CN110067853A - A kind of vehicle shift method, device and equipment - Google Patents

Abstract

The present invention relates to a vehicle gear shifting method, device and equipment, comprising: when a gear shifting request is received, obtaining a speed difference value of a gearbox output shaft and a speed change rate of the gearbox output shaft; Determine the estimated time; determine whether the estimated time is greater than the preset hysteresis time; if the estimated time is not greater than the hysteresis time, shift gears according to the shift request; if the The estimated time is greater than the delay time, and the current speed of the vehicle is obtained; it is judged whether the vehicle speed is less than the preset shift point speed; if the vehicle speed is less than the shift point speed, the current gear is maintained; if the vehicle speed The vehicle speed is not less than the shift point, the wheel-end torque of the vehicle is obtained, and based on the wheel-end torque, it is determined whether to shift gears according to the shift request. The present invention introduces the lag time as the determination condition and the wheel end torque as the upshift limit requirement, so that the shifting process can be completed in advance and the smoothness of the shifting is improved.

Description

A kind of vehicle gear shifting method, device and equipment

technical field

The present invention relates to the technical field of vehicle power systems, and in particular, to a vehicle gear shifting method, device and device.

Background technique

With the exhaustion of traditional energy sources, new energy applications are common, especially in the automotive industry. Many large automakers choose hybrids to replace traditional fuel systems to save fuel, reduce energy consumption, and ensure the car's battery life.

Existing hybrid systems can be driven by an internal combustion engine as the main propulsion device and an electric motor as the auxiliary propulsion device. According to the position of the motor relative to the traditional power system, the single-motor hybrid scheme can be divided into five categories, namely P0, P1, P2, P3 and P4.

Therein, the electrical machine is equipped with at least one energy store, eg an electrochemical energy store for storing electrical energy, and a control unit to control the flow of electrical energy between the energy store and the electrical machine. The electric machine can thus operate alternately as a motor and a generator based on the operating conditions of the vehicle. When the vehicle brakes, the electric machine generates electrical energy that is stored in an accumulator. The stored electrical energy can later be used to propel the vehicle, and the automatic shifting process typically involves controlling the powertrain so that the internal combustion engine maintains an optimum engine speed, the target engine speed. If the engine speed is too high, an upshift is performed and the engine speed is reduced accordingly. Similarly, if the engine speed is too low, a downshift is performed and the engine speed is increased. The optimum engine speed may be determined based on desired fuel consumption, performance, or the like. Engine speed affects fuel consumption, so it is desirable to keep engine speed as low as possible while maintaining the drive torque demanded by the driver.

The common hybrid systems are P2 and P3 systems, but when the motor drives the vehicle in the P2 system, there is no way to recover electric energy at the same time, and there is a bottleneck in efficiency; in the P3 system, the motor must be connected to the axle, so the motor cannot be used to start the engine. The electric motor cannot be integrated with the gearbox or the engine and requires additional bulk. Therefore, a P2.5 system is developed, which can combine the advantages of the P2 system and the P3 system and avoid the shortcomings of the P2 system and the P3 system.

In the P2.5 system, the hybrid vehicle uses a 7DCTH transmission, and the motor is integrated on the two shafts of the transmission to drive the whole vehicle through the motor. When the whole vehicle needs to upshift during pure electric driving, there are the following problems: (1) The motor speed is too high, the maximum can reach more than 11000rpm, the speed of the two shafts of the gearbox and the clutch combined with it are too high, and the maximum allowable input of the clutch is too high. If the speed is around 6500rpm, then it is necessary to consider the hardware protection of the motor and clutch, and reduce the speed of the motor and the clutch by means of upshifting in advance; (2) Under the condition of continuously stepping on the accelerator to accelerate, the motor speed responds very quickly, and is affected by the hardware. Restricting coaxial shifting requires a certain shifting time, and shifting shocks are likely to occur during upshifting.

In order to solve the above problems, it is necessary to develop a new gear shifting method in the P2.5 system, which can ensure that the vehicle can protect the clutch or motor and other hardware under pure electric driving conditions, and at the same time improve the smoothness of the vehicle shifting.

SUMMARY OF THE INVENTION

In view of the above-mentioned problems in the prior art, the purpose of the present invention is to provide a method, device and equipment for shifting a hybrid electric vehicle, which can realize the upshift in advance by introducing the lag time as the determination condition and the requirement of the wheel end torque to limit the upshift. , complete the shifting process and improve the smoothness of shifting.

