A clutchless, synchronizerless gearbox shift control system, control method, control module and vehicle

Abstract

The present invention provides a clutchless and synchronizerless gearbox shift control system, control method, control module and vehicle, comprising: a first detection device for detecting a drive motor speed angle signal; a second detection device for detecting a gearbox input shaft speed angle signal; a third detection device for detecting a gearbox output shaft speed angle signal; the first detection device is connected to an MCU for communication, and the second and third detection devices are connected to a TCU for communication; and a control module, when the control module detects that the first, second and third detection devices are operating normally, the TCU is controlled to collect the gearbox operating state through the second and third detection devices and complete the subsequent gear shifting action. Through the above-mentioned setting, the problem of signal delay caused by high CAN bus load between the TCU and the MCU is solved.

Description

Technical Field

[0001] The embodiments of the present invention relate to a gear control technology, and more particularly to a clutchless, synchronizerless gearbox shift control system, a control method, a control module and a vehicle. Background Art

[0002] It is a future development trend for electric vehicles to be equipped with multi-speed automatic transmissions. Electric vehicles are quick and convenient to adjust speed, so the automatic transmissions that match them are mostly clutchless and synchronizerless, that is, the output shaft of the electric vehicle's drive motor is directly fixedly connected to the input shaft of the transmission, and the transmission realizes power transmission and shifting through the meshing of the gear ring to be engaged and the gear sleeve to be engaged. Due to the lack of synchronizers, during the shifting process, the shift actuator can only be driven to complete the gear shifting action when the speed angle of the target gear ring to be engaged and the target gear sleeve to be engaged are synchronized.

[0003] The existing transmission input shaft signal collects the drive motor speed angle signal through the MCU, and then sends the drive motor speed angle signal to the TCU through the CAN bus. At the same time, the TCU collects the output shaft speed angle signal, calculates the speed angle signals of the gear ring to be engaged and the gear sleeve to be engaged through the transmission ratio, and completes the gear shift when the speed angles of the gear ring to be engaged and the gear sleeve to be engaged are synchronized. Since the MCU not only needs to collect the drive motor speed angle signal and send it to the TCU, but also needs to receive the TCU control information to complete the MCU's control of the drive motor speed angle, which causes a delay in sending and receiving information, resulting in poor speed angle control accuracy; and the sampling and sending frequencies of the MCU and TCU are very high, with a sampling period of 2ms or even faster, which increases the workload of the MCU and TCU, and the CAN bus load rate is very high. In addition, although there are shift control methods for sensor failures in the prior art, they cannot be applied to clutchless and synchronizerless transmissions. Summary of the invention

[0004] The purpose of the present invention is to provide a clutchless, synchronizerless gearbox shift control system, control method, control module and vehicle to solve the above problems. Before shifting, by determining whether the drive motor speed angle signal, input shaft speed angle signal and output shaft speed angle signal are normal, and when the above signals are normal, the TCU is controlled to collect the gearbox input shaft speed angle signal and the output shaft speed angle signal and complete the subsequent gear shifting action, so as to solve the problem of signal delay caused by high CAN bus load between TCU and MCU.

[0005] A first aspect of an embodiment of the present invention provides a clutchless, synchronizerless transmission shift control system, comprising: a first detection device for detecting a drive motor speed angle signal; a second detection device for detecting a transmission input shaft speed angle signal; a third detection device for detecting a transmission output shaft speed angle signal; the first detection device is communicatively connected to an MCU, and the second and third detection devices are communicatively connected to a TCU; and a control module, wherein when the control module detects that the first, second and third detection devices are operating normally, the control module controls the TCU to collect the transmission operating status through the second and third detection devices and complete subsequent shifting actions.

[0006] In a possible implementation, when the control module detects that the third detection device fails, it controls the TCU to keep the transmission in an original gear position, prohibits gear shifting operations, and issues a secondary fault alarm.

