Method, device and vehicle-mounted terminal for updating hard stop position of vehicle gear

Abstract

The embodiment of the present application is applicable to the field of vehicle technology, and provides a method, device and vehicle-mounted terminal for updating the hard stop position of a vehicle gear, the method comprising: updating the first hard stop position information corresponding to the first gear stored in the memory while the vehicle is traveling at a speed of the first gear; when it is determined that the information stored in the memory is invalid, obtaining the first hard stop position information and the second hard stop position information corresponding to the first gear and the second gear respectively through self-learning; updating the information stored in the memory according to the first hard stop position information and the second hard stop position information obtained through self-learning. Through the above method, when the vehicle has not completed the entire adaptive process, the information stored in the memory can be updated based on the self-learning completion, ensuring that the hard stop position information of each gear stored in the memory is accurate.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a method, device and vehicle-mounted terminal for updating the hard stop position of a vehicle gear. Background Art

[0002] The gearbox is an important part of the vehicle drive system. The gearbox can change the driving force and driving speed of the vehicle without changing the engine speed and torque, that is, to achieve gear shifting. The two-speed reduction gearbox can achieve full speed range gear shifting, large torque output at the start, and make the vehicle run at the high efficiency range speed of the motor, thereby optimizing the power of the vehicle. Therefore, two-speed reduction gearboxes are gradually being used in large quantities in electric vehicles with higher configurations.

[0003] When the two-speed reduction gearbox is shifting, the shift fork can be moved to the corresponding position according to the hard stop position value of the gear stored in the vehicle. During the long-term dynamic driving of the vehicle, the shift fork, synchronizer ring or other devices may be worn, resulting in the inaccuracy of the stored gear hard stop position value. Therefore, it is necessary to make timely adaptive adjustment to the hard stop position value of the vehicle.

[0004] When adjusting the hard stop position value of a two-speed reduction gearbox, the hard stop position value of each gear needs to be adjusted, so the vehicle needs to be able to engage in each gear. However, the vehicle may not engage in each gear during operation, so the vehicle may not be able to complete the complete adaptive process during driving, resulting in inaccurate hard stop position stored in the vehicle. When the hard stop position is inaccurate, the vehicle cannot complete accurate gear shifting. Summary of the invention

[0005] In view of this, an embodiment of the present application provides a method, device and vehicle-mounted terminal for updating the hard stop point position of a vehicle gear, which is used to update the information stored in the memory based on self-learning when the vehicle has not completed the entire adaptive process, thereby ensuring that the hard stop point position information of each gear stored in the memory is accurate.

[0006] A first aspect of an embodiment of the present application provides a method for updating a hard stop position of a vehicle gear, comprising:

[0007] When the vehicle is traveling at a speed in a first gear, updating first hard stop position information corresponding to the first gear stored in a memory;

[0008] When it is determined that the information stored in the memory is invalid, obtaining first hard stop point position information and second hard stop point position information corresponding to the first gear position and the second gear position respectively through self-learning;

[0009] The information stored in the memory is updated according to the first hard stop point position information and the second hard stop point position information obtained through self-learning.

[0010] In a possible implementation manner, determining that the information stored in the memory is invalid includes:

[0011] determining whether the vehicle is in gear to the second gear in a current driving cycle, the driving cycle being a process from power-on to power-off sleep of the vehicle;

[0012] If the vehicle is not in the second gear, determining a number of driving cycles in which the vehicle is not currently in the second gear;

[0013] If the number of driving cycles is greater than or equal to a preset value, it is determined that the information stored in the memory is invalid.

[0014] In a possible implementation, determining whether the vehicle is shifted to the second gear in a current driving cycle includes:

[0015] During the driving of the vehicle, monitoring the speed of the vehicle;

[0016] If the vehicle speed is always less than a preset vehicle speed threshold in the current driving cycle, it is determined that the vehicle is not shifted to the second gear.

[0017] In a possible implementation, the obtaining, by self-learning, first hard stop point position information and second hard stop point position information corresponding to the first gear position and the second gear position, respectively, includes:

[0018] After the vehicle is powered on again, controlling the shift fork to move in a direction corresponding to the second gear position until the shift fork moves to a hard stop point of the second gear position, so as to obtain position information of the second hard stop point corresponding to the second gear position;

[0019] The shift fork is controlled to move in a direction corresponding to the first gear position until the shift fork moves to a hard stop point of the first gear position, so as to obtain the first hard stop point position information corresponding to the first gear position.

[0020] In a possible implementation, after the vehicle is powered on again, controlling the shift fork to move in a direction corresponding to the second gear until the shift fork moves to a hard stop point of the second gear position to obtain second hard stop point position information of the second gear position includes:

[0021] After the vehicle is powered on again, sending information that the information stored in the memory is invalid to the vehicle controller through the gear controller;

[0022] Controlling the pulse of the driving motor of the shift fork to reach a preset second duty cycle, so as to drive the shift fork to move toward the hard stop position of the second gear;

[0023] When it is detected that the current of the drive motor is greater than a preset current value and the rotation speed of the drive motor is less than a preset rotation speed, it is determined that the shift fork reaches a hard stop point of the second gear position, and the second hard stop point position information is obtained.

