Gear shifting method, control unit, program product, electric drive system, and electric vehicle

A gear shifting method for use in electric vehicles, comprising:

• executing a speed adjustment process, which comprises:
• setting an absolute rotational speed difference between an output-side engagement component and an input-side engagement component to a preset value, wherein an absolute value of the preset value is within a range of 10 rpm to 30 rpm;
• and
• issuing a speed adjustment request to adjust a rotational speed of a drive motor of the electric vehicle to the preset value when the input-side engagement component and the output-side engagement component of a transmission, driven by the drive motor, are disengaged;
• and
• executing an engagement process, which includes issuing an engagement command after completion of the speed adjustment process, so as to engage the input-side engagement component with the output-side engagement component for gear engagement,
• wherein:
• during the speed adjustment process, a requested rotational speed Vm of the drive motor is determined by the formula
• Vr
• =
• Vs
• ⁢
• 0
• -
• A
• -
• B
• ;
• ⁢
• Vm
• =
• Vr
• *
• i
• ;
• Vs0 denotes a rotational speed of the output-side engagement component at a moment T0 at which the speed adjustment request is issued;
• Vr denotes a target rotational speed of the input-side engagement component;
• A denotes the preset value;
• B denotes the compensation value;
• and
• i denotes a transmission ratio from the drive motor to the input-side engagement component.