CN-121977067-A - Gear shifting speed regulating method and device and vehicle

CN121977067ACN 121977067 ACN121977067 ACN 121977067ACN-121977067-A

Abstract

The application discloses a gear shifting speed regulating method and device and a vehicle, and belongs to the technical field of vehicles. The method comprises the steps of controlling the driving motor to output first torque in a target duration when the transmission of a target vehicle is detected to be shifted and the driving motor enters a speed regulation stage, enabling the driving motor to drive a transmission gear of the transmission to rotate and fully mesh, and controlling the driving motor to output second torque after the target duration is reached, wherein the first torque is smaller than the second torque. According to the application, the driving motor is controlled to output a smaller torque in the target duration in the beginning stage of motor speed regulation, so that the transmission gear of the transmission is fully meshed first. And then outputting larger torque to quickly change the rotating speed of the driving motor. Therefore, on the premise of not improving the process and arrangement, the motor can be quickly regulated on the basis of avoiding gear collision, so that gear shifting noise is effectively restrained, the service life of the transmission is prolonged, and the research and development cost and the process cost are reduced.

Inventors

WANG YUPENG
SUN WANCHAO
CHEN JIANXUN

Assignees

长城新能源商用车有限公司

Dates

Publication Date: 20260505
Application Date: 20241028

Claims (10)

1. A method of gear shifting, the method comprising: When the transmission of a target vehicle is detected to be shifted and a driving motor enters a speed regulation stage, controlling the driving motor to output first torque within a target duration so that the driving motor drives a transmission gear of the transmission to rotate and fully engage; and controlling the driving motor to output a second torque after the target time period is reached, wherein the first torque is smaller than the second torque.
2. The method of claim 1, wherein the controlling the drive motor to output the first torque for a target period of time comprises: Determining a target duration and a first torque corresponding to a target gear based on the target gear; And controlling the driving motor to output the first torque corresponding to the target gear within the target time length corresponding to the target gear.
3. The method of claim 2, wherein determining a target duration and a first torque corresponding to the target gear based on the target gear comprises: And acquiring a target duration and a first torque corresponding to the target gear from a target corresponding relation based on the target gear, wherein the target corresponding relation is determined by controlling the driving motor to increase the torque.
4. The method of claim 3, wherein the step of determining the target correspondence comprises: For any gear in a plurality of gears, the combination sleeve and the combination teeth of the gears are in override disconnection, the driving motor is controlled to perform multi-wheel torque increase from initial torque, and reference torque is obtained, wherein the reference torque is torque which enables the driving motor to continuously rotate in the torque increasing process; determining a time interval between an initial time and a target time as a reference time, wherein the initial time is a time for requesting the driving motor to start torque increase from an initial torque, and the target time is a time for starting to generate a rotating speed of the driving motor; determining a first torque corresponding to the gear based on the reference torque, and determining a target duration corresponding to the gear based on the reference duration; After the first torque and the target duration corresponding to the gears are obtained, determining the target corresponding relation based on the gears and the first torque and the target duration corresponding to the gears, wherein the gears comprise the target gears.
5. The method of claim 4, wherein controlling the drive motor to perform a multi-wheel torque increase from an initial torque to a reference torque comprises: For the first wheel torque increase in the multi-wheel torque increase, adding a preset torque to the initial torque of the driving motor to obtain the torque after the first wheel torque increase; the method comprises the steps of obtaining a torque after the torque of an ith wheel is increased, obtaining the torque after the torque of the ith wheel is increased by adding the preset torque to the torque after the torque of the ith wheel is increased in the process of increasing the torque of the ith wheel in multiple wheels, controlling the driving motor to continuously output the torque after the torque of the ith wheel is increased in a plurality of continuous moments when the rotation speed of the driving motor is detected, and taking the torque after the torque of the ith wheel is increased as the reference torque when the driving motor is determined to have the rotation speed in the plurality of continuous preset moments, wherein i is an integer larger than or equal to 2.
6. The method of claim 4, wherein determining the first torque corresponding to the gear based on the reference torque and determining the target duration corresponding to the gear based on the reference duration comprises: Canceling the override disconnection of the combination sleeve and the combination teeth of the gear, performing a driving test, and determining whether the gear shifting noise exceeds a first threshold value; Under the condition that the gear shifting noise does not exceed the first threshold value, determining the reference torque as a first torque corresponding to the gear, and determining the reference duration as a target duration corresponding to the gear; When the gear shifting noise is determined to not exceed the first threshold value after the multi-wheel torque is increased, the torque after the multi-wheel torque is increased is taken as a target torque, the target torque is determined to be the first torque corresponding to the gear, and the reference time is determined to be the target time corresponding to the gear; And under the condition that the gear shifting noise still exceeds the first threshold value after the multi-wheel torque is increased, taking critical torque when the gear shifting noise does not exceed the second threshold value as the target torque, controlling the driving motor to output the target torque in a plurality of different time periods respectively, detecting the gear shifting noise corresponding to a plurality of time periods, wherein the time periods are obtained by increasing on the basis of the reference time period, determining the time period corresponding to the gear shifting noise which is smaller than or equal to the first threshold value in the time periods as a candidate time period, determining the target torque as the first torque corresponding to the gear, and determining the candidate time period as the target time period corresponding to the gear.
7. The method of claim 6, wherein the method further comprises: Determining a total speed regulating time of the driving motor based on the target torque, the candidate duration, the second torque and the target rotating speed; the determining the target torque as the first torque corresponding to the gear and the candidate duration as the target duration corresponding to the gear includes: and under the condition that the total speed regulating time is smaller than a preset speed regulating time, determining the target torque as a first torque corresponding to the gear, and determining the candidate duration as a target duration corresponding to the gear.
8. The method of claim 1, wherein the controlling the drive motor to output the second torque after the target period of time is reached further comprises: Determining a target rotating speed corresponding to a target gear, wherein the target gear is a gear to be hung on the transmission, and the target rotating speed is a rotating speed to be reached by the driving motor; And controlling the driving motor to output a second torque after the target duration is reached, including: and after the target time length is reached, controlling the driving motor to output a second torque until the rotating speed of the driving motor reaches the target rotating speed.
9. A shift speed control device, the device comprising: The first output module is used for controlling the driving motor to output first torque in a target duration under the condition that the transmission of the target vehicle is detected to be shifted and the driving motor enters a speed regulation stage, so that the driving motor drives a transmission gear of the transmission to rotate and be fully meshed; and the second output module is used for controlling the driving motor to output a second torque after the target duration is reached, and the first torque is smaller than the second torque.
10. A vehicle, characterized in that the vehicle comprises: A memory for storing executable program code; a processor for calling and running the executable program code from the memory, causing the vehicle to perform the method of any one of claims 1 to 8.