[0024] In a possible implementation, updating the first hard stop position information corresponding to the first gear stored in the memory while the vehicle is traveling at a speed in the first gear includes:

[0025] if a shift instruction for shifting the vehicle to the first gear is received, determining a first shift fork position of the first gear according to information stored in the memory;

[0026] Controlling the shift fork to move to the first shift fork position to shift the vehicle into the first gear;

[0027] After the shift fork moves to the first shift fork position, continue to control the shift fork to move until the shift fork reaches the hard stop point of the first gear position, and obtain updated first hard stop point position information of the first gear position;

[0028] The first hard stop point position information stored in the memory is updated according to the updated first hard stop point position information.

[0029] In a possible implementation, if a shift instruction for shifting the vehicle to the first gear is received, determining the first shift fork position of the first gear according to the information stored in the memory includes:

[0030] Acquire first hard stop point position information of the first gear position from the memory, wherein the first hard stop point position information includes a hard stop point position of the first gear position;

[0031] A position at a preset distance from the first hard stop position is used as the first shift fork position.

[0032] A second aspect of an embodiment of the present application provides a device for updating a hard stop position of a vehicle gear, comprising:

[0033] a first gear adaptive module, configured to update first hard stop position information corresponding to the first gear stored in the memory during the vehicle traveling at a speed in the first gear;

[0034] a self-learning module, configured to obtain, by self-learning, first hard stop point position information and second hard stop point position information corresponding to the first gear position and the second gear position respectively, when it is determined that the information stored in the memory is invalid;

[0035] A memory information updating module is used to update the information stored in the memory according to the first hard stop point position information and the second hard stop point position information obtained by self-learning.

[0036] A third aspect of an embodiment of the present application provides a vehicle-mounted terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0037] A fourth aspect of an embodiment of the present application provides a vehicle, wherein the hard stop position of the vehicle is updated by the method described in the first aspect above.

[0038] A fifth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect above is implemented.

[0039] A sixth aspect of the embodiments of the present application provides a computer program product. When the computer program product is run on a vehicle-mounted terminal, the vehicle-mounted terminal executes the method described in the first aspect above.

[0040] Compared with the prior art, the embodiments of the present application have the following advantages:

[0041] In an embodiment of the present application, a vehicle may include a memory, in which a first hard stop point position information of a first gear and a second hard stop point position information of a second gear of a two-speed reduction gearbox may be stored. After the vehicle is powered on, the gear may be shifted to the first gear. After the vehicle is shifted to the first gear, an adaptive process of the first gear may be executed, so that the first hard stop point position information of the first gear stored in the memory may be updated; however, the vehicle may not necessarily shift into the second gear during driving, so the second hard stop point position information of the second gear of the vehicle may not necessarily be updated, and at this time, it may be determined that the information stored in the memory is invalid; when the information stored in the memory of the vehicle is determined to be invalid, it is necessary to update the first hard stop point position information of the first gear and the second hard stop point position information of the second gear in the memory, and at this time, a self-learning process may be executed to obtain new first hard stop point position information and new second hard stop point position information, and then the information in the memory may be updated based on the new first hard stop point position information and the new second hard stop point position information, so as to avoid the second hard stop point position information of the second gear in the memory being unable to be updated for a long time. The first hard stop position information and the second hard stop position information after self-learning update are more accurate hard stop position information. Based on the accurate hard stop position information, the vehicle can determine the accurate shift fork position when shifting gears, thereby facilitating accurate gear shifting of the vehicle. Accurate gear shifting of the vehicle can ensure that the vehicle can drive safely during driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art.

[0043] Figure 1 It is a schematic diagram of the steps of a method for updating the hard stop position of a vehicle gear provided in an embodiment of the present application;

[0044] Figure 2 It is a schematic diagram of the steps of another method for updating the hard stop position of a vehicle gear provided in an embodiment of the present application;

[0045] Figure 3 is a flow chart of another method for updating the hard stop position of a vehicle gear provided in an embodiment of the present application;

[0046] Figure 4 is a schematic diagram of a hard stop position updating device for a vehicle gear provided in an embodiment of the present application;

[0047] Figure 5 It is a schematic diagram of a vehicle-mounted terminal provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In the following description, specific details such as specific system structures, technologies, etc. are proposed for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from hindering the description of the present application.

[0049] Unlike the gearbox of a traditional fuel vehicle, a two-speed reduction gearbox has only three gears: N gear, 1st gear and 2nd gear. During the operation of the two-speed reduction gearbox, the gear shift fork position needs to be self-learned. The self-learning process of the two-speed reduction gearbox is a process in which the brushless direct current motor (BLDC / BLDCM) shift fork pushes the synchronizer ring to the hard stop position of the 2nd gear, and then pushes it back to the hard stop point of the 1st gear. The actual fork target position of the 1st and 2nd gears is calculated by the position of the two hard stops, thereby achieving gear shifting. However, for the shift point position of the 1st and 2nd gears, each time the vehicle is powered off and then powered on, the validity of the last stored value will be checked. If it is judged to be invalid, self-learning is required. The hard stop position of the gear obtained by self-learning can be stored in a preset memory, so that the vehicle can read the hard stop position information stored in the memory during driving, thereby determining the fork position corresponding to the gear and achieving gear shifting. During the use of the vehicle, there will be wear and tear, which will cause the hard stop point position information of the gear to change. Therefore, during the driving process of the vehicle, the hard stop point position information of the gear needs to be adaptively adjusted.

