A decoupling method, system, device and readable storage medium for the slope and vehicle weight of a commercial vehicle AMT transmission

Abstract

The present invention discloses a method, system, device and readable storage medium for decoupling slope and vehicle weight of a commercial vehicle AMT transmission, including the following steps: Step 1, obtain the vehicle running data when the vehicle is running normally; Step 2, set the first moment delay value; Step 3, obtain the slope signal through the Kalman algorithm; Step 4, obtain the vehicle weight signal through the least square algorithm using the slope signal in Step 3; Step 5, perform weighted calculation on the vehicle weight signal to obtain the final vehicle weight information. By establishing a combined algorithm based on the Kalman-least square method, the acceleration sensor is completely separated to calculate the road slope and vehicle weight; an algorithm design using enabling trigger and interruption is adopted to strictly limit the conditions for the establishment of the dynamic equation, improving the data reliability and data convergence speed; thus, the slope and vehicle weight information can be obtained without the acceleration sensor, ensuring the vehicle driving safety before the acceleration sensor resumes its function.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle engineering, and more particularly to a method, system, device and readable storage medium for decoupling slope and vehicle weight of a commercial vehicle AMT transmission. Background Art

[0002] With the development of commercial vehicle AMT automatic transmissions, the research on AMT transmission software algorithm technology has gradually matured. Among them, the algorithms for road slope and vehicle weight have also been under research. At present, the commercial vehicle AMT controller units at home and abroad are mainly divided into two categories: modular and integrated. For the acquisition methods of slope and vehicle weight information in driving data, the acceleration in the X, Y (Z-axis) two (three) directions of the vehicle is mainly obtained through a two-axis (three-axis) sensor, and then the current vehicle weight is obtained through calculation.

[0003] Regarding the research on obtaining slope and vehicle weight without sensors, due to many limiting conditions and great difficulties, it is currently in the research stage. At the same time, the established limiting situations in the research are single and cannot be applied to the actual complex driving conditions.

[0004] To sum up, the products of the existing technology mostly rely on acceleration sensors, which seriously increase the product cost; and the acceleration sensors themselves are affected by adverse factors such as hardware life (hardware failure), working environment (strong magnetic field, etc.), and resonance, which will seriously interfere with the calculation accuracy of the acceleration sensors, and even directly obtain incorrect slope information and vehicle weight. As a result, the shifting quality is seriously affected, the shifting strategy is incorrect, and there is a risk of serious vehicle slipping, posing a great safety hazard to the driver during driving. Summary of the Invention

[0005] In order to solve the problems existing in the prior art, the present invention provides a method, system, device and readable storage medium for decoupling slope and vehicle weight of a commercial vehicle AMT transmission, improving driving safety, and providing backup data when the acceleration sensor fails to ensure the basic driving function of the vehicle.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A method for decoupling slope and vehicle weight of a commercial vehicle AMT transmission includes the following steps:

[0008] Step 1: When the vehicle is driving normally, obtain the vehicle driving data;

[0009] Step 2: Set the first moment delay value according to the vehicle parameters;

[0010] Step 3: Obtain the slope signal through the Kalman algorithm based on the vehicle driving data in Step 1 and the first moment delay value in Step 2;

[0011] Step 4, obtain the vehicle weight signal by using the least squares algorithm with the slope signal from Step 3;

[0012] Step 5, perform weighted calculation on the vehicle weight signal to obtain the final vehicle weight information.

[0013] Preferably, in Step 1, the driving data includes vehicle speed information, gear position information, torque transmission information, speed ratio information, and tire radius.

[0014] Preferably, in Step 1, obtain the vehicle's driving data through the vehicle's CAN line.

[0015] Preferably, in Step 2, the first moment delay value is a preset slope value and vehicle weight value; the slope value ranges from -10 to 10 degrees, and the vehicle weight value ranges from 5 to 100 tons.

[0016] Preferably, in Step 3, the slope θ of the slope signal K is calculated by the following formula:

[0017]

[0018] In the formula, X K is the kinematic equation regarding vehicle speed V K , vehicle weight M K and road slope θ K , V K-1 is the vehicle speed at the k-1 moment, M K-1 is the vehicle weight at the k-1 moment, θ K-1 is the slope at the k-1 moment, T tq is the engine torque (N·M), i g is the transmission speed ratio, i 0 is the final drive ratio, η T is the mechanical efficiency of the driveline, r is the tire radius, θ is the angle between the road surface and the horizontal direction, f is the rolling resistance coefficient; M is the vehicle's total mass (kg), g is the gravitational acceleration 9.8m / s 2 , C D is the air resistance coefficient, A is the vehicle's frontal area (m 2 ), ρ is the air density 1.2258N·s 2 ·m -4 , u r is the vehicle's driving speed without wind (m / s), E is a custom variable.

