CN109050346B - Vehicle gear shifting method and device and vehicle - Google Patents

Vehicle gear shifting method and device and vehicle Download PDF

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Publication number
CN109050346B
CN109050346B CN201810745776.4A CN201810745776A CN109050346B CN 109050346 B CN109050346 B CN 109050346B CN 201810745776 A CN201810745776 A CN 201810745776A CN 109050346 B CN109050346 B CN 109050346B
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torque
vehicle
motor
preset
gear
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CN109050346A (en
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马东辉
耿姝芳
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Beijing CHJ Automobile Technology Co Ltd
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Beijing CHJ Automobile Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Transmission Device (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The embodiment of the disclosure relates to a vehicle gear shifting method, a vehicle gear shifting device and a vehicle; wherein the vehicle shifting method comprises: under the condition that the vehicle is in a running state, when a gear shifting instruction is received, judging whether the current torque of the motor is larger than the preset torque or not; if the current torque of the motor is larger than the preset torque, controlling the motor to execute torque reduction operation within a preset time length; and switching the current gear of the vehicle to a target gear according to the result information of the torque reduction operation executed by the motor within a preset time length. The technical scheme that this embodiment of this disclosure provided has solved current vehicle and has produced the problem of setback easily in the process of shifting gears.

Description

Vehicle gear shifting method and device and vehicle
Technical Field
The embodiment of the disclosure relates to the technical field of vehicles, in particular to a vehicle gear shifting method, a vehicle gear shifting device and a vehicle.
Background
When a vehicle is shifted during running, such as a D-gear shift to an R-gear shift, or an R-gear shift to a D-gear shift, a target torque is output according to a target gear, usually after a user's shift operation is received, so as to control the motor to rapidly switch to the target torque in a short time. However, in the process of shifting the current gear to the target gear, because the torque difference between the two gears is large, the rotating speed of the motor can be greatly changed, so that the gear shifting is easy to generate pause and frustration, a certain impact feeling is given to a user in a vehicle, and the comfort of the vehicle is reduced.
Disclosure of Invention
The embodiment of the disclosure provides a vehicle gear shifting method, a vehicle gear shifting device and a vehicle, and aims to solve the problem that a pause is easily generated in the gear shifting process of the conventional vehicle.
In a first aspect, embodiments of the present disclosure provide a vehicle shifting method, comprising:
under the condition that the vehicle is in a running state, when a gear shifting instruction is received, judging whether the current torque of the motor is larger than the preset torque or not; the gear shifting command is a command for switching a forward gear into a reverse gear, or a command for switching the reverse gear into the forward gear;
if the current torque of the motor is larger than the preset torque, controlling the motor to execute torque reduction operation within a preset time length;
and switching the current gear of the vehicle to a target gear according to the result information of the torque reduction operation executed by the motor within a preset time length.
In some embodiments, the step of controlling the motor to perform the torque-down operation for a preset time period includes:
controlling the motor to execute torque reduction operation and starting timing;
under the condition that the timing duration is less than the preset duration, judging whether the torque of the motor is reduced to be less than the preset torque or not;
the step of switching the current gear of the vehicle to a target gear according to the result information of the torque reduction operation executed by the motor within a preset time period includes:
and if the torque of the motor is reduced to be smaller than the preset torque, switching the current gear of the vehicle to a target gear.
In some embodiments, the step of switching the current gear of the vehicle to the target gear according to the information of the result of the torque down operation performed by the electric machine within the preset time period includes:
and if the torque of the motor is not reduced to be smaller than the preset torque, switching the current gear of the vehicle to a target gear when a preset time is reached.
In some embodiments, before the step of determining whether the current torque of the motor is greater than the preset torque, the method further includes:
detecting whether the current vehicle speed of the vehicle is less than a preset vehicle speed or not;
and if the current speed of the vehicle is less than the preset speed, executing a step of judging whether the current torque of the motor is greater than the preset torque.
In some embodiments, after the step of detecting whether the current vehicle speed of the vehicle is less than the preset vehicle speed when the gear shifting command is received, the method further includes:
and if the current speed of the vehicle is greater than the preset speed, the gear shifting instruction is not executed.
In some embodiments, the step of controlling the motor to perform the torque-down operation for a preset time period includes:
controlling the motor to execute torque reduction operation within a preset time length, and outputting a prompt instruction; the prompting instruction is used for representing that the vehicle is in a gear shifting state at present;
after the step of switching the current gear of the vehicle to the target gear, the method further includes:
and canceling the output of the prompt instruction.