[0050] The adaptive process is as follows: when the vehicle receives a shift command, the vehicle's shift controller (Actuator Control Unit for Electrical Axle Actuator, ACU) can shift the vehicle to the target gear. After the vehicle shifts to the target gear, the BLDC will continue to give the shift fork a certain voltage, so that the shift fork continues to move toward the hard stop point direction of the current gear, thereby obtaining the hard stop point value of the current gear, and based on the obtained hard stop point value of the current gear, the hard stop point position value learned by self-learning is corrected.

[0051] The adaptive shift controller is a very important part of determining the position of the shift fork during the driving process of the two-speed reduction gearbox of the P4 structure vehicle. In order to ensure that the shift fork movement position is effective during the gear shift, a more effective adaptive value is required. However, during the adaptive process, the vehicle needs to be engaged in 1st gear and 2nd gear in order to correct the hard stop position information of the 1st gear and the hard stop position information of the 2nd gear of the two-speed reduction gearbox of the vehicle. However, the vehicle may not necessarily shift to each gear during driving, so the adaptive process of a certain gear may not be executed for a long time, resulting in errors in the hard stop position information stored in the memory, which is not conducive to the accurate gear shifting of the vehicle. For example, when the vehicle is driving in the city, the vehicle speed may always be lower than the shift line of the 2nd gear, resulting in the inability of the vehicle to engage in the 2nd gear, and the hard stop position value of the 2nd gear cannot be adjusted, resulting in inaccurate hard stop position of the 2nd gear.

[0052] In summary, the adaptive process of the two-speed reduction gearbox needs to be optimized. Based on this, the present application proposes a method for updating the hard stop position of a vehicle gear.

[0053] The technical solution of the present application is described below through specific embodiments.

[0054] Reference Figure 1 , shows a schematic flow chart of the steps of a method for updating the hard stop position of a vehicle gear provided in an embodiment of the present application. The execution subject of the method in this embodiment may be a vehicle-mounted terminal, and specifically may include the following steps:

[0055] S101, when a vehicle is traveling at a speed in a first gear, updating first hard stop position information corresponding to the first gear stored in a memory.

[0056] The vehicle may include a hybrid vehicle control unit (HCU) and a shift controller. The vehicle controller may send a shift instruction to the shift controller according to the current driving state of the vehicle or according to the user's instructions, and the shift controller may shift the vehicle to the corresponding gear according to the received shift instruction.

[0057] In this embodiment, the first gear is the first gear of the two-speed reduction gearbox, and the second gear is the second gear of the two-speed reduction gearbox. The above-mentioned memory may be an electrically erasable programable read-only memory (EEPROM), and the memory may store the first hard stop position information of the first gear and the second hard stop position information of the second gear; wherein the shift controller may determine the first fork position of the first gear according to the first hard stop position information, and determine the second fork position of the second gear according to the second hard stop position information. When the vehicle is engaged in the first gear, the shift controller may control the shift fork to move to the first fork position; when the vehicle is engaged in the second gear, the shift controller may control the shift fork to move to the second fork position.

[0058] After the vehicle is powered on, it can be engaged in the first gear. After the vehicle is powered on, a shift command to switch to the first gear can be sent to the shift controller; after receiving the shift command, the shift controller can obtain the first hard stop point position information of the first gear from the memory, and then determine the first shift fork position of the first gear according to the first hard stop point position information, thereby controlling the shift fork to move to the first shift fork position; after the shift fork moves to the first shift fork position, the vehicle is engaged in the first gear.

[0059] After the vehicle is shifted to the first gear for a preset time, the shift fork can continue to be controlled to move toward the hard stop point of the first gear. When the shift fork moves to the hard stop point of the first gear, the first hard stop point position information of the first gear can be obtained, and the first hard stop point position information is the first hard stop point position information obtained adaptively. The first hard stop point position information obtained adaptively is used to replace the first hard stop point position information currently stored in the memory, thereby updating the first hard stop point position information stored in the memory. Of course, in a possible implementation, the first hard stop point position information currently stored in the memory can also be compared with the first hard stop point position information obtained adaptively to determine whether the two are the same. If the two are the same, the current value in the memory continues to be maintained; if the two are different, it is determined that the first hard stop point position information needs to be corrected, and the first hard stop point position information obtained adaptively can be used to replace the first hard stop point position information currently stored in the memory.

[0060] In a possible implementation, the shift fork may have a maximum movable range, and the movable range has two end points. When the shift fork moves to the end point position, the shift fork continues to be subjected to pressure, and the shift fork undergoes a certain elastic deformation, and then cannot move, which indicates that the shift fork has reached the hard stop point. At one end point, when the shift fork cannot move, the position coordinates of the shift fork can be used as the first hard stop point position information corresponding to the first gear; at the other end point, when the shift fork cannot move, the position coordinates of the shift fork can be used as the second hard stop point position information corresponding to the second gear.

[0061] S102, when it is determined that the information stored in the memory is invalid, obtaining first hard stop point position information and second hard stop point position information corresponding to the first gear position and the second gear position respectively through self-learning.

