed to the target speed, and simultaneously control the separation clutch to start filling with oil;

After the engine speed reaches the target speed, the separation clutch is controlled to start to be combined to synchronize the engine speed and the high-voltage motor speed.
The shifting method according to claim 1, wherein the step of determining the target shifting type based on the current high-voltage motor state of the vehicle, the actual operating gear and the target gear includes:

When the high-voltage motor state indicates that the torque of the high-voltage motor is greater than the first torque threshold, and the target gear If the position is greater than the actual operating gear, the target shift type is determined to be power upshift start;

When the high-voltage motor status indicates that the torque of the high-voltage motor is greater than the first torque threshold and the target gear is smaller than the actual operating gear, determine that the target shift type is a power downshift to start the engine;

When the high-voltage motor status indicates that the torque of the high-voltage motor is less than the first torque threshold and the target gear is greater than the actual operating gear, it is determined that the target shift type is a coasting upshift to start the engine;

When the high-voltage motor status indicates that the torque of the high-voltage motor is less than the first torque threshold and the target gear is smaller than the actual operating gear, the target shift type is determined to be a coasting downshift to start.
The gear shifting method according to claim 4, wherein when the target gear shift type is a power upshift to start or a coasting downshift to start, the target gear shift type is used to control the current vehicle in the The steps to achieve engine starting during gear shifting include:

Control the oil filling of the shift clutch in the target gear;

controlling torque transmission of the transmission to switch from the shift clutch of the actual operating gear to the shift clutch of the target gear;

Control the speed of the motor, or control the speed of the combination of the motor and the engine, from the speed of the transmission input shaft corresponding to the actual operating gear to the speed of the transmission input shaft corresponding to the target gear;

When the transmission input shaft speed corresponding to the target gear is reached, it is determined that the current vehicle has completed a power upshift operation or a coasting downshift operation;

When the current vehicle completes the power upshift operation or the coasting downshift operation, the engine is controlled to start smoothly.
The shifting method according to claim 5, wherein during the process of the current vehicle completing the power upshift shifting operation, the step of controlling the engine to start smoothly includes:

When the engine start request is received, the low-voltage starter is controlled to start the engine to complete the first stage of engine starting. In the process of controlling the low-voltage starter to start the engine, the motor speed is controlled by the closed-loop feedback torque of the motor. Reach target speed;

Control the low-voltage starter from the first stage of engine starting to the third stage of separation clutch engagement;

Control the low-voltage starter to complete the power source torque switching from the third stage separation clutch combination to the fourth stage. After the third stage separation clutch combination completes the third stage separation clutch combination, the actual operating gear corresponding to The transmission input shaft speed is added to the second speed deviation to obtain the target gear The transmission input shaft speed corresponding to the gear position plus the second speed deviation is obtained, and the transmission input shaft speed corresponding to the actual operating gear and the transmission input shaft speed corresponding to the target gear are obtained according to the preset transition curve plus the second speed deviation. ;

Control the current vehicle to complete the power source torque switching in the fourth stage until the target speed of the motor returns to the normal state so that the engine can start smoothly. During the process of returning to the normal state, the target gear is controlled to correspond to of the transmission input shaft speed plus the first speed deviation.
The shifting method according to claim 6, wherein controlling the low-voltage starter to complete the steps of starting the engine in the first stage to coupling the separation clutch in the third stage includes:

After the low-voltage starter is controlled to complete the first stage of starting the engine, the low-voltage starter is controlled to start the engine and enter the second stage of engine synchronization. The target speed of the engine is equal to the motor speed plus the preset speed deviation;

When the low-voltage starter starts the engine and enters the separation clutch coupling stage of the third stage, the target speed of the engine is controlled to reach the target speed of the motor during the motor control speed process, and the engine is connected to the power transmission system as a power input source. .
The gear shifting method according to claim 6, wherein the step of controlling the low-voltage starter to complete the power source torque switching to the fourth stage by combining the third stage separation clutch includes:

After controlling the engagement of the separation clutch in the third stage of starting the engine by the low-voltage starter, controlling the engine torque to increase to the driving request torque at the maximum rate;

Based on the driving request torque and the motor target speed during the shift clutch control speed process, the closed-loop feedback torque is determined, and combined with the closed-loop feedback torque, the motor speed is controlled to reach the motor target speed during the shift clutch control speed process.
The shifting method according to claim 4, wherein when the target shift type is a power downshift to start or a coasting upshift to start, the target shift type is used to control the current vehicle in the The steps to achieve engine starting during gear shifting include:

Control the speed of the motor or the speed of the combination of the motor and the engine to change from the speed of the transmission input shaft corresponding to the actual operating gear to the speed of the transmission input shaft corresponding to the target gear, and at the same time, control the speed of the target gear Shift clutch oil filling;

The torque transmission of the transmission is controlled to switch from the shift clutch of the actual operating gear to the target gear clutch, so that the current vehicle can complete the power downshift operation or the coasting upshift operation, thereby controlling the engine to start smoothly.
A vehicle gear shifting device, which includes:

Select the unit and set it to select the target startup strategy when the current vehicle enters the mid-shift startup mode;

A processing unit configured to start the current vehicle using the target starting strategy, and obtain the high-voltage motor status, actual operating gear and target gear of the current vehicle;

A first determination unit configured to determine the target shift type based on the high-voltage motor status of the current vehicle, the actual operating gear, and the target gear;

A control unit configured to use the target shift type to control the current vehicle to start the engine during the shift process.