In a second aspect, embodiments of the present disclosure also provide a vehicle shifting apparatus, including:
the judging module is used for judging whether the current torque of the motor is larger than the preset torque or not when a gear shifting instruction is received under the condition that the vehicle is in a running state; the gear shifting command is a command for switching a forward gear into a reverse gear, or a command for switching the reverse gear into the forward gear;
the control module is used for controlling the motor to execute torque reduction operation within a preset time length if the current torque of the motor is larger than a preset torque;
and the switching module is used for switching the current gear of the vehicle to a target gear according to the result information of the torque reduction operation executed by the motor within a preset time length.
In some embodiments, the control module is further configured to:
controlling the motor to execute torque reduction operation and starting timing;
under the condition that the timing duration is less than the preset duration, judging whether the torque of the motor is reduced to be less than the preset torque or not;
the switching module is further configured to: and if the torque of the motor is reduced to be smaller than the preset torque, switching the current gear of the vehicle to a target gear.
In some embodiments, the switching module is further configured to:
and if the torque of the motor is not reduced to be smaller than the preset torque, switching the current gear of the vehicle to a target gear when a preset time is reached.
In some embodiments, the determining module is further configured to:
when a gear shifting instruction is received, detecting whether the current speed of the vehicle is less than a preset speed;
and if the current speed of the vehicle is less than the preset speed, judging whether the current torque of the motor is greater than the preset torque.
In some embodiments, the determining module is further configured to:
and if the current speed of the vehicle is greater than the preset speed, the gear shifting instruction is not executed.
In some embodiments, the control module is further configured to:
controlling the motor to execute torque reduction operation within a preset time length, and outputting a prompt instruction; the prompting instruction is used for representing that the vehicle is in a gear shifting state at present;
the device further comprises:
and the canceling module is used for canceling the output of the prompt instruction.
In a third aspect, embodiments of the present disclosure also provide a vehicle including the vehicle shifting device according to any one of the second aspect.
In a fourth aspect, embodiments of the present disclosure also provide a vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the vehicle gear shifting method according to any one of the first aspect.
In the embodiment of the disclosure, when a gear shifting instruction is received under the condition that a vehicle is in a running state, if the current torque of the motor is greater than the preset torque, the motor is controlled to execute torque reduction operation within a preset time length, and the current gear of the vehicle is switched to a target gear according to result information of the torque reduction operation executed by the motor within the preset time length. Like this, can shift when the vehicle operation of shifting, the control motor falls the moment of torsion operation in predetermineeing for a long time, has provided the motor to carry out the time that falls the moment of torsion operation, avoids the rapid transform of motor moment of torsion, prevents to produce when the vehicle shifts and suddenly frustrates for the vehicle shifts more steadily, smoothly, has improved the travelling comfort of vehicle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments of the present disclosure will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
FIG. 1 is a flow chart of a vehicle shifting method provided by an embodiment of the present disclosure;
fig. 2 is a structural diagram of a vehicle shifting apparatus provided by an embodiment of the present disclosure.
Detailed Description
Technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are some, not all, of the embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making any creative effort, shall fall within the protection scope of the disclosure.
Referring to fig. 1, fig. 1 is a flowchart of a vehicle gear shifting method according to an embodiment of the disclosure, as shown in fig. 1, including the following steps:
step 101, under the condition that the vehicle is in a running state, when a gear shifting instruction is received, judging whether the current torque of the motor is larger than a preset torque.
The running state is a state in which the vehicle speed is not zero, and may be, for example, a state in which the vehicle runs forward or a state in which the vehicle runs backward. The gear shifting instruction refers to switching the current gear of the vehicle to other gears; in the embodiment of the present disclosure, the shift command is a command to shift forward to reverse, or a command to shift reverse to forward. For example, during forward driving of the vehicle, when the vehicle gear is the D gear (forward gear), the received gear shift command is a command for switching the D gear to the R gear (reverse gear); or during the backward driving process of the vehicle, the gear position of the vehicle is the R gear, and the received gear shifting command is the command of switching the R gear to the D gear.
In the embodiment of the disclosure, under the condition that the vehicle is in a running state, when a gear shifting instruction is received, whether the current torque of the motor is larger than the preset torque is judged. The preset torque may be set by a user or configured by the vehicle leaving a factory.