[0062] When the vehicle controller receives invalid information stored in the memory, it can send a self-learning instruction to the shift controller; or when the shift controller determines that the hard stop position information stored in the memory is invalid, it can perform self-learning.

[0063] The shift controller may control the shift fork to first move to the hard stop point of the second gear position to determine the position information of the second hard stop point; and then control the shift fork to move to the hard stop point of the first gear position to determine the position information of the first hard stop point.

[0064] In a possible implementation, the shift fork may include two moving directions. When the shift fork moves in the first direction, it moves to the hard stop of the first gear; when the shift fork moves in the second direction, it can move to the hard stop of the second gear. The shift controller can control the shift fork to move in the second direction. When the shift fork can no longer move even when the motor applies voltage, it indicates that the shift fork has reached the hard stop position of the second gear. At this time, the coordinates of the current position of the shift fork can be recorded, and the coordinates can be used as the second hard stop position information obtained by self-learning. Afterwards, the shift controller can control the shift fork to move in the first direction. When the shift fork can no longer move even when the motor applies voltage, it indicates that the shift fork has reached the hard stop position of the first gear. At this time, the coordinates of the current position of the shift fork can be recorded, and the coordinates can be used as the first hard stop position information obtained by self-learning.

[0065] S103: Update the information stored in the memory according to the first hard stop point position information and the second hard stop point position information obtained through self-learning.

[0066] The first hard stop point position information and the second hard stop point position information obtained by self-learning are used to replace the first hard stop point position information and the second hard stop point position information currently stored in the memory, so that the information stored in the memory is new and more accurate hard stop point position information, thereby ensuring that the shift fork can move to the corresponding position when the vehicle shifts gears, thereby ensuring successful gear shifting.

[0067] In this embodiment, when the vehicle is in motion, the shift controller of the vehicle generally completes the shifting of the vehicle to the first gear, and the hard stop position information of the first gear can be updated through the adaptive process in the first gear; however, the vehicle may not necessarily shift to the second gear, so the adaptive process of the second gear may not be completed, which means that the information stored in the memory may be invalid; when the judgment step of the information stored in the memory is triggered, and it is determined that the memory information in the memory is invalid, the hard stop position stored in the memory can be updated through the self-learning process, so that the hard stop position information stored in the memory is accurate. Based on more accurate hard stop position information, the shift controller can determine a more accurate fork position when shifting, thereby ensuring accurate shifting of the vehicle.

[0068] Reference Figure 2 , shows a schematic flow chart of another method for updating the hard stop position of a vehicle gear provided by an embodiment of the present application, which may specifically include the following steps:

[0069] S201, when the vehicle is traveling at a speed in a first gear, updating first hard stop position information corresponding to the first gear stored in a memory.

[0070] If a shift command is received to shift the vehicle to the first gear, the first shift fork position of the first gear is determined according to the information stored in the memory. The shift fork position may be a position close to the hard stop position, for example, the shift fork position may be a position 2.5 mm away from the hard stop position.

[0071] After determining the first shift fork position, the shift fork can be controlled to move to the first shift fork position by applying voltage to the drive motor, thereby shifting the vehicle to the first gear. After the shift fork moves to the first shift fork position, that is, after the vehicle is shifted to the first gear, the shift fork can be controlled to continue to move in the original shifting direction after a certain period of time until the shift fork reaches the hard stop point of the first gear, thereby obtaining the updated first hard stop point position information of the first gear; according to the updated first hard stop point position information, the first hard stop point position information stored in the memory is updated.

[0072] Step S201 of this embodiment is similar to step S101 in the previous embodiment, and they can be referenced to each other and will not be described again.

[0073] S202, determining whether the vehicle is shifted to the second gear in a current driving cycle, where the driving cycle is a process from power-on to power-off hibernation of the vehicle.

[0074] The second gear may have a corresponding vehicle speed threshold. Generally, when the vehicle speed reaches the vehicle speed threshold, the vehicle may shift to the second gear, so that the two-speed reduction gearbox can change its transmission ratio. If the vehicle speed is always lower than the vehicle speed threshold during driving, it indicates that the vehicle has not been engaged in the second gear. Therefore, during the driving process of the vehicle, the vehicle speed may be monitored; if the vehicle speed is always lower than the preset vehicle speed threshold in the current driving cycle, it is determined that the vehicle has not been engaged in the second gear. For example, generally, the vehicle may shift to the second gear when the vehicle speed reaches 100 kph; after the vehicle is started, the vehicle speed is low, and the vehicle will first shift to the first gear. If the vehicle speed reaches 100 kph, it will shift to the second gear; if the vehicle speed has not reached 100 kph after the vehicle is started, the vehicle will not shift to the second gear. The vehicle speed threshold may be 100 kph. If the vehicle speed does not reach 100 kph during the process from power-on to power-off of the vehicle, it may be indicated that the vehicle has not shifted to the second gear in the current driving cycle.

[0075] The driving cycle is the process from power-on to power-off of the vehicle. In a possible implementation, when the vehicle receives a power-off command, it can be determined whether the vehicle speed in the current driving cycle is less than the vehicle speed threshold; if the vehicle speed from power-on to the present is less than the vehicle speed threshold when the power-off command is received, it is determined that the vehicle is not in the second gear in the driving cycle.