[0019] Preferably, in Step 4, the vehicle weight signal is calculated by the following formula:

[0020]

[0021] In the formula, is the vehicle weight calculated at the k moment, The vehicle weight calculated at time k-1, K K , P K , are all intermediate variables, i.e., gain coefficients, Z K is the observation equation.

[0022] Preferably, in step 5, the final vehicle weight information is calculated by the following formula:

[0023] M K = a·M K1 + b·M K2

[0024] In the formula: M K1 is the vehicle weight calculated at time K1, M K2 is the vehicle weight calculated at time K2, a and b are weight coefficients, M K is the calculated final vehicle weight.

[0025] A decoupling system for the slope and vehicle weight of a commercial vehicle AMT transmission, including a data acquisition module, an input module, a Kalman algorithm module, a least squares method module, and a weighting module;

[0026] The data acquisition module is used to acquire the whole vehicle driving data when the vehicle is driving normally;

[0027] The input module is used to input the first moment delay value according to the vehicle parameters;

[0028] The Kalman algorithm module is used to calculate and output a slope signal according to the whole vehicle driving data acquired by the data acquisition module and the first moment delay value of the input module;

[0029] The least squares method module is used to calculate and output a vehicle weight signal according to the slope signal output by the Kalman algorithm module;

[0030] The weighting module is used to perform weighted calculation on the vehicle weight signal output by the least squares method module and output vehicle weight information.

[0031] A computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, it implements the steps of a decoupling method for the slope and vehicle weight of a commercial vehicle AMT transmission as described in any one of the above.

[0032] A computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the steps of a decoupling method for the slope and vehicle weight of a commercial vehicle AMT transmission as described in any one of the above.

[0033] Compared with the prior art, the present invention has the following beneficial technical effects:

[0034] The present invention provides a method for decoupling the slope and vehicle weight of a commercial vehicle AMT transmission. By establishing a combined algorithm based on the Kalman-least squares method, it completely eliminates the acceleration sensor and calculates the road slope and vehicle weight. An algorithm design using enabling triggers and interrupts is adopted to strictly limit the conditions for the establishment of the dynamic equation, improving data reliability and data convergence speed. An algorithm for data freezing is used to solve the data link interruption caused by enabling interrupts and reduce the impact of enabling interrupts on continuous data calculation. Thus, it is possible to obtain slope and vehicle weight information without an acceleration sensor, ensuring the basic driving function of the vehicle in the case of interference or failure of the acceleration sensor and ensuring the driving safety of the vehicle before the acceleration sensor resumes its function. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a flowchart of a method for decoupling the slope and vehicle weight of a commercial vehicle AMT transmission according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] The following further describes the present invention in detail with specific embodiments, which are explanations rather than limitations of the present invention.

[0037] As Figure 1 shown, the present invention provides a method for decoupling the slope and vehicle weight of a commercial vehicle AMT transmission, including the following steps

[0038] Step 1: When the vehicle is driving normally, obtain the vehicle's driving data;

[0039] Step 2: Set the first moment delay value according to the vehicle parameters;

[0040] Step 3: Obtain the slope signal through the Kalman algorithm based on the vehicle's driving data in Step 1 and the first moment delay value in Step 2;

[0041] Step 4: Obtain the vehicle weight signal by using the least squares method algorithm with the slope signal in Step 3;

[0042] Step 5: Perform weighted calculation on the vehicle weight signal to obtain the final vehicle weight information.

[0043] Embodiment

[0044] The process of the Kalman-least squares method combined algorithm in the present invention is as follows:

[0045] Driving force F t :

[0046]

[0047] In the formula: Ttq is the engine torque (N·M), i g is the transmission ratio, i 0 is the final drive ratio, η T is the mechanical efficiency of the driveline, and r is the tire radius.

[0048] Driving resistance F:

[0049] ∑F = F f + F w + F i + F j (2)

[0050] In the formula, F f is the rolling resistance; F w is the air resistance; F i is the gradient resistance; F j is the acceleration resistance.

[0051] Rolling resistance F f :

[0052] F f = M·g·cosθ·f (3)

[0053] In the formula, M is the vehicle mass (kg), g is the acceleration due to gravity 9.8 m / s 2 , θ is the angle between the road surface and the horizontal direction, and f is the rolling resistance coefficient.