Alternatively, the shift command may be triggered by a user operating a shifting device on the vehicle, for example, when a brake pedal on the vehicle is depressed and a gear lever on the vehicle is moved; or may be based on a shift command received via wireless communication. The vehicle is an electric vehicle, and the electric vehicle runs by driving wheels to run through a motor. When a gear shifting command is received, whether the current torque of the motor is larger than the preset torque or not is judged.
In an embodiment of the present disclosure, the step of determining whether the current torque of the motor is greater than the preset torque when the shift instruction is received includes:
when a gear shifting instruction is received, detecting whether the current speed of the vehicle is less than a preset speed;
if the current speed of the vehicle is less than the preset speed, judging whether the current torque of the motor is greater than the preset torque;
and if the current speed of the vehicle is greater than the preset speed, the gear shifting instruction is not executed.
In the step, under the condition that the vehicle is in a running state, when a gear shifting instruction is received, whether the current vehicle speed of the vehicle is smaller than a preset vehicle speed is detected. It can be understood that, when the running speed of the vehicle is too high, if the gear shifting operation is performed, the running safety of the vehicle cannot be guaranteed, and the wear on the devices such as the vehicle motor is large, which affects the safety performance of the vehicle. Therefore, when a gear shifting command is received, if the current vehicle speed of the vehicle is greater than the preset vehicle speed, the gear shifting command is not executed, the current torque of the motor cannot be judged, and the safety of the vehicle in the running process is further ensured.
If the current speed of the vehicle is less than the preset speed, the current speed of the vehicle is less, the speed of the vehicle can be rapidly and stably reduced to zero in a short time, the abrasion to equipment such as a vehicle motor is less, and the protection of the equipment such as the vehicle motor is facilitated. When a gear shifting instruction is received, if the current speed of the vehicle is less than the preset speed, whether the current torque of the motor is greater than the preset torque is judged.
And 102, if the current torque of the motor is larger than a preset torque, controlling the motor to execute a torque reduction operation within a preset time.
It can be understood that if the current torque of the motor is greater than the preset torque, the motor is controlled to perform a torque reduction operation, and the torque reduction operation of the motor is limited in time at the same time, so as to control the motor to reduce the torque within a preset time period.
In an embodiment of the present disclosure, the step 102 may include:
controlling the motor to execute torque reduction operation and starting timing;
and under the condition that the timing duration is less than the preset duration, judging whether the torque of the motor is reduced to be less than the preset torque.
It can be understood that, when the motor is controlled to perform the torque-down operation, a timer is started to start timing so as to determine whether the torque of the motor is reduced to be smaller than the preset torque within the preset time period. The preset duration may be vehicle factory configuration or may be set by a user at a later stage.
In the embodiment of the disclosure, when a gear shifting instruction is received, if the current torque of the motor is greater than the preset torque, the motor is controlled to execute a torque reduction operation, and a timer is started to start timing at the same time, that is, the timing is started from the moment when the motor starts to execute the torque reduction operation. And under the condition that the timing duration is less than the preset duration, acquiring the torque of the motor in real time, and judging whether the torque of the motor is reduced to be less than the preset torque.
Optionally, the step of controlling the motor to perform a torque reduction operation within a preset time period includes:
and controlling the motor to execute torque reduction operation within a preset time length, and outputting a prompt instruction.
In an embodiment of the disclosure, the prompt instruction is used to indicate that the vehicle is currently in a gear shifting state. In this step, the prompt instruction may be characterized by at least one of sound information, text information, pattern information, and light information. For example, the prompt instruction is text information and is displayed on a display interface of the vehicle, and the display interface of the vehicle may be an instrument display panel in a cab of the vehicle or a central control display screen in the vehicle. For example, when the motor is controlled to perform a torque reduction operation, a text message of "the vehicle is about to enter the R range" is displayed on an instrument display panel of the vehicle at the same time.
Alternatively, the prompt instruction may be output to an electronic device that establishes wireless communication with the vehicle. For example, when the motor is controlled to perform torque reduction operation, sound information is output to a mobile terminal of a driver who establishes wireless communication with the vehicle, so that the driver can know that the vehicle is in a gear shifting state currently by listening to the sound information.
The method has the advantages that the user can timely and accurately know that the vehicle is in the gear shifting state at present through the output of the prompt instruction, the probability that the user makes a wrong driving instruction is reduced, and the driving safety of the vehicle is improved.
And 103, switching the current gear of the vehicle to a target gear according to the result information of the torque reduction operation executed by the motor within a preset time length.