[0076] The vehicle is not engaged in the second gear during the driving cycle, that is, the vehicle cannot perform the adaptive process of the second gear, and thus the hard stop position information of the second gear cannot be corrected in the current driving cycle.

[0077] S203: If the vehicle is not shifted into the second gear, determine the number of driving cycles in which the vehicle is not currently shifted into the second gear.

[0078] A value may be recorded in the vehicle which is the number of driving cycles in which the vehicle was not currently engaged in second gear.

[0079] The complete adaptive process may include the adaptive process of the first gear and the adaptive process of the second gear. If the vehicle is not shifted to the second gear in the current driving cycle, the adaptive process of the second gear cannot be completed, that is, the entire adaptive process cannot be completed. The above number of driving cycles is the number of driving cycles in which the vehicle cannot complete the entire adaptive process.

[0080] For example, after receiving the power-off command, the vehicle can determine whether the vehicle is in the second gear in the current driving cycle; if the vehicle is in the second gear in the current driving cycle, the number of driving cycles can be updated to 0; if the vehicle is not in the second gear in the current driving cycle, the number of driving cycles can be increased by 1.

[0081] S204: If the number of driving cycles is greater than or equal to a preset value, it is determined that the information stored in the memory is invalid.

[0082] The above preset value can be set by the user, for example, the preset value can be 5.

[0083] Before the vehicle is powered off, it can be determined whether the current number of driving cycles is greater than or equal to a preset value. If the current number of driving cycles is greater than or equal to the preset value, it indicates that the vehicle has not been engaged in the second gear for a long time, that is, the second gear has not been adapted for a long time, and the second hard stop position information of the second gear currently stored in the memory may be inaccurate. At this time, it can be determined that the information stored in the memory is invalid.

[0084] S205, after the vehicle is powered on again, controlling the shift fork to move in a direction corresponding to the second gear position until the shift fork moves to a hard stop point of the second gear position, so as to obtain the second hard stop point position information corresponding to the second gear position.

[0085] After determining that the information stored in the memory is invalid, the vehicle can be controlled to power off and then power on again. When the vehicle is powered on, it will determine whether the hard stop position information stored in the memory is valid; according to the step of determining that the information stored in the memory is invalid before the vehicle was powered off last time, the shift controller can report to the vehicle controller that the hard stop position information stored in the memory is invalid; based on the invalid hard stop position information stored in the memory, the shift controller can perform a self-learning process of the vehicle gear position, thereby correcting the information stored in the memory. In one possible implementation, when the shift controller sends the hard stop position information invalid to the vehicle controller, the vehicle controller can send a self-learning instruction to the shift controller, thereby triggering the self-learning of the shift controller. In another possible implementation, the shift controller can automatically trigger self-learning according to the invalid hard stop position information after the vehicle is powered on. When the shift controller sends the hard stop position information invalid to the vehicle controller, the vehicle controller can control other instructions of the vehicle according to the invalid hard stop position information. For example, the vehicle controller can receive a shift instruction for the vehicle after the self-learning is completed.

[0086] Therefore, after determining that the information stored in the memory is invalid, the shift controller can control the shift fork to move in the direction corresponding to the second gear position after the vehicle is powered off and then powered on again.

[0087] In one possible implementation, the movement of the fork can be controlled by pulse width modulation (PWM). When the fork moves in the direction corresponding to the first gear, the pulse of the brushless DC motor driving the fork can be controlled to reach a preset first duty cycle, so that the drive motor can drive the fork to move in the direction corresponding to the first gear; when the fork moves in the direction corresponding to the second gear, the pulse of the brushless DC motor driving the fork can be controlled to reach a preset second duty cycle, so that the drive motor can drive the fork to move in the direction corresponding to the second gear. The above-mentioned first duty cycle can be 15%, and the second duty cycle can be 85%. The control of the movement direction of the fork is achieved by controlling the pulse frequency of the brushless DC motor. In another possible implementation, the fork can have a corresponding drive motor, and the drive motor of the fork can have two rotation directions. Different rotation directions can drive the fork to move in different directions. For example, when the drive motor rotates in the first rotation direction, the fork can be controlled to move in the direction corresponding to the first gear, and when the drive motor rotates in the second rotation direction, the fork can be controlled to move in the direction corresponding to the second gear. The first rotation direction may be clockwise, and the second rotation direction may be counterclockwise. By controlling the rotation direction of the drive motor, the movement direction of the shift fork can be controlled.

[0088] The shift controller can control the drive motor of the shift fork to rotate in the second rotation direction under a certain voltage, so that the shift fork moves in the direction corresponding to the second gear. When the current of the drive motor reaches the preset current but the speed of the drive motor is less than the preset speed, it can be determined that the shift fork moves to the hard stop point of the second gear, and the position information of the second hard stop point can be determined at this time.

[0089] S206, controlling the shift fork to move in a direction corresponding to the first gear position until the shift fork moves to a hard stop point of the first gear position, so as to obtain the first hard stop point position information corresponding to the first gear position.

[0090] After determining the second hard stop position information, the first hard stop position information can be determined. At this time, self-learning of the first gear position can be performed.