[0007] In a possible implementation, when the control module detects that any one of the first detection device and the second detection device fails and the third detection device operates normally, the TCU is controlled to collect the transmission operating status through the normally operating one of the first detection device and the second detection device and the third detection device, complete subsequent gear shifting actions and issue a first-level fault alarm.

[0008] In a possible implementation, the control module first detects whether the speed angle signals of the first detection device and the second detection device match. If so, the first detection device and the second detection device operate normally; then, the control module detects whether the speed angle signals of the second detection device and the third detection device match. If so, the first detection device, the second detection device and the third detection device all operate normally.

[0009] In a possible implementation, the control module first detects whether the speed angle signals of the first detection device and the second detection device match; if not, then detects whether the speed angle signals of the first detection device or the second detection device and the third detection device match; if the speed angle signals of the first detection device and the third detection device match, the first detection device and the third detection device operate normally; if the speed angle signals of the second detection device and the third detection device match, the second detection device and the third detection device operate normally; the control module controls the TCU to collect the gearbox operating status through the first detection device and the normally operating one of the second detection device and the third detection device, complete the subsequent gear shifting action and issue a first-level fault alarm.

[0010] In a possible implementation, if the speed angle signal of the first detection device and the second detection device does not match the speed angle signal of the third detection device, the TCU is controlled to keep the transmission in the original gear position, prohibit the gear shifting operation and issue a secondary fault alarm.

[0011] The second aspect of an embodiment of the present invention provides a clutchless, synchronizerless transmission shift control method. When the drive motor speed angle signal, the input shaft speed angle signal and the output shaft speed angle signal match, the TCU is controlled to collect the transmission input shaft speed angle signal and the output shaft speed angle signal and complete the subsequent shifting action.

[0012] In a possible implementation, when the output shaft speed angle signal is distorted, the TCU is controlled to keep the transmission in the original gear position, prohibit the gear shifting operation, and issue a secondary fault alarm.

[0013] In one possible implementation, when either the drive motor speed angle signal or the input shaft speed angle signal is distorted and the output shaft speed angle signal is normal, the TCU is controlled to complete subsequent gear shifting actions through the normal one of the drive motor speed angle signal and the input shaft speed angle signal and the output shaft speed angle signal, and issue a first-level fault alarm.

[0014] In one possible implementation, it is detected whether the drive motor speed angle signal and the input shaft speed angle signal match. If so, the drive motor speed angle signal and the input shaft speed angle signal are normal; then it is detected whether the input shaft speed angle signal and the output shaft speed angle signal match. If so, the drive motor speed angle signal, the input shaft speed angle signal and the output shaft speed angle signal are all normal.

[0015] In one possible implementation, first detect whether the drive motor speed angle signal matches the input shaft speed angle signal; if they do not match, then detect whether the drive motor speed angle signal or the input shaft speed angle signal and the output shaft speed angle signal match; if the drive motor speed angle signal matches the output shaft speed angle signal, the drive motor speed angle signal and the output shaft speed angle signal are normal; if the input shaft speed angle signal matches the output shaft speed angle signal, the input shaft speed angle signal and the output shaft speed angle signal are normal; control the TCU to complete subsequent gear shifting actions through the normal one of the drive motor speed angle signal and the input shaft speed angle signal and the output shaft speed angle signal and issue a first-level fault alarm.

[0016] In one possible implementation, if the drive motor speed angle signal and the input shaft speed angle signal do not match the output shaft speed angle signal, the TCU is controlled to keep the transmission in the original gear position, prohibit shifting operations, and issue a secondary fault alarm.

[0017] A third aspect of an embodiment of the present invention provides a control module, which includes a signal acquisition module, a memory, a processor, a signal output module, and a clutchless, synchronizerless transmission shift control program stored in the memory and executable on the processor, wherein the shift control program is configured to execute the above-mentioned clutchless, synchronizerless transmission shift control method.