[0054] Air resistance F w :

[0055]

[0056] In the formula, C D is the air resistance coefficient, A is the frontal area of the vehicle (m 2 ), ρ is the air density 1.2258 N·s 2 ·m -4 , u r is the vehicle speed (m / s) when there is no wind.

[0057] Gradient resistance F i :

[0058] F i = M·g·sinθ (5)

[0059] In the formula, M is the vehicle mass (kg), g is the acceleration due to gravity 9.8 m / s 2 , θ is the angle between the road surface and the horizontal direction.

[0060] Acceleration resistance F j :

[0061]

[0062] In the formula, δ is the conversion coefficient of the rotating mass of the vehicle, and δ > 1. is the formal acceleration (m / s 2 ), and M is the vehicle mass (kg).

[0063] In summary, according to the kinematic analysis of normal vehicle driving, the kinematic equation is established:

[0064] F t = F f + F w + F i + F j (7)

[0065] Or

[0066]

[0067] Formula 8 is the initial dynamic formula, and formula 9 is transformed from formula 8.

[0068] Kalman algorithm establishment:

[0069] According to equation (8), the basic vehicle acceleration equation is obtained:

[0070]

[0071]

[0072] Among them, A is the vehicle acceleration (m / s 2 ), E is a custom quantity; J is the combined moment of inertia from the engine to the wheels (kg / m 2 ).

[0073] According to equations (9) and (10), the extended Kalman equation is established:

[0074]

[0075] Z K = (1 0 0)X K (12)

[0076] Among them, X K is the kinematic equation about the vehicle speed V K , vehicle weight M K and road slope θ K , and Z K is the observation equation.

[0077]

[0078]

[0079]

[0080]

[0081]

[0082]

[0083]

[0084] Equations (13)-(19) are the main algorithms of the extended Kalman filter. Among them is the composite matrix of vehicle speed, vehicle weight and slope at time k, K K and are both intermediate variables, that is, gain coefficients, J f is the Jacobian matrix. Equation (13) is the predicted kinematic equation at times K-1 and K, equation (14) is the predicted gain matrix, equation (15) is the Kalman gain, equation (16) is the calculation equation of the Kalman output matrix, equation (17) is the gain matrix, and equations (18) and (19) are the Jacobian matrices.

[0085] Least squares algorithm establishment:

[0086]

[0087]

[0088]

[0089]

[0090] Equations (20)-(22) are the main algorithms of the least squares method, where is the vehicle weight calculated at time k, K K , P K , h K are all intermediate variables, that is, gain coefficients. The slope θ K calculated by equation (11) is substituted into equation (23), and M K is obtained through equations (20) and (11) and weighted, and finally the slope θ K and the vehicle weight M K are obtained.

[0091] A decoupling method for slope and vehicle weight of a commercial vehicle AMT transmission according to the present invention includes the following steps:

[0092] Step 1: When the vehicle is driving normally, take the vehicle signals through the vehicle CAN line;

[0093] Step 2: Set the first moment delay value: the slope range is -10 to 10 degrees, the vehicle weight is 5 to 100 tons, and the delay value is set by comparing the actual vehicle weight with the calculated vehicle weight and comparing the actual slope with the calculated slope. In this embodiment, the slope is set to 0 degrees and the vehicle weight is 50000 kg;

[0094] Step 3: Obtain the slope calculation signal and the vehicle weight signal through equations (9)-(19), and input the slope signal into equations (20)-(23);

[0095] Step 4: Obtain the vehicle weight signal through equations (20)-(23);

[0096] Step 5: Perform weighted calculation on the vehicle weights obtained from equations (9)-(19) and equations (20)-(23) to obtain the final vehicle weight information.

[0097] M K = a·M K1 + b·M K2

[0098] M K1 is the vehicle weight calculated at time K1, M K2 is the vehicle weight calculated at time K2, K1 and K2 are consecutive times, a and b are weight coefficients, and M K is the calculated final vehicle weight, and the final vehicle weight is the weight of the vehicle in the current calculation cycle.

[0099] A decoupling method for slope and vehicle weight of a commercial vehicle AMT transmission according to the present invention does not require the installation of an acceleration sensor, which can reduce product costs; for products equipped with an acceleration sensor, the present invention can be used as a data verification and fusion data source to improve system robustness; it completely decouples from the acceleration sensor to calculate the road slope and vehicle weight.