In order to solve the above problems, the present invention provides a vehicle gear shifting method, including:

When a shift request is received, obtain the speed difference of the gearbox output shaft and the speed change rate of the gearbox output shaft;

determining the estimated time according to the rotational speed difference and the rotational speed change rate;

judging whether the estimated time is greater than a preset delay time;

If the estimated time is not greater than the hysteresis time, shifting according to the shifting request;

If the estimated time is greater than the delay time, obtain the current speed of the vehicle;

judging whether the vehicle speed is less than the preset shift point vehicle speed;

If the vehicle speed is less than the vehicle speed at the shift point, maintain the current gear;

If the vehicle speed is not less than the vehicle speed at the shift point, the wheel-end torque of the vehicle is obtained, and based on the wheel-end torque, it is determined whether to shift gears according to the shift request.

Further, the rotational speed difference includes:

Obtain the speed limit value of the transmission output shaft overdrive and the current speed of the transmission output shaft;

According to the rotational speed limit value and the rotational speed, the rotational speed difference of the output shaft of the gearbox is determined.

Further, the rotational speed limit value includes:

Get the current motor speed;

Determine the maximum speed of the output shaft of the gearbox according to the transmission ratio of the gearbox and the speed of the motor;

The low rotational speed value between the maximum rotational speed and the maximum rotational speed allowed by the clutch is selected as the rotational speed limit value of the transmission output shaft overspeeding.

Further, the rotational speed includes:

get the speed of the vehicle;

According to the vehicle speed and the transmission ratio of the transmission system, the current rotational speed of the output shaft of the gearbox is determined.

Further, the rotational speed change rate includes:

Obtain the rotational speed and the rotational speed at a preset time interval;

According to the rotational speed and the rotational speed at the preset time interval, the rotational speed change rate of the output shaft of the gearbox is determined.

Further, the estimated time is obtained by calculating the difference in rotational speed and the rate of change of the rotational speed, and the estimated time is used to represent the estimated time when the current gearbox executes a shift request.

Further, the wheel end torque judgment includes:

Determine whether the wheel-end torque is greater than the maximum torque allowed for shifting;

If the wheel-end torque is not greater than the maximum torque, shifting according to the shifting request;

If the wheel end torque is greater than the maximum torque, the current gear is maintained.

Another aspect of the present invention also protects a vehicle shifting device, comprising:

The information acquisition unit is used to acquire the speed difference of the output shaft of the gearbox and the rate of change of the speed of the output shaft of the gearbox when a shift request is received;

a time determination unit, configured to determine an estimated time according to the rotational speed difference and the rotational speed change rate;

a first judging unit for judging whether the estimated time is greater than a preset delay time;

a first execution unit, configured to perform shifting according to the shifting request when the estimated time is not greater than the delay time;

a second execution unit, configured to acquire the current speed of the vehicle when the estimated time is greater than the delay time;

a second judging unit, configured to judge whether the vehicle speed is less than a preset shift point vehicle speed;

a third execution unit, configured to maintain the current gear when the vehicle speed is lower than the vehicle speed at the shift point;

The fourth execution unit is configured to obtain the wheel end torque of the vehicle when the vehicle speed is not less than the vehicle speed at the shift point, and determine whether to perform a gear shift according to the shift request based on the wheel end torque.

Another aspect of the present invention also protects a vehicle gear shifting device, comprising: a data acquisition device, a motor controller, a gearbox controller and a clutch controller;

The data collection device is used to collect the current vehicle speed and the current motor speed;

The gearbox controller is used to determine the speed difference of the gearbox output shaft and the speed change rate of the gearbox output shaft;

The transmission controller is used to determine the estimated time according to the speed difference of the output shaft of the transmission and the rate of change of the speed of the output shaft of the transmission;

The transmission controller is used to determine whether the estimated time is greater than a preset delay time; if the estimated time is not greater than the delay time, shift gears according to the shift request; If the estimated time is greater than the delay time, obtain the current speed of the vehicle;

The transmission controller is used to judge whether the vehicle speed is lower than the preset shift point vehicle speed;

If the vehicle speed is less than the vehicle speed at the shift point, the current gear is maintained; if the vehicle speed is not less than the vehicle speed at the shift point, the wheel-end torque of the vehicle is obtained, and based on the wheel-end torque, it is determined whether to gear request to shift.