[0018] A fourth aspect of an embodiment of the present invention provides a vehicle, wherein the vehicle adopts the above-mentioned shift control system, shift control method or control module.

[0019] The embodiment of the present invention provides a clutchless and synchronizerless gearbox shift control system, control method, control module and vehicle. Compared with the prior art, a control module is provided. The control module provides different shift control strategies by detecting the operating status of the first detection device, the second detection device and the third detection device. First, the first detection device is used to detect the speed angle signal of the drive motor, the second detection device is used to detect the input shaft speed angle signal, and the third detection device is used to detect the output shaft speed angle signal; the first detection device is usually a detection device provided by the drive motor, such as a rotary transformer, which is used to monitor and control the speed of the drive motor. Therefore, the first detection device is connected to the MCU for communication, and the third detection device is usually connected to the TCU for communication. For the existing conventional gearbox shift, there is a synchronizer, so the gear shifting action can be completed based on the speed control; and for the clutchless and synchronizerless gearbox, in order to engage the target gear ring to be engaged with the target gear sleeve to be engaged, it is necessary to synchronize the speed angle of the target gear ring to be engaged and the target gear sleeve to be engaged. The speed and angle must meet the preset conditions, otherwise the situation of tooth hitting or tooth top may occur; in addition, The vehicle suddenly accelerates or decelerates due to the influence of the road surface during driving, and the speed lag of the drive motor causes the shifting process to fail. Therefore, it is necessary to reduce the signal delay and speed lag of the control drive motor. The present invention sets a second detection device in the gearbox. When the first, second and third detection devices are operating normally, the TCU is controlled to detect the operating state of the gearbox through the second detection device and the third detection device, thereby avoiding the MCU collecting the drive motor speed angle signal through the first detection device and then sending it to the TCU, causing the workload of the MCU and TCU, and occupying the signal transmission of the CAN bus between the MCU and the TCU, so that the MCU delays the speed of the drive motor or the signal delay sent by the TCU to the MCU. After actual testing, the signal delay can be reduced by 80%, and the success rate of shifting is close to 100%. Secondly, the present invention provides a TCU control method under different detection device failures to prevent the driving safety problems caused by the normal operation of the driver under the fault state of the detection device; finally, the present invention also provides a specific fault detection method for the detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A gear shift control system provided by an embodiment of the present invention;

[0022] Figure 2 A shift control method when the drive motor speed angle signal, input shaft speed angle signal and output shaft speed angle signal provided by an embodiment of the present invention are normal;

[0023] Figure 3 A shift control method when the output shaft speed angle signal is distorted provided by an embodiment of the present invention;

[0024] Figure 4 A shift control method provided by an embodiment of the present invention when any of the driving motor speed angle signal and the input shaft speed angle signal is distorted and the output shaft speed angle signal is normal;

[0025] Figure 5 A method for detecting the distortion of a rotation speed angle signal in a shift control method provided by an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of functional modules of a control module provided by an embodiment of the present invention;

[0027] Reference numerals: shift control system 10 ; first detection device 11 ; second detection device 12 ; third detection device 13 ; control module 14 ; signal acquisition module 140 ; ​​memory 141 ; processor 142 ; signal output module 143 . DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] In the present invention, the input shaft refers to the transmission shaft located upstream of the transmission system of the gear ring to be engaged and the gear sleeve to be engaged, close to the drive motor; the output shaft refers to the transmission shaft located downstream of the transmission system of the gear ring to be engaged and the gear sleeve to be engaged, close to the load; by measuring the input shaft speed angle signal and the output shaft speed angle signal, the speed and torque of the drive motor are controlled to achieve the synchronization of the speed angle of the target gear ring to be engaged and the target gear sleeve to be engaged. When the speed angle of the target gear ring to be engaged and the target gear sleeve to be engaged are synchronized, the shift actuator pushes the gear sleeve to be engaged to move in the direction of the gear ring to be engaged and mesh, completing the gear shifting action. The present invention can include multiple groups of gear rings to be engaged and gear sleeves to be engaged to achieve the switching of multiple gears, but for each group of gear rings to be engaged and gear sleeves to be engaged, the upstream and downstream of the transmission system can be identified as the input shaft and the output shaft, so the input shaft and the output shaft are the description relationship relative to the upstream and downstream of the transmission system, rather than referring to specific shafts in the gearbox.