[0091] In a possible implementation, the pulse of the brushless DC motor driving the shift fork can be controlled to reach a preset first duty cycle, so that the drive motor can drive the shift fork to move in the direction corresponding to the first gear. When the current of the drive motor is greater than the preset current value but the speed of the drive motor is less than the preset speed, it can be determined that the shift fork moves to the hard stop point of the first gear, and the first hard stop point position information can be determined at this time.

[0092] In another possible implementation, the shift controller can control the drive motor of the shift fork to rotate in the first rotation direction under a certain voltage, so that the shift fork moves in the direction corresponding to the first gear. When the current of the drive motor is greater than the preset current value but the speed of the drive motor is less than the preset speed, it can be determined that the shift fork moves to the hard stop point of the first gear, and the first hard stop point position information can be determined at this time.

[0093] In a possible implementation, during the movement of the shift fork, the current of the drive motor can be monitored, and if the current of the drive motor is greater than a preset threshold, it indicates that the shift fork has reached the hard stop of the first gear. Alternatively, when the position of the shift fork no longer changes, a certain voltage is continuously applied to the drive motor within a preset time, and if the position of the shift fork remains unchanged within the preset time, it is determined that the shift fork has reached the hard stop.

[0094] S207: Update the information stored in the memory according to the first hard stop point position information and the second hard stop point position information obtained through self-learning.

[0095] The first hard stop point position information and the second hard stop point position information obtained through self-learning can be compared with the first hard stop point position information and the second hard stop point position information currently stored in the memory. If the two are different, the first hard stop point position information and the second hard stop point position information obtained through self-learning can be used to update the first hard stop point position information and the second hard stop point position information stored in the memory.

[0096] In this embodiment, if the vehicle has not been engaged in the second gear position in multiple driving cycles, the vehicle has not been able to complete the adaptation to the second gear position, that is, the vehicle cannot adaptively obtain the hard stop position information of the second gear position during driving. At this time, it can be determined that the hard stop position information stored in the vehicle memory is invalid, so that after the vehicle is powered off and powered on again, accurate hard stop position information can be re-acquired through self-learning to update the information stored in the memory. Equivalently, the present application can determine whether the vehicle can complete the complete adaptation process based on whether the vehicle is engaged in the second gear position in the driving cycle; when the vehicle cannot complete the complete adaptation process, the hard stop position information in the memory can be updated based on self-learning, thereby ensuring that the vehicle can still update the hard stop position information stored in the memory when it is not engaged in each gear position, thereby completing the optimization of the adaptation process.

[0097] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0098] In order to better illustrate the solution in this application, another example can be used to illustrate the solution in this application. For example, due to urban traffic congestion, the vehicle has been driving in the city, and the vehicle speed has been lower than the second gear shift line for a long time. Therefore, the vehicle can only complete the adaptation of the first gear and cannot complete the complete adaptation process. The complete adaptation process can include the adaptation of the first gear and the adaptation of the second gear. Based on the situation that the complete adaptation process cannot be achieved, Figure 3 FIG. 2 is a flow chart showing another method for updating the hard stop position of a vehicle gear provided in an embodiment of the present application. Figure 3 As shown, when the vehicle is powered on, the vehicle is in gear D, i.e., gear 1. At this time, the gear information of the vehicle's shift controller can be gear 1, i.e., ACUactgear=gear 1. After a certain debounce time, the adaptation in gear 1 can be performed; thus, the hard stop value of gear 1 is obtained. During the vehicle's driving process, it can be determined whether the vehicle speed reaches gear 2, thereby determining whether the shift controller is in gear 2.

[0099] If the shift controller is engaged in the 2nd gear, the gear information of the shift controller of the vehicle may be the 2nd gear, that is, ACUactgear=2nd gear. After a certain debounce time, the adaptation in the 2nd gear may be performed, thereby obtaining the hard stop value of the 2nd gear.

[0100] When the vehicle is powered off, the hard stop point value of the first gear and the hard stop point value of the second gear obtained by adaptation may be stored in the EEPROM, and the hard stop point position information stored in the memory may be updated.

[0101] If the shift controller does not engage the 2nd gear in the entire current driving cycle, that is, in the process of the vehicle switching from power on to power off, it can be determined whether the driving cycle in which the vehicle does not engage the 2nd gear is less than 5.

[0102] If the number of driving cycles in which the vehicle is not in the second gear is not less than 5, the trigger strategy determines that the EEPROM value is invalid. After determining that the EEPROM value is invalid, the vehicle is powered off and then powered on again, and the ACUactgear of the shift controller is unknown. The shift controller can report ACUactgear=unknown to the vehicle controller and perform self-learning of the shift controller to correct the self-learning hard stop point value stored in the EEPROM last time.

[0103] The 1st gear in this embodiment is the first gear in the aforementioned embodiment, and the 2nd gear is the second gear in the aforementioned embodiment; the hard stop point value is the hard stop point position information in the aforementioned embodiment.

[0104] In this embodiment, if the vehicle can only complete the adaptation of the first gear in the driving cycle, the step of determining that the EEPROM value, i.e., the hard stop value in the memory, is invalid can be triggered after a number of driving cycles. After the vehicle is powered off and then powered on, the shift controller can send information that the hard stop value is invalid to the vehicle controller and trigger the self-learning of the shift controller to correct the hard stop value, thereby completing the optimization of the adaptive process.