Description

Gear shifting speed regulating method and device and vehicle Technical Field The application relates to the technical field of vehicles, in particular to a gear shifting speed regulating method and device and a vehicle. Background With the development of technology, vehicles mostly adopt an automatic transmission for gear shifting. In particular to an electric vehicle, the whole gear shifting process can comprise five stages of motor torque reduction, gear shifting, motor speed regulation, gear shifting and motor torque returning. The motor speed regulation stage mainly aims at enabling the motor to reach the rotating speed corresponding to the target gear. In general, the motor outputs larger torque to enable the change rate of the rotating speed to be increased instantaneously, so that the aim of quick speed regulation is fulfilled. However, the motor can also drive a plurality of groups of gears in the gearbox to regulate speed in the rotating process, and in addition, backlash exists between a driving gear and a driven gear in the gear set, so that the gear set can be caused to collide instantaneously under the condition that the change rate of the rotation speed of the motor increases instantaneously. Thus, a loud noise occurs due to the instant collision of the gear set, which affects the driving quality and the service life of the gearbox. In the related art, the gear set process of the transmission is generally optimized (such as reducing gear set gaps) to avoid the gear set collision in the motor speed regulation process as much as possible, or the position arrangement of the gear set can be optimized to avoid the motor speed regulation to drive more gears to rotate as much as possible, so that the gear collision in the motor speed regulation process is reduced. However, in the above manner, the problem of gear collision during the motor speed regulation is solved from the aspects of process and arrangement, but this clearly increases the higher development cost. Disclosure of Invention The application provides a gear shifting speed regulating method, a gear shifting speed regulating device, a vehicle and a storage medium, which can control a motor to output smaller torque in a certain time when the motor starts to regulate speed, so that a transmission gear is fully meshed, and the problem of collision of the gear in the motor speed regulating process is avoided. The technical scheme comprises the following contents. In a first aspect, a shift speed control method is provided, the method comprising: When the transmission of a target vehicle is detected to be shifted and a driving motor enters a speed regulation stage, controlling the driving motor to output first torque within a target duration so that the driving motor drives a transmission gear of the transmission to rotate and fully engage; and controlling the driving motor to output a second torque after the target time period is reached, wherein the first torque is smaller than the second torque. In the application, under the condition that the target vehicle is shifting and the driving motor of the target vehicle enters a speed regulation stage, the driving motor can be controlled to output the first torque within a target duration, so that the transmission gear of the transmission is fully meshed in the process that the driving motor drives the gear to rotate. And controlling the driving motor to output a second torque after the target time period is reached, wherein the first torque is smaller than the second torque. According to the application, the driving motor is controlled to output a smaller torque in the target duration in the beginning stage of motor speed regulation, so that the change of the motor speed is slower, and the transmission gear of the speed changer is fully meshed first, namely, the gap between the driving gear and the driven gear is eliminated or reduced in the gear rotation process, so that the gears cannot collide in the gear rotation process subsequently. And then outputting larger torque to quickly change the rotating speed of the driving motor. Therefore, on the premise of not improving the process and arrangement, the motor can be quickly regulated on the basis of avoiding gear collision, so that gear shifting noise is effectively restrained, the service life of the transmission is prolonged, and the research and development cost and the process cost are reduced. Optionally, the controlling the driving motor to output the first torque for a target period of time includes: Determining a target duration and a first torque corresponding to a target gear based on the target gear; And controlling the driving motor to output the first torque corresponding to the target gear within the target time length corresponding to the target gear. Optionally, the determining, based on the target gear, a target duration and a first torque corresponding to the target gear includes: And acquiring a target duration and a first torq