[0031] Figure 1 A clutchless and synchronizerless gearbox shift control system 10 provided by the present invention specifically includes: a first detection device 11, used to detect a speed angle signal of a drive motor; a second detection device 12, used to detect a speed angle signal of a gearbox input shaft; a third detection device 13, used to detect a speed angle signal of a gearbox output shaft; the first detection device 11 is communicatively connected to an MCU, and the second detection device 12 and the third detection device 13 are communicatively connected to a TCU; a control module 14, when the control module 14 detects that the first detection device, the second detection device and the third detection device are operating normally, the TCU is controlled to collect the gearbox operating status through the second detection device and the third detection device and complete the subsequent gear shifting action. The technical solution of the present invention avoids the problem that when the first, second and third detection devices are in normal operation, the MCU collects the speed angle signal of the drive motor through the first detection device and then sends it to the TCU, causing workload for the MCU and the TCU, and occupying the signal transmission of the CAN bus between the MCU and the TCU, resulting in a delay in the speed regulation of the drive motor by the MCU or a delay in the signal sent from the TCU to the MCU. After actual testing, the technical solution provided by the present invention can reduce the signal delay by 80%, and the gear shifting success rate is close to 100%.

[0032] Among them, the first detection device, the second detection device and the third detection device can be one or more of a rotary transformer, an encoder or a Hall sensor, as long as they meet the required accuracy of speed and angle synchronization.

[0033] Specifically, when the first, second and third detection devices operate normally, the control module 14 sends a command to the TCU to control it to use the second and third detection devices to collect the speed angle signal of the gearbox and complete the subsequent gear shifting operation. The TCU first implements the gear shifting operation control on the transmission. After the gear shifting operation is completed, the torque information required by the drive motor is calculated based on the input shaft speed angle signal and the output shaft speed angle signal collected by the second detection device and the third detection device, and sent to the MCU. The MCU adjusts the speed of the drive motor based on the torque information to synchronize the speed angle of the target gear ring to be engaged and the target gear sleeve to be engaged. When the speed angle of the target gear ring to be engaged and the target gear sleeve to be engaged are synchronized, the TCU controls the gear shifting actuator to push the target gear sleeve to be engaged to move toward the target gear ring to be engaged and mesh with it, thereby completing the gear shifting operation.

[0034] Figure 1 The control module 14 in the control unit is independently set up from the MCU and the TCU, but it should be pointed out that the control module 14 can be integrated into the MCU or the TCU, as long as the drive motor speed angle signal collected by the first detection device 11, the gearbox input shaft speed angle signal collected by the second detection device 12 and the output shaft speed angle signal collected by the third detection device 13 are collected by the MCU and the TCU, and the signals are analyzed to determine whether the first detection device, the second detection device and the third detection device have faults, and a control instruction is issued to the TCU based on the fault condition.

[0035] When the control module 14 detects that the third detection device 13 fails, the TCU is controlled to keep the gearbox in the original gear position, prohibit the gear shifting operation, and issue a secondary fault alarm. Since the third detection device 13 fails, the output shaft speed angle signal is false at this time, so the TCU gear shifting operation is prohibited to ensure the driver's driving safety, and a secondary fault alarm is issued. The secondary fault is an emergency fault, and the driver needs to drive the vehicle to the maintenance site as soon as possible to detect or repair the gearbox sensor. The third detection device 13 fails, which may be the failure of the third detection device 13 or the looseness or movement of the third detection device, resulting in distortion of the detected output shaft speed angle signal.