Due to the above-mentioned technical scheme, the present invention has the following beneficial effects:

1) A vehicle gear shifting method, device and device of the present invention introduces a hysteresis time as a judgment condition, which can realize upshifting in advance, complete the response time of hardware execution in advance, realize the shifting process, and protect the transmission hardware (clutch or gear). motor).

2) A vehicle gear shifting method, device and equipment of the present invention introduces the requirement of wheel end torque to limit upshift, and when the wheel end torque exceeds a certain limit, no upshift is allowed to improve the smoothness of shifting.

Description of drawings

In order to illustrate the technical solutions of the present invention more clearly, the following will briefly introduce the accompanying drawings that are required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

1 is a flowchart of a vehicle gear shifting method provided by an embodiment of the present invention;

2 is a flowchart of obtaining wheel end torque provided by an embodiment of the present invention;

3 is a structural diagram of a vehicle shifting device provided by an embodiment of the present invention;

4 is a structural diagram of the information acquisition unit provided by an embodiment of the present invention;

FIG. 5 is a structural diagram of the fourth execution unit provided by an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

Reference herein to "one embodiment" or "an embodiment" refers to a particular feature, structure, or characteristic that may be included in at least one implementation of the present invention. In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "top", "bottom", etc. are based on those shown in the accompanying drawings The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. Also, the terms "first," "second," etc. are used to distinguish between similar objects, and are not necessarily used to describe a particular order or precedence. It is to be understood that the data so used may be interchanged under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein.

Example 1

The first embodiment provides a vehicle gear shifting method, which is shown in FIG. 1 and FIG. 2 , including:

S101. When a gear shift request is received, obtain the rotational speed difference of the transmission output shaft and the rotational speed change rate of the transmission output shaft.

Specifically, the rotational speed difference includes:

Obtain the speed limit value of the transmission output shaft overdrive and the current speed of the transmission output shaft;

According to the rotational speed limit value and the rotational speed, the rotational speed difference of the output shaft of the gearbox is determined.

Further, the difference between the rotational speed limit value of the transmission output shaft overdrive and the current rotational speed of the transmission output shaft is the rotational speed difference of the transmission output shaft.

Further, the rotational speed limit value includes:

Get the current motor speed;

Determine the maximum speed of the output shaft of the gearbox according to the transmission ratio of the gearbox and the speed of the motor;

The low rotational speed value between the maximum rotational speed and the maximum rotational speed allowed by the clutch is selected as the rotational speed limit value of the transmission output shaft overspeeding.

Further, the current rotational speed of the output shaft of the gearbox includes:

Get the current speed of the vehicle;

According to the traveling speed and the transmission ratio of the transmission system, the current rotational speed of the output shaft of the gearbox is determined.

Specifically, the rotational speed change rate includes:

Get the current speed of the gearbox output shaft and the speed at the preset time interval;

According to the current rotation speed of the transmission output shaft and the rotation speed at the preset time interval, the rotation speed change rate of the transmission output shaft is determined.

Further, the interval preset time is 1s.

S102. Determine the estimated time according to the rotational speed difference and the rotational speed change rate;

Further, the estimated time is obtained by calculating the difference in rotational speed and the rate of change of the rotational speed, and the estimated time is used to represent the estimated time when the current gearbox executes a shift request.

S103. Determine whether the estimated time is greater than a preset delay time;

If the estimated time is not greater than the hysteresis time, shifting according to the shifting request;

If the estimated time is greater than the delay time, obtain the current speed of the vehicle;

Further, the hysteresis time is used to represent the response time of the transmission to perform a shift request, and the hysteresis time is 2s-4s.

S104. Determine whether the vehicle speed is less than a preset shift point vehicle speed;

If the vehicle speed is less than the vehicle speed at the shift point, maintain the current gear;

If the vehicle speed is not less than the vehicle speed at the shift point, the wheel-end torque of the vehicle is obtained, and based on the wheel-end torque, it is determined whether to shift gears according to the shift request.

As shown in Figure 2, the wheel end torque includes:

S201. Obtain the vehicle speed and the opening and closing degree of the accelerator pedal;

S202. Determine a driving force according to the speed and the degree of opening and closing;

S203. Determine the wheel end torque according to the driving force and the rolling radius.

Further, the wheel end torque judgment includes:

S204. Determine whether the wheel-end torque is greater than the preset maximum torque allowed for shifting;

If the wheel-end torque is not greater than the maximum torque, shifting according to the shifting request;

If the wheel end torque is greater than the maximum torque, the current gear is maintained.