[0100] The present invention can improve driving safety. When the acceleration sensor fails, this algorithm can provide backup data to ensure the basic driving function of the vehicle. An algorithm design using enable trigger and interrupt is adopted to strictly limit the conditions for the establishment of the dynamic equation, improve data reliability and data convergence speed; an algorithm using data freezing is adopted to solve the data chain interruption caused by enable interrupt, and reduce the impact of enable interrupt on continuous data calculation.

[0101] A decoupling method for slope and vehicle weight of a commercial vehicle AMT transmission according to the present invention is based on MatLab / Simulink for algorithm design, and a Kalman-least squares combined algorithm module is built. This software patent algorithm is based on vehicle kinematics, obtains the basic driving data of the vehicle through the vehicle CAN channel, improves the algorithm of the Kalman-least squares combination, and decouples and calculates the road slope and vehicle weight data on the premise of enable trigger, and finally obtains the slope and vehicle weight information.

[0102] If the conditions for the kinematic equation to hold are not distinguished during the calculation, it will lead to difficult convergence or too long convergence time of the calculation data. Therefore, in consideration of this situation, this patent improves the Kalman algorithm and the least squares method. When the enable is turned off, the algorithm can freeze a large amount of previous data, and when the next enable is triggered, it can accelerate the data convergence and stabilization time based on the obtained data, improving the accuracy of the data.

[0103] The vehicle travels normally under the above premise, and the transmission control unit (TCU) obtains information through the vehicle CAN line. According to the data characteristics that the vehicle weight information is basically stable and the road slope change rate is large during driving, basic information such as vehicle speed information, gear information, torque transmission information, speed ratio information, and tire radius is obtained through the vehicle CAN line channel. According to the trigger and off status of the enable, two algorithms are improved. And the calculation data of the enable trigger module is frozen, making the calculation data continuous each time the module is triggered, improving the operation speed. It mainly includes basic information such as vehicle speed information, gear information, torque transmission information, speed ratio information, and tire radius obtained through the vehicle CAN line channel.

[0104] Then, θ is obtained through equations (9)-(19), (20)-(23) K 、M K1 、M K2 , and then the vehicle weight M is obtained by weighting M K =a·M K1 +b·M K2 . Finally, the road slope θ K and the vehicle weight M K information are obtained. K information.

[0105] A slope and vehicle weight decoupling system for a commercial vehicle AMT transmission according to the present invention includes a data acquisition module, an input module, a Kalman algorithm module, a least squares method module, and a weighting module;

[0106] The data acquisition module is used to acquire vehicle driving data when the vehicle is driving normally;

[0107] The input module is used to input the first moment delay value according to vehicle parameters;

[0108] The Kalman algorithm module is used to calculate and output a slope signal according to the vehicle driving data acquired by the data acquisition module and the first moment delay value of the input module;

[0109] The least squares method module is used to calculate and output a vehicle weight signal according to the slope signal output by the Kalman algorithm module;

[0110] The weighting module is used to perform weighted calculation on the vehicle weight signal output by the least squares method module and output vehicle weight information.

[0111] The following is a device embodiment of the present invention, which can be used to execute the method embodiment of the present invention. For details not disclosed in the device embodiment, please refer to the method embodiment of the present invention.

[0112] In another embodiment of the present invention, a computer device is provided. The computer device includes a processor and a memory. The memory is used to store a computer program, and the computer program includes program instructions. The processor is used to execute the program instructions stored in the computer storage medium. The processor may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, and is suitable for implementing one or more instructions. Specifically, it is suitable for loading and executing one or more instructions to implement the corresponding method flow or corresponding function. The processor described in the embodiment of the present invention can be used for the operation of a method for decoupling slope and vehicle weight of a commercial vehicle AMT transmission.

[0113] In another embodiment of the present invention, a storage medium is also provided, specifically a computer-readable storage medium (Memory). The computer-readable storage medium is a memory device in a computer device and is used to store programs and data. It can be understood that the computer-readable storage medium here can include both the built-in storage medium in the computer device and, of course, the extended storage medium supported by the computer device. The computer-readable storage medium provides a storage space, and the operating system of the terminal is stored in this storage space. And, one or more instructions suitable for being loaded and executed by the processor are also stored in this storage space. These instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. One or more instructions stored in the computer-readable storage medium can be loaded and executed by the processor to implement the corresponding steps of the method for decoupling slope and vehicle weight of a commercial vehicle AMT transmission in the above embodiments.