As can be appreciated, the result information of the motor performing the torque-down operation within the preset time period may be that the torque of the motor is reduced to be less than the preset torque within the preset time period, in which case, the current gear of the vehicle is switched to the target gear; or, the result information may be that the torque of the motor is not reduced to be smaller than the preset torque within a preset time period, that is, when the preset time period is reached, the torque of the motor is larger than the preset torque, and at this time, it is no longer time to wait for the torque of the motor to be reduced to be smaller than the preset torque, but the current gear of the vehicle is directly switched to the target gear.
Specifically, the step 103 may include:
if the torque of the motor is reduced to be smaller than the preset torque, switching the current gear of the vehicle to a target gear; alternatively, the first and second electrodes may be,
and if the torque of the motor is not reduced to be smaller than the preset torque, switching the current gear of the vehicle to a target gear when a preset time is reached.
That is, in one implementation of the embodiment of the present disclosure, in the process of controlling the motor to perform the torque-down operation, and in the case that the timed period is less than the preset period, if the torque of the motor is reduced to be less than the preset torque, the current gear of the vehicle is switched to the target gear. For example, when the motor is controlled to perform torque reduction operation, a timer is started to time, the preset time period is 10s, if the torque of the motor when the time period is 5s is reduced to be less than the preset torque, the current gear of the vehicle is switched to the target gear, and at this time, the timer may stop timing. Therefore, under the condition that the timing duration is not reached, the gear of the vehicle can be rapidly changed as long as the torque of the motor of the vehicle is reduced to be smaller than the preset torque.
Or, in another implementation of the embodiment of the present disclosure, in the process of controlling the motor to perform the torque reduction operation, and under the condition that the timing duration is less than the preset duration, if the torque of the motor is not reduced to be less than the preset torque, when the preset duration is reached, the current gear of the vehicle is switched to the target gear. For example, the preset time period is 10s, and if the motor starts to perform the torque reduction operation and does not reduce to be less than the preset torque within 10s, when the time reaches 10s, the current gear of the vehicle is switched to the target gear. That is, when the preset duration is reached, the torque of the motor is greater than the preset torque, and at this time, it is no longer time-consuming to wait for the torque of the motor to decrease to be less than the preset torque, but the current gear of the vehicle is directly switched to the target gear. Like this, also can prescribe a limit to the time that the moment of torsion operation was fallen in the motor execution when the vehicle execution operation of shifting to realize the change that the vehicle kept off the position fast in the short time, avoid the execution time overlength of the operation of shifting of vehicle, make the operation of shifting of vehicle more rapid, more nimble, also promoted the user experience degree of vehicle.
In the embodiment of the disclosure, when a gear shifting instruction is received under the condition that a vehicle is in a running state, if the current torque of the motor is greater than the preset torque, the motor is controlled to execute torque reduction operation within a preset time length, and the current gear of the vehicle is switched to a target gear according to result information of the torque reduction operation executed by the motor within the preset time length. Like this, can shift when the vehicle operation of shifting, the control motor falls the moment of torsion operation in predetermineeing for a long time, has provided the motor to carry out the time that falls the moment of torsion operation, avoids the rapid transform of motor moment of torsion, prevents to produce when the vehicle shifts and suddenly frustrates for the vehicle shifts more steadily, smoothly, has improved the travelling comfort of vehicle.
Optionally, in an embodiment of the present disclosure, the controlling the motor to perform the torque reduction operation for the preset time period may include:
controlling the torque of the motor to be reduced to be smaller than a first torque limit value within a first preset time period; the first torque limit is greater than the preset torque;
when the torque of the motor is reduced to be smaller than a first torque limit value in a first preset time period, controlling the torque of the motor to be reduced to be smaller than a preset torque in a second preset time period; the sum of the first preset time length and the second preset time length is equal to the preset time length.
For example, if the preset time duration is 10s, the first preset time duration may be 6s, and then the second preset time duration is 4 s; when the motor is controlled to start to execute the torque reduction operation, the motor is controlled to reduce to be smaller than a first torque limit value within 6s, and then the motor is controlled to reduce to be smaller than a preset torque within the rest 4 s. The first torque limit value is larger than the preset torque, so that the first torque limit value is reduced to be larger within a first preset time period in the process of controlling the motor to reduce the torque, and then the first torque limit value is reduced to be the preset torque within a second preset time period. Therefore, through the arrangement of the first torque limit value, the preset torque, the first preset time and the second preset time, the decreasing torque operation of the motor can realize decreasing reduction, the rapid change of the torque of the motor is avoided, the gear shifting of the vehicle is further ensured to be more stable and smooth, and the comfort of the vehicle is improved.