Further, the maximum torque allowed by the gearbox is 300Nm.

The first embodiment provides a vehicle gear shifting method, which introduces a lag time as a determination condition and introduces a wheel-end torque requirement for upshifting limitation, which can realize upshifting in advance, complete the shifting process, and protect the transmission hardware (clutch or motor) .

Embodiment 2

The second embodiment provides a vehicle gear shifting device, as shown in FIG. 3 , including:

an information acquisition unit 300, configured to acquire the rotational speed difference of the transmission output shaft and the rotational speed change rate of the transmission output shaft when a shift request is received;

a time determination unit 400, configured to determine an estimated time according to the rotational speed difference and the rotational speed change rate;

a first judging unit 500, configured to judge whether the estimated time is greater than a preset delay time;

a first execution unit 600, configured to perform shifting according to the shifting request when the estimated time is not greater than the delay time;

The second execution unit 700 is configured to acquire the current speed of the vehicle when the estimated time is greater than the delay time;

a second judging unit 800, configured to judge whether the vehicle speed is less than a preset shift point vehicle speed;

a third execution unit 900, configured to maintain the current gear when the vehicle speed is lower than the vehicle speed at the shift point;

The fourth execution unit 1000 is configured to obtain the wheel end torque of the vehicle when the vehicle speed is not less than the vehicle speed at the shift point, and determine whether to shift gears according to the shift request based on the wheel end torque.

As shown in Figure 4, the information acquisition unit 300 includes:

a rotational speed limit value determination module 301, configured to determine a rotational speed limit value of the output shaft of the gearbox;

an output shaft rotational speed acquisition module 302, configured to acquire the current rotational speed and/or the interval preset time of the output shaft of the gearbox;

The motor speed obtaining module 303 is used to obtain the current motor speed;

a driving speed acquiring module 304, configured to acquire the current driving speed;

A selection module 305 is used to select a low rotation speed value between the maximum rotation speed of the transmission output shaft and the maximum rotation speed allowed by the clutch as the rotation speed limit value of the transmission output shaft overspeeding.

As shown in FIG. 5 , the fourth execution unit 1000 includes:

an opening and closing degree obtaining module 1001, used for obtaining the opening and closing degree of the accelerator pedal;

a wheel-end torque determination module 1002, configured to determine the wheel-end torque at the current driving speed;

The third judgment module 1003 is used for whether the wheel end torque is greater than the torque limit value;

A fifth execution module 1004, configured to perform a gear shift according to the gear shift request when the wheel end torque is not greater than the torque limit value;

The sixth execution module 1005 is configured to maintain the current gear when the wheel end torque is greater than the torque limit value.

Further, the motor speed obtaining module 303 obtains the current motor speed, and determines the maximum speed of the gearbox output shaft according to the transmission ratio of the gearbox and the current motor speed; the selection module 305 selects the maximum speed of the gearbox output shaft. The low speed value between the maximum speed allowed by the clutch and the maximum speed allowed by the clutch is used as the speed limit value of the transmission output shaft overdrive.

Further, the driving speed obtaining module 304 obtains the current driving speed, and according to the driving speed and the transmission ratio of the transmission system, by dividing the driving speed and the transmission ratio of the transmission system, the current rotation speed of the output shaft of the current gearbox is determined. .

Further, the rotational speed limit value determination module 301 obtains the rotational speed limit value of the output shaft of the gearbox, and determines the speed change according to the rotational speed limit value and the current rotational speed and through the difference between the rotational speed limit value and the current rotational speed. The speed difference of the output shaft of the box.

Further, the output shaft rotational speed acquisition 302 module acquires the current rotational speed of the gearbox output shaft and/or the rotational speed of a predetermined period, and determines the rotational speed change rate of the gearbox output shaft according to the current rotational speed and the rotational speed of the predetermined period.