[0105] Reference Figure 4 , shows a schematic diagram of a hard stop position updating device for a vehicle gear provided in an embodiment of the present application, which may specifically include a first gear adaptive module 41, a self-learning module 42 and a memory information updating module 43, wherein:

[0106] A first gear adaptive module 41 is used to update the first hard stop position information corresponding to the first gear stored in the memory when the vehicle is traveling at the speed of the first gear;

[0107] A self-learning module 42, configured to obtain first hard stop point position information and second hard stop point position information corresponding to the first gear position and the second gear position respectively through self-learning when it is determined that the information stored in the memory is invalid;

[0108] The memory information updating module 43 is used to update the information stored in the memory according to the first hard stop point position information and the second hard stop point position information obtained through self-learning.

[0109] In a possible implementation, the self-learning module 42 includes:

[0110] a determination submodule, configured to determine whether the vehicle is in gear to the second gear position in a current driving cycle, wherein the driving cycle is a process from power-on to power-off sleep of the vehicle;

[0111] a driving cycle number determination submodule, configured to determine the number of driving cycles of the vehicle that is not currently in gear to the second gear if the vehicle is not in gear to the second gear;

[0112] The judgment submodule is used to judge that the information stored in the memory is invalid if the number of driving cycles is greater than or equal to a preset value.

[0113] In a possible implementation, the determination submodule includes:

[0114] A vehicle speed monitoring unit, used to monitor the speed of the vehicle during the driving of the vehicle;

[0115] The vehicle gear determination unit is used to determine that the vehicle is not shifted to the second gear if the vehicle speed is always less than a preset vehicle speed threshold in a current driving cycle.

[0116] In a possible implementation, the self-learning module 42 includes:

[0117] a second hard stop position learning submodule, configured to control the shift fork to move in a direction corresponding to the second gear position after the vehicle is powered on again, until the shift fork moves to the hard stop point of the second gear position, so as to obtain the second hard stop position information corresponding to the second gear position;

[0118] The first hard stop position learning submodule is used to control the shift fork to move in the direction corresponding to the first gear position until the shift fork moves to the hard stop point of the first gear position to obtain the first hard stop position information corresponding to the first gear position.

[0119] In a possible implementation, the second hard stop position learning submodule includes:

[0120] A judgment unit, configured to send information indicating that the information stored in the memory is invalid to a vehicle controller through a gear controller after the vehicle is powered on again;

[0121] A control unit, used for controlling the pulse of the driving motor of the shift fork to reach a preset second duty cycle, so as to drive the shift fork to move to the hard stop position of the second gear;

[0122] The second hard stop point position information determination module is used to determine that the shift fork reaches the hard stop point of the second gear position and obtain the second hard stop point position information when it is detected that the current of the drive motor is greater than a preset current value and the speed of the drive motor is less than a preset speed.

[0123] In a possible implementation, the first gear adaptive module 41 includes:

[0124] a first shift fork position determination submodule, configured to determine a first shift fork position of the first gear position according to information stored in the memory if a shift instruction for the vehicle to shift into the first gear position is received;

[0125] a first gear shifting submodule, used for controlling the shift fork to move to the first shift fork position, so as to shift the vehicle to the first gear;

[0126] a first gear position hard stop point position information determination submodule, configured to, after the shift fork moves to the first shift fork position, continue to control the shift fork to move until the shift fork reaches the hard stop point of the first gear position, and obtain updated first hard stop point position information of the first gear position;

[0127] The first gear hard stop point position information updating submodule is used to update the first hard stop point position information stored in the memory according to the updated first hard stop point position information.

[0128] In a possible implementation, the first fork position determination submodule includes:

[0129] A first hard stop point position information acquiring unit, configured to acquire first hard stop point position information of the first gear position from the memory, wherein the first hard stop point position information includes a hard stop point position of the first gear position;

[0130] A first shift fork position determining unit is configured to use a position with a preset distance from the first hard stop position as the first shift fork position.

[0131] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment part.

[0132] Figure 5 This is a schematic diagram of the structure of a vehicle-mounted terminal provided in one embodiment of the present application. Figure 5 As shown, the vehicle terminal 5 of this embodiment includes: at least one processor 50 ( Figure 5 Only one is shown in the figure) a processor, a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, and when the processor 50 executes the computer program 52, the steps in any of the above-mentioned method embodiments are implemented.

[0133] The vehicle-mounted terminal may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will appreciate that Figure 5 It is only an example of the vehicle-mounted terminal 5 and does not constitute a limitation on the vehicle-mounted terminal 5. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0134] The processor 50 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0135] In some embodiments, the memory 51 may be an internal storage unit of the vehicle-mounted terminal 5, such as a hard disk or memory of the vehicle-mounted terminal 5. In other embodiments, the memory 51 may also be an external storage device of the vehicle-mounted terminal 5, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the vehicle-mounted terminal 5. Further, the memory 51 may also include both an internal storage unit of the vehicle-mounted terminal 5 and an external storage device. The memory 51 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 51 may also be used to temporarily store data that has been output or is to be output.