[0114] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0115] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0116] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0117] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: still, the specific implementation manners of the present invention can be modified or equivalently replaced, and any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A method for decoupling slope and vehicle weight of a commercial vehicle AMT transmission, characterized in that, it includes the following steps, Step 1, when the vehicle is driving normally, obtain the vehicle running data; Step 2, set the first moment delay value according to the vehicle parameters; Step 3, based on the vehicle running data in Step 1 and the first moment delay value in Step 2, obtain the slope signal and vehicle weight signal through the Kalman algorithm; Gradient in the gradient signal Calculated by the following formula: Wherein, is the kinematic equation with respect to vehicle speed , vehicle weight and gradient . is the vehicle speed at time k-1, is the vehicle weight at time k-1, is the gradient at time k-1, is the engine torque ( ), is the transmission ratio, is the final drive ratio, is the mechanical efficiency of the driveline, r is the tire radius, is the angle between the road surface and the horizontal direction, is the rolling resistance coefficient; is the vehicle mass ( ), is the gravitational acceleration 9.8 , is the air resistance coefficient, is the frontal area of the vehicle ( ), is the air density 1.2258 , is the vehicle driving speed without wind ( ), E is a user-defined quantity; Step 4, obtain the vehicle weight signal by using the least squares algorithm with the slope signal in Step 3; The vehicle weight signal is calculated by the following formula: In the formula, is the vehicle weight calculated at time k, is the vehicle weight calculated at time k-1, are both intermediate variables, that is, gain coefficients, is the observation equation; Step 5, perform weighted calculation on the vehicle weight signal obtained by the Kalman algorithm and the vehicle weight signal obtained by the least squares algorithm to obtain the final vehicle weight information.

2. A method for decoupling slope and vehicle weight of a commercial vehicle AMT transmission according to claim 1, characterized in that, in Step 1, the running data includes vehicle speed information, gear position information, torque transmission information, speed ratio information and tire radius.

3. A method for decoupling slope and vehicle weight of a commercial vehicle AMT transmission according to claim 1, characterized in that, in Step 1, obtain the vehicle running data through the vehicle CAN line.

4. A method for decoupling slope and vehicle weight of a commercial vehicle AMT transmission according to claim 1, characterized in that, in Step 2, the first moment delay value is a preset slope value and vehicle weight value; the slope value range is -10 to 10 degrees, and the vehicle weight value range is 5 to 100 tons.

5. A method for decoupling slope and vehicle weight of a commercial vehicle AMT transmission according to claim 1, characterized in that, in Step 5, the final vehicle weight information is calculated by the following formula: Where: is the vehicle weight calculated at time K1, is the vehicle weight calculated at time K2, and a and b are weighting factors, is the finally calculated vehicle weight.

6. A system for decoupling slope and vehicle weight of a commercial vehicle AMT transmission, characterized in that, it includes a data acquisition module, an input module, a Kalman algorithm module, a least squares module and a weighting module; The data acquisition module is used to obtain the vehicle running data when the vehicle is driving normally; The input module is used to input the first moment delay value according to the vehicle parameters; The Kalman algorithm module is used to calculate and output the slope signal and vehicle weight signal based on the vehicle running data obtained by the data acquisition module and the first moment delay value of the input module; Gradient in the gradient signal Calculated by the following formula: In the formula, is the kinematic equation with respect to vehicle speed , vehicle weight and slope . is the vehicle speed at time k - 1, is the vehicle weight at time k - 1, is the slope at time k - 1, is the engine torque ( ), is the transmission ratio, is the final drive ratio, is the mechanical efficiency of the driveline, r is the tire radius, is the angle between the road surface and the horizontal direction, is the rolling resistance coefficient; is the vehicle mass ( ), is the gravitational acceleration 9.8 , is the air resistance coefficient, is the vehicle frontal area ( ), is the air density 1.2258 , is the vehicle driving speed without wind ( ), and E is a user - defined quantity; The least squares module is used to calculate and output the vehicle weight signal based on the slope signal output by the Kalman algorithm module; The vehicle weight signal is calculated by the following formula: In the formula, is the vehicle weight calculated at time k, is the vehicle weight calculated at time k-1, are both intermediate variables, that is, gain coefficients, is the observation equation; The weighting module is used to perform weighted calculation on the vehicle weight signal obtained by the Kalman algorithm and the vehicle weight signal obtained by the least squares algorithm to obtain the final vehicle weight information.

7. A computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the steps of a method for decoupling slope and vehicle weight of a commercial vehicle AMT transmission according to any one of claims 1-5.

8. A computer-readable storage medium, the computer-readable storage medium stores a computer program, characterized in that, when the computer program is executed by the processor, it implements the steps of a method for decoupling slope and vehicle weight of a commercial vehicle AMT transmission according to any one of claims 1-5.

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