Further, the information obtaining unit 300 obtains the speed difference value of the output shaft of the gearbox and the speed change rate of the output shaft of the gearbox; the time determining unit 400 obtains the speed difference value and the speed change rate through the The speed difference is divided by the speed change rate to determine the estimated time; the first judgment unit 500 judges whether the estimated time is greater than the preset delay time, and the first execution unit 600 determines whether the estimated time is greater than the preset delay time. When the delay time is greater than the delay time, the gear shift is performed according to the shift request; when the estimated time is greater than the delay time, the second execution unit 700 obtains the current speed of the vehicle; the second judgment unit 800 uses To determine whether the vehicle speed is lower than the preset shift point vehicle speed; the third execution unit 900 is used to maintain the current gear when the vehicle speed is lower than the shift point vehicle speed; the fourth execution unit 1000 The vehicle speed is not less than the vehicle speed at the shift point, the wheel-end torque of the vehicle is obtained, and based on the wheel-end torque, it is determined whether to shift gears according to the shift request.

Further, the third judging module 1003 determines whether the wheel end torque is greater than the torque limit value, the fifth execution module 1004 performs gear shifting when the wheel end torque is greater than the torque limit value, according to the shift request; the sixth execution Module 1005 maintains the current gear at the wheel end torque not greater than the torque limit.

Further, the opening and closing degree obtaining module 1001 obtains the opening and closing degree of the accelerator pedal, the driving speed obtaining module 304 obtains the current driving speed, and determines the driving force according to the opening and closing degree and the driving speed; the wheel end torque is determined The module 1002 is used for determining the wheel end torque of the current driving speed according to the driving force and the rolling radius.

The second embodiment provides a vehicle gear shifting device, which introduces a lag time as a determination condition and introduces a wheel-end torque requirement for upshifting limitation, which can realize upshifting in advance, complete the shifting process, and protect the drive train hardware (clutch or motor) .

Embodiment 3

The third embodiment provides a device for shifting gears of a vehicle, including: a data acquisition device, a motor controller, a gearbox controller, and a clutch controller;

The data collection device is used to collect the current vehicle speed and the current motor speed of the current vehicle;

The gearbox controller is used to determine the speed difference of the gearbox output shaft and the speed change rate of the gearbox output shaft;

The transmission controller is used to determine the estimated time according to the speed difference of the output shaft of the transmission and the rate of change of the speed of the output shaft of the transmission;

The transmission controller is used to determine whether the estimated time is greater than a preset delay time; if the estimated time is not greater than the delay time, shift gears according to the shift request; If the estimated time is greater than the lag time, the wheel-end torque of the vehicle is obtained, and based on the wheel-end torque, it is determined whether to shift gears according to the shift request.

Specifically, the motor controller is used to control the current rotation speed of the motor; the clutch controller is used to control the maximum rotation speed allowed by the clutch.

Specifically, the device for shifting gears of a vehicle is based on the above-mentioned vehicle shifting device, and performs gear shifting according to the shifting request.

The third embodiment provides a device for shifting gears of a vehicle, which introduces a lag time as a determination condition and a requirement for limiting upshifting of wheel-end torque, which can realize upshifting in advance, complete the shifting process, and improve the smoothness of shifting.

It should be noted that, for the convenience of description, the foregoing method embodiments are all expressed as two series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because Certain steps may be performed in other orders or simultaneously in accordance with the present invention. Similarly, each module in the above-mentioned manufacturing device refers to a computer program or program segment, which is used to perform one or more specific functions. In addition, the distinction between the above-mentioned modules does not mean that the actual program code must also be separated. . In addition, any combination of the above-mentioned embodiments can also be performed to obtain other embodiments.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in each of the embodiments, reference may be made to the relevant descriptions of other embodiments. Those skilled in the art may also understand that various illustrative logical blocks (illustrative logical blocks), units, and steps listed in the embodiments of the present invention may be implemented by electronic hardware, computer software, or a combination of the two. To clearly demonstrate the interchangeability of hardware and software, the various illustrative components, units and steps described above have generally described their functions. Whether such functionality is implemented in hardware or software depends on the specific application and overall system design requirements. Those skilled in the art may use various methods to implement the described functions for each specific application, but such implementation should not be construed as exceeding the protection scope of the embodiments of the present invention.

The foregoing description has fully disclosed specific embodiments of the present invention. It should be pointed out that any changes made by those skilled in the art to the specific embodiments of the present invention will not depart from the scope of the claims of the present invention. Accordingly, the scope of the claims of the present invention is not limited to the foregoing specific embodiments.