An embodiment of the present disclosure also provides a vehicle gear shifting device, as shown in fig. 2, the vehicle gear shifting device 200 including:
the judging module 201 is configured to, when a gear shift instruction is received while the vehicle is in a running state, judge whether a current torque of the motor is greater than a preset torque; the gear shifting command is a command for switching a forward gear into a reverse gear, or a command for switching the reverse gear into the forward gear;
the control module 202 is configured to control the motor to execute a torque reduction operation within a preset time period if the current torque of the motor is greater than a preset torque;
and the switching module 203 is used for switching the current gear of the vehicle to a target gear according to the result information of the torque reduction operation executed by the motor within the preset time length.
In some embodiments, the control module 202 is further configured to:
controlling the motor to execute torque reduction operation and starting timing;
under the condition that the timing duration is less than the preset duration, judging whether the torque of the motor is reduced to be less than the preset torque or not;
the switching module 203 is further configured to: and if the torque of the motor is reduced to be smaller than the preset torque, switching the current gear of the vehicle to a target gear.
In some embodiments, the switching module 203 is further configured to:
and if the torque of the motor is not reduced to be smaller than the preset torque, switching the current gear of the vehicle to a target gear when a preset time is reached.
In some embodiments, the determining module 201 is further configured to:
when a gear shifting instruction is received, detecting whether the current speed of the vehicle is less than a preset speed;
and if the current speed of the vehicle is less than the preset speed, judging whether the current torque of the motor is greater than the preset torque.
In some embodiments, the determining module 201 is further configured to:
and if the current speed of the vehicle is greater than the preset speed, the gear shifting instruction is not executed.
In some embodiments, the control module 202 is further configured to:
controlling the motor to execute torque reduction operation within a preset time length, and outputting a prompt instruction; the prompting instruction is used for representing that the vehicle is in a gear shifting state at present;
the vehicle gear shifting device 200 further includes:
and the canceling module is used for canceling the output of the prompt instruction.
In the embodiment of the present disclosure, when a shift instruction is received when a vehicle is in a driving state, if the current torque of the motor is greater than a preset torque, the vehicle shift device 200 controls the motor to perform a torque reduction operation within a preset time, and switches the current gear of the vehicle to a target gear according to result information of the torque reduction operation performed by the motor within the preset time. Like this, can shift when the vehicle operation of shifting, the control motor falls the moment of torsion operation in predetermineeing for a long time, has provided the motor to carry out the time that falls the moment of torsion operation, avoids the rapid transform of motor moment of torsion, prevents to produce when the vehicle shifts and suddenly frustrates for the vehicle shifts more steadily, smoothly, has improved the travelling comfort of vehicle.
The vehicle gear shifting device 200 provided in the embodiment of the present disclosure may be configured to perform the steps of any one of the vehicle gear shifting methods, and reference may be made to the description of any one of the vehicle gear shifting methods for related concepts, specific implementations, and beneficial effects, which are not described herein again.
The embodiment of the present disclosure further provides a vehicle, including the vehicle gear shifting device as described above, and can achieve the same technical effects as those of the vehicle gear shifting device embodiments described above, and for avoiding repetition, details are not repeated here.
The embodiment of the present disclosure further provides a vehicle, which includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, where the computer program is executed by the processor to implement each process of the vehicle gear shifting method embodiment, and can achieve the same technical effect as the vehicle gear shifting method embodiment, and in order to avoid repetition, the details are not repeated here.
The embodiment of the present disclosure further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the vehicle gear shifting method embodiment, and can achieve the same technical effect, and in order to avoid repetition, the detailed description is omitted here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (12)

1. A vehicle shifting method, characterized by comprising:
under the condition that the vehicle is in a running state, when a gear shifting instruction is received, judging whether the current torque of the motor is larger than the preset torque or not; the gear shifting command is a command for switching a forward gear into a reverse gear, or a command for switching the reverse gear into the forward gear;
if the current torque of the motor is larger than the preset torque, controlling the motor to execute torque reduction operation within a preset time length;
switching the current gear of the vehicle to a target gear according to result information of torque reduction operation executed by the motor within a preset time length;
the controlling the motor to execute the torque reduction operation within a preset time period comprises the following steps:
controlling the torque of the motor to be reduced to be smaller than a first torque limit value within a first preset time period; the first torque limit is greater than the preset torque;
when the torque of the motor is reduced to be smaller than a first torque limit value in a first preset time period, controlling the torque of the motor to be reduced to be smaller than a preset torque in a second preset time period; the sum of the first preset time length and the second preset time length is equal to the preset time length;
the step of controlling the motor to perform a torque reduction operation within a preset time period includes:
controlling the motor to execute torque reduction operation and starting timing;
under the condition that the timing duration is less than the preset duration, judging whether the torque of the motor is reduced to be less than the preset torque or not;
the step of switching the current gear of the vehicle to a target gear according to the result information of the torque reduction operation executed by the motor within a preset time period includes:
and if the torque of the motor is not reduced to be smaller than the preset torque, switching the current gear of the vehicle to a target gear when a preset time is reached.