[0136] An embodiment of the present application further provides a vehicle, wherein the vehicle uses the hard stop position information of the gear to be adjusted during the adaptive process, and the steps in the above-mentioned various method embodiments can be executed to achieve optimization of the adaptive process.

[0137] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0138] An embodiment of the present application provides a computer program product. When the computer program product runs on a vehicle-mounted terminal, the vehicle-mounted terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0139] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above-mentioned embodiments, a person skilled in the art should understand that the technical solutions described in the above-mentioned embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for updating the hard stop position of a vehicle gear, characterized in that: include: When the vehicle is traveling at a speed in a first gear, the first hard stop point position information obtained by adaptive means is used to replace the first hard stop point position information currently stored in the memory, so as to update the first hard stop point position information corresponding to the first gear position stored in the memory; when it is determined that the information stored in the memory is invalid, obtaining first hard stop position information and second hard stop position information corresponding to the first gear and the second gear, respectively, through self-learning, the information stored in the memory being invalid, indicating that the vehicle cannot obtain the hard stop position information of the second gear through adaptation in a plurality of driving cycles; The information stored in the memory is updated according to the first hard stop point position information and the second hard stop point position information obtained through self-learning.

2. The method according to claim 1, characterized in that The determining that the information stored in the memory is invalid comprises: determining whether the vehicle is in gear to the second gear in a current driving cycle, the driving cycle being a process from power-on to power-off sleep of the vehicle; If the vehicle is not in the second gear, determining a number of driving cycles in which the vehicle is not currently in the second gear; If the number of driving cycles is greater than or equal to a preset value, it is determined that the information stored in the memory is invalid.

3. The method according to claim 2, characterized in that The determining whether the vehicle is shifted to the second gear in the current driving cycle includes: During the driving of the vehicle, monitoring the speed of the vehicle; If the vehicle speed is always less than a preset vehicle speed threshold in the current driving cycle, it is determined that the vehicle is not shifted to the second gear.

4. The method according to any one of claims 1 to 3, characterized in that: The step of obtaining first hard stop point position information and second hard stop point position information corresponding to the first gear position and the second gear position respectively through self-learning includes: After the vehicle is powered on again, controlling the shift fork to move in a direction corresponding to the second gear position until the shift fork moves to a hard stop point of the second gear position, so as to obtain position information of the second hard stop point corresponding to the second gear position; The shift fork is controlled to move in a direction corresponding to the first gear position until the shift fork moves to a hard stop point of the first gear position, so as to obtain the first hard stop point position information corresponding to the first gear position.

5. The method according to claim 4, characterized in that After the vehicle is powered on again, controlling the shift fork to move in a direction corresponding to the second gear until the shift fork moves to a hard stop point of the second gear to obtain second hard stop point position information of the second gear, includes: After the vehicle is powered on again, sending information that the information stored in the memory is invalid to the vehicle controller through the gear controller; Controlling the pulse of the driving motor of the shift fork to reach a preset second duty cycle, so as to drive the shift fork to move toward the hard stop position of the second gear; When it is detected that the current of the drive motor is greater than a preset current value and the rotation speed of the drive motor is less than a preset rotation speed, it is determined that the shift fork reaches the hard stop point of the second gear position, and the second hard stop point position information is obtained.

6. The method according to any one of claims 1 to 3, characterized in that: The method of replacing the first hard stop point position information currently stored in the memory with the first hard stop point position information obtained adaptively during the vehicle traveling at the speed of the first gear, so as to update the first hard stop point position information corresponding to the first gear stored in the memory, comprises: if a shift instruction for shifting the vehicle to the first gear is received, determining a first shift fork position of the first gear according to information stored in the memory; Controlling the shift fork to move to the first shift fork position to shift the vehicle into the first gear; After the shift fork moves to the first shift fork position, continue to control the shift fork to move until the shift fork reaches the hard stop point of the first gear position, and obtain updated first hard stop point position information of the first gear position; The first hard stop point position information stored in the memory is updated according to the updated first hard stop point position information.

7. The method according to claim 6, characterized in that If a shift instruction for shifting the vehicle to the first gear is received, determining a first shift fork position of the first gear according to information stored in the memory includes: Acquire first hard stop point position information of the first gear position from the memory, wherein the first hard stop point position information includes a hard stop point position of the first gear position; A position at a preset distance from the first hard stop position is used as the first shift fork position.

8. A device for updating the hard stop position of a vehicle gear, characterized in that: include: a first gear position adaptive module, configured to replace the first hard stop position information currently stored in the memory with the first hard stop position information obtained by adaptive means when the vehicle is traveling at a speed in the first gear position, so as to update the first hard stop position information corresponding to the first gear position stored in the memory; a self-learning module, configured to obtain, by self-learning, first hard stop position information and second hard stop position information corresponding to the first gear and the second gear, respectively, when it is determined that the information stored in the memory is invalid, and the information stored in the memory is invalid, indicating that the vehicle cannot obtain the hard stop position information of the second gear by adaptive means in a plurality of driving cycles; A memory information updating module is used to update the information stored in the memory according to the first hard stop point position information and the second hard stop point position information obtained by self-learning.

9. A vehicle-mounted terminal, comprising 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, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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