Claims (10)

1. A vehicle shifting method, characterized in that, comprising: When a shift request is received, obtain the speed difference of the gearbox output shaft and the speed change rate of the gearbox output shaft; determining the estimated time according to the rotational speed difference and the rotational speed change rate; judging whether the estimated time is greater than a preset delay time; If the estimated time is not greater than the hysteresis time, shifting according to the shifting request; If the estimated time is greater than the delay time, obtain the current speed of the vehicle; judging whether the vehicle speed is less than the preset shift point vehicle speed; If the vehicle speed is less than the vehicle speed at the shift point, maintain the current gear; If the vehicle speed is not less than the vehicle speed at the shift point, the wheel-end torque of the vehicle is obtained, and based on the wheel-end torque, it is determined whether to shift gears according to the shift request. 2. A vehicle shifting method according to claim 1, wherein the rotational speed difference comprises: Obtain the speed limit value of the transmission output shaft overdrive and the current speed of the transmission output shaft; According to the rotational speed limit value and the rotational speed, the rotational speed difference of the output shaft of the gearbox is determined. 3. A vehicle gear shifting method according to claim 2, wherein the rotational speed limit value comprises: Get the current motor speed; Determine the maximum speed of the output shaft of the gearbox according to the transmission ratio of the gearbox and the speed of the motor; The low rotational speed value between the maximum rotational speed and the maximum rotational speed allowed by the clutch is selected as the rotational speed limit value of the transmission output shaft overspeeding. 4. A vehicle gear shifting method according to claim 2, wherein the rotational speed comprises: get the speed of the vehicle; According to the vehicle speed and the transmission ratio of the transmission system, the current rotational speed of the output shaft of the gearbox is determined. 5. A vehicle gear shifting method according to claim 1, wherein the speed change rate comprises: Obtain the rotational speed and the rotational speed at a preset time interval; According to the rotational speed and the rotational speed at the preset time interval, the rotational speed change rate of the output shaft of the gearbox is determined. 6 . The method for shifting a vehicle according to claim 1 , wherein the estimated time is obtained by calculating the difference in rotational speed and the rate of change of the rotational speed, and the estimated time is used to characterize the current gear shift. 7 . The time it takes for the box to execute the shift request. 7 . The vehicle gear shifting method according to claim 1 , wherein the wheel end torque judgment comprises: 8 . Determine whether the wheel-end torque is greater than the maximum torque allowed for shifting; If the wheel-end torque is not greater than the maximum torque, shifting according to the shifting request; If the wheel end torque is greater than the maximum torque, the current gear is maintained. 8 . The vehicle gear shifting method according to claim 1 , wherein the lag time is used to represent the response time of the transmission to perform a gear shifting request. 9 . 9. A vehicle shifting device, comprising: The information acquisition unit is used to acquire the speed difference of the output shaft of the gearbox and the rate of change of the speed of the output shaft of the gearbox when a shift request is received; a time determination unit, configured to determine an estimated time according to the rotational speed difference and the rotational speed change rate; a first judging unit for judging whether the estimated time is greater than a preset delay time; a first execution unit, configured to perform shifting according to the shifting request when the estimated time is not greater than the delay time; a second execution unit, configured to acquire the current speed of the vehicle when the estimated time is greater than the delay time; a second judging unit, configured to judge whether the vehicle speed is less than a preset shift point vehicle speed; a third execution unit, configured to maintain the current gear when the vehicle speed is lower than the vehicle speed at the shift point; The fourth execution unit is configured to obtain the wheel end torque of the vehicle when the vehicle speed is not less than the vehicle speed at the shift point, and determine whether to perform a gear shift according to the shift request based on the wheel end torque. 10. A vehicle gear shifting device, comprising: a data acquisition device, a motor controller, a gearbox controller and a clutch controller; The data collection device is used to collect the current vehicle speed and the current motor speed; The gearbox controller is used to determine the speed difference of the gearbox output shaft and the speed change rate of the gearbox output shaft; The transmission controller is used to determine the estimated time according to the speed difference of the output shaft of the transmission and the rate of change of the speed of the output shaft of the transmission; The transmission controller is used to determine whether the estimated time is greater than a preset delay time; if the estimated time is not greater than the delay time, shift gears according to the shift request; If the estimated time is greater than the delay time, obtain the current speed of the vehicle; The transmission controller is used to judge whether the current vehicle speed is less than the preset shift point vehicle speed; if the vehicle speed is less than the shift point vehicle speed, maintain the current gear; if the vehicle speed is not less than the shift point vehicle speed If the vehicle speed is at the gear point, the wheel-end torque of the vehicle is obtained, and based on the wheel-end torque, it is determined whether to shift gears according to the shift request.