[0036] When the control module 14 detects that any one of the first detection device 11 and the second detection device 12 fails and the third detection device 13 operates normally, the TCU is controlled to collect the gearbox operating state through the first detection device 11 and the second detection device 12 that operates normally and the third detection device 13, complete the subsequent shifting action and issue a first-level fault alarm. Since the first detection device 11 detects the speed angle signal of the drive motor and the second detection device 12 detects the speed angle signal of the input shaft, only one of the two signals needs to be normal to cooperate with the normally operating third detection device, and the speed angle synchronization of the target gear ring to be engaged and the target gear sleeve to be engaged is achieved by adjusting the speed of the drive motor.

[0037] In order to specifically detect whether the first detection device 11, the second detection device 12 and the third detection device 13 are operating normally. The control module 14 first detects whether the speed angle signals of the first detection device 11 and the second detection device 12 match. If they match, the first detection device 11 and the second detection device 12 are operating normally; then detect whether the speed angle signals of the second detection device 12 and the third detection device 13 match. If they match, the first detection device 11, the second detection device 12 and the third detection device 13 are all operating normally. By comparing the speed angle signals of the second detection device 12 and the third detection device 13, it is unnecessary for the MCU to collect the speed angle signal of the first detection device 11 and transmit the signal to the control module 14, which increases the real-time performance of signal transmission and reduces the workload of the MCU and the CAN bus.

[0038] If the speed angle signals of the first detection device and the second detection device do not match, then the speed angle signals of the first detection device or the second detection device and the third detection device are detected to be matched; if the speed angle signals of the first detection device and the third detection device match, the first detection device and the third detection device are operating normally; if the speed angle signals of the second detection device and the third detection device match, the second detection device and the third detection device are operating normally; the control module controls the TCU to collect the gearbox operating state through the first detection device and the second detection device that is operating normally and the third detection device, complete the subsequent shifting action and issue a first-level fault alarm, the first-level fault alarm reminds the driver to check, repair or replace the vehicle, its urgency is lower than the second-level fault alarm, the driver does not need to drive the vehicle to the maintenance place immediately, and the TCU can control the gearbox shifting operation based on the normally operating detection device. If the speed angle signals of both the first detection device and the second detection device do not match the third detection device, the TCU is controlled to keep the gearbox in the original gear position, prohibit the shifting operation and issue a second-level fault alarm.

[0039] It should be noted that the above matching is a condition that the speed angle information collected by the first detection device and / or the second detection device and the third detection device needs to meet when the speed angle of the target gear sleeve to be engaged and the target gear ring to be engaged are synchronized, which is related to the setting position of the detection device and the transmission ratio of the transmission. Secondly, it is obvious that the above detection process is completed before the gearbox is disengaged.

[0040] Please refer to Figure 2 , Figure 2 A clutchless, synchronizerless transmission shift control method is provided for this embodiment. The method includes controlling the TCU to collect the transmission input shaft speed angle signal and the output shaft speed angle signal and complete subsequent shifting actions when the drive motor speed angle signal, the input shaft speed angle signal and the output shaft speed angle signal match.

[0041] like Figure 3 When the output shaft speed angle signal is distorted, the TCU is controlled to keep the gearbox in the original gear position, prohibit the gear shifting operation and issue a secondary fault alarm.

[0042] like Figure 4 When any of the drive motor speed angle signal and the input shaft speed angle signal is distorted and the output shaft speed angle signal is normal, the TCU is controlled to complete the subsequent gear shifting action through the normal one of the drive motor speed angle signal and the input shaft speed angle signal and the output shaft speed angle signal, and issue a first-level fault alarm.

[0043] The clutchless and synchronizerless gearbox shift control method provided by the present invention also includes a method for detecting the distortion of the drive motor speed angle signal, the input shaft speed angle signal and the output shaft speed angle signal, including:

[0044] S100, detecting whether the driving motor speed angle signal and the input shaft speed angle signal match each other. If they match, the driving motor speed angle signal and the input shaft speed angle signal are normal, and then executing S200; if they do not match, executing S300.