2. The method of claim 1,
the step of switching the current gear of the vehicle to a target gear according to the result information of the torque reduction operation executed by the motor within a preset time period includes:
and if the torque of the motor is reduced to be smaller than the preset torque, switching the current gear of the vehicle to a target gear.
3. The method of claim 1, wherein the step of determining whether the current torque of the motor is greater than the preset torque is preceded by the step of:
detecting whether the current vehicle speed of the vehicle is less than a preset vehicle speed or not;
and if the current speed of the vehicle is less than the preset speed, executing a step of judging whether the current torque of the motor is greater than the preset torque.
4. The method of claim 3, wherein the step of detecting whether the current vehicle speed of the vehicle is less than a preset vehicle speed is followed by further comprising:
and if the current speed of the vehicle is greater than the preset speed, the gear shifting instruction is not executed.
5. The method of claim 1, wherein the step of controlling the motor to perform a torque down operation for a preset duration comprises:
controlling the motor to execute torque reduction operation within a preset time length, and outputting a prompt instruction; the prompting instruction is used for representing that the vehicle is in a gear shifting state at present;
after the step of switching the current gear of the vehicle to the target gear, the method further includes:
and canceling the output of the prompt instruction.
6. A vehicle shifting apparatus, comprising:
the judging module is used for judging whether the current torque of the motor is larger than the preset torque or not when a gear shifting instruction is received under the condition that the vehicle is in a running state; the gear shifting command is a command for switching a forward gear into a reverse gear, or a command for switching the reverse gear into the forward gear;
the control module is used for controlling the motor to execute torque reduction operation within a preset time length if the current torque of the motor is larger than a preset torque;
the switching module is used for switching the current gear of the vehicle to a target gear according to the result information of the torque reduction operation executed by the motor within a preset time length;
the control module is further configured to:
controlling the torque of the motor to be reduced to be smaller than a first torque limit value within a first preset time period; the first torque limit is greater than the preset torque;
when the torque of the motor is reduced to be smaller than a first torque limit value in a first preset time period, controlling the torque of the motor to be reduced to be smaller than a preset torque in a second preset time period; the sum of the first preset time length and the second preset time length is equal to the preset time length;
the control module is further configured to:
controlling the motor to execute torque reduction operation and starting timing;
under the condition that the timing duration is less than the preset duration, judging whether the torque of the motor is reduced to be less than the preset torque or not;
the switching module is further configured to:
and if the torque of the motor is not reduced to be smaller than the preset torque, switching the current gear of the vehicle to a target gear when a preset time is reached.
7. The apparatus of claim 6,
the switching module is further configured to: and if the torque of the motor is reduced to be smaller than the preset torque, switching the current gear of the vehicle to a target gear.
8. The apparatus of claim 6, wherein the determining module is further configured to:
when a gear shifting instruction is received, detecting whether the current speed of the vehicle is less than a preset speed;
and if the current speed of the vehicle is less than the preset speed, judging whether the current torque of the motor is greater than the preset torque.
9. The apparatus of claim 8, wherein the determining module is further configured to:
and if the current speed of the vehicle is greater than the preset speed, the gear shifting instruction is not executed.
10. The apparatus of claim 6, wherein the control module is further configured to:
controlling the motor to execute torque reduction operation within a preset time length, and outputting a prompt instruction; the prompting instruction is used for representing that the vehicle is in a gear shifting state at present;
the device further comprises:
and the canceling module is used for canceling the output of the prompt instruction.
11. A vehicle characterized by comprising the vehicle gear shift device according to any one of claims 6 to 10.
12. A vehicle comprising a processor, a memory and a computer program stored on and executable on the memory, the computer program, when executed by the processor, implementing the steps of a vehicle gear shifting method as claimed in any one of claims 1 to 5.
CN201810745776.4A 2018-07-09 2018-07-09 Vehicle gear shifting method and device and vehicle Active CN109050346B (en)

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