[0045] S200, detect whether the input shaft speed angle signal and the output shaft speed angle signal match. If they match, the drive motor speed angle signal, the input shaft speed angle signal and the output shaft speed angle signal are all normal, and the TCU is controlled to complete the subsequent shifting action through the input shaft speed angle signal and the output shaft speed angle signal. By matching the input shaft speed transfer signal with the output shaft speed angle signal, it is avoided that the drive motor speed angle signal is collected by the MCU and then matched with the output shaft speed angle signal, which reduces the burden of the CAN bus between the MCU and the TCU, and at the same time avoids the delay of the MCU in transmitting the drive motor control signal.

[0046] S300, detecting whether the driving motor speed angle signal or the input shaft speed angle signal matches the output shaft speed angle signal.

[0047] S301, if the drive motor speed angle signal matches the output shaft speed angle signal, the drive motor speed angle signal and the output shaft speed angle signal are normal; the control TCU completes the subsequent gear shifting action through the drive motor speed angle signal and the output shaft speed angle signal and issues a first-level fault alarm.

[0048] S302, if the input shaft speed angle signal matches the output shaft speed angle signal, the input shaft speed angle signal and the output shaft speed angle signal are normal; the control TCU completes the subsequent gear shifting action through the input shaft speed angle signal and the output shaft speed angle signal and issues a first-level fault alarm.

[0049] S303: If the drive motor speed angle signal and the input shaft speed angle signal do not match the output shaft speed angle signal, the TCU is controlled to keep the gearbox in the original gear position, prohibit the gear shifting operation and issue a secondary fault alarm.

[0050] In the above formula, S301, S302 and S303 are in parallel and cannot coexist, and only one of them is consistent with the actual situation.

[0051] Please refer to Figure 6 , Figure 6 The control module 14 of the present application includes:

[0052] The signal acquisition module 140 is used to respectively acquire the driving motor speed angle signal, the input shaft speed angle signal and the output shaft speed angle signal through the first detection device, the second detection device and the third detection device.

[0053] The memory 141 is used to store the above-mentioned clutchless and synchronizerless transmission shift control method.

[0054] The processor 142 is used to call the clutchless and synchronizerless transmission shift control method and generate a TCU control instruction based on the drive motor speed angle signal, the input shaft speed angle signal and the output shaft speed angle signal.

[0055] The signal output module 143 is used to send the TCU control instruction generated by the processor 142 to the TCU to control the gear shifting process.

[0056] The memory 141 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory 141 is used to store a program, and the processor 142 executes the program after receiving an execution instruction.

[0057] The processor 142 may be an integrated circuit chip with signal processing capabilities. The above-mentioned processor 142 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The various methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0058] The present invention also provides a vehicle, wherein the vehicle adopts the above-mentioned shift control system, shift control method or control module.

[0059] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0060] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0061] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A clutchless, synchronizerless gearbox shift control system, characterized in that: include: A first detection device is used to detect a rotation speed angle signal of a driving motor; The second detection device is used to detect the speed angle signal of the gearbox input shaft; A third detection device is used to detect a speed angle signal of a gearbox output shaft; The first detection device is connected to the MCU for communication, and the second detection device and the third detection device are connected to the TCU for communication; A control module, when the control module detects that the first detection device, the second detection device and the third detection device are operating normally, controls the TCU to collect the transmission operating state through the second detection device and the third detection device and complete the subsequent gear shifting action; When the control module detects that the third detection device fails, it controls the TCU to keep the transmission in the original gear position, prohibits the gear shifting operation, and issues a secondary fault alarm; When the control module detects that any one of the first detection device and the second detection device fails and the third detection device operates normally, the control module controls the TCU to collect the transmission operating state through the first detection device and the second detection device that operate normally and the third detection device, complete the subsequent gear shifting action and issue a first-level fault alarm; The control module first detects whether the speed angle signals of the first detection device and the second detection device match. If so, the first detection device and the second detection device operate normally; then detects whether the speed angle signals of the second detection device and the third detection device match. If so, the first detection device, the second detection device and the third detection device all operate normally.

2. The clutchless, synchronizerless transmission shift control system according to claim 1, characterized in that: The control module first detects whether the speed angle signals of the first detection device and the second detection device match; if not, it then detects whether the speed angle signals of the first detection device or the second detection device and the third detection device match; if the speed angle signals of the first detection device and the third detection device match, the first detection device and the third detection device operate normally; if the speed angle signals of the second detection device and the third detection device match, the second detection device and the third detection device operate normally; the control module controls the TCU to collect the gearbox operating status through the first detection device and the second detection device that are in normal operation and the third detection device, complete the subsequent gear shifting action and issue a first-level fault alarm.

3. The clutchless, synchronizerless transmission shift control system according to claim 2, characterized in that: If the speed angle signal of the first detection device and the second detection device does not match the speed angle signal of the third detection device, the TCU is controlled to keep the transmission in the original gear position, prohibit the gear shifting operation and issue a secondary fault alarm.

4. A shift control method for a clutchless, synchronizerless transmission shift control system according to any one of claims 1 to 3, characterized in that: When the drive motor speed angle signal, input shaft speed angle signal and output shaft speed angle signal match, the TCU is controlled to collect the gearbox input shaft speed angle signal and output shaft speed angle signal and complete the subsequent gear shifting action.

5. The shift control method according to claim 4, characterized in that: When the output shaft speed angle signal is distorted, the TCU is controlled to keep the gearbox in the original gear position, prohibit the gear shifting operation and issue a secondary fault alarm.

6. The shift control method according to claim 4, characterized in that: When either the drive motor speed angle signal or the input shaft speed angle signal is distorted and the output shaft speed angle signal is normal, the TCU is controlled to complete the subsequent gear shifting action through the normal one of the drive motor speed angle signal and the input shaft speed angle signal and the output shaft speed angle signal, and issue a first-level fault alarm.

7. The shift control method according to any one of claims 4 to 6, characterized in that: Check whether the drive motor speed angle signal and the input shaft speed angle signal match. If they match, the drive motor speed angle signal and the input shaft speed angle signal are normal; then check whether the input shaft speed angle signal and the output shaft speed angle signal match. If they match, the drive motor speed angle signal, the input shaft speed angle signal and the output shaft speed angle signal are all normal.

8. The shift control method according to any one of claims 4 to 6, characterized in that: First, detect whether the drive motor speed angle signal matches the input shaft speed angle signal; if they do not match, then detect whether the drive motor speed angle signal or the input shaft speed angle signal and the output shaft speed angle signal match; if the drive motor speed angle signal matches the output shaft speed angle signal, the drive motor speed angle signal and the output shaft speed angle signal are normal; if the input shaft speed angle signal matches the output shaft speed angle signal, the input shaft speed angle signal and the output shaft speed angle signal are normal; control the TCU to complete the subsequent gear shifting action through the normal one of the drive motor speed angle signal and the input shaft speed angle signal and the output shaft speed angle signal and issue a first-level fault alarm.

9. The shift control method according to claim 8, characterized in that: If the drive motor speed angle signal and the input shaft speed angle signal do not match the output shaft speed angle signal, the TCU is controlled to keep the transmission in the original gear position, prohibit shifting operations and issue a secondary fault alarm.

10. A control module, characterized in that: The control module includes a signal acquisition module, a memory, a processor, a signal output module, and a clutchless, synchronizerless transmission shift control program stored in the memory and executable on the processor, wherein the shift control program is configured to execute the shift control method as described in any one of claims 4-9.

11. A vehicle, characterized in that: The vehicle adopts the shift control system described in any one of claims 1-3, the shift control method described in any one of claims 4-9 or the control module described in claim 10.

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