A method, apparatus, storage medium, and control device for self-learning gear shift hubs.

Abstract

This invention discloses a shift hub self-learning method, apparatus, storage medium, and control device. The method includes: requesting a higher-level controller to perform shift hub self-learning; upon receiving a permission instruction, performing a first process for shift hub self-learning, the first process controlling the shift hub to rotate in a first direction; and, when the first process is performed and the position of the shift hub is within a preset range, monitoring the execution status to obtain a first monitoring result, the first monitoring result being used by the higher-level controller to decide whether to allow the shift hub self-learning execution request; performing a second process for shift hub self-learning, the second process controlling the shift hub to rotate in the opposite direction to the first direction; performing a stroke check for shift hub self-learning based on a first limit position and a second limit position, and deciding whether to re-request the higher-level controller to perform shift hub self-learning based on the stroke check result. This invention can reduce shifting failures and improve shifting reliability.

Description

Technical Field

[0001] This invention relates to the field of automotive control technology, and in particular to a shift hub self-learning method, apparatus, storage medium, and control device. Background Technology

[0002] The gear shifting system assembly in a vehicle reduces the rotational motion of the motor by a reduction gear and increases its torque. This rotational motion is then converted into axial linear motion of the shift fork via the shift hub, driving the synchronizer to switch gear modes. The transmission control unit (TCU), during the gear shifting process, uses position feedback from sensors mounted on the shift hub and preset shift points within the TCU to determine the success of the control process. The accuracy of the shift point directly affects the results of gear selection and disengagement, thus impacting the reliability of gear shifting. To ensure shifting accuracy, shift hub self-learning is required before shifting. Summary of the Invention

[0003] To address the existing technical problems, embodiments of the present invention provide a shift hub self-learning method, apparatus, storage medium, and control device.

[0004] To achieve the above objectives, the technical solution of this invention is implemented as follows:

[0005] In a first aspect, embodiments of the present invention provide a shift hub self-learning method, comprising:

[0006] The upper-level controller requests the execution of shift hub self-learning. Upon receiving the permission instruction, the upper-level controller executes the first process of shift hub self-learning, which is used to control the shift hub to rotate in a first direction. When the first process is executed and the position of the shift hub is within a preset range, the execution status is monitored to obtain a first monitoring result. The first monitoring result is used by the upper-level controller to decide whether to allow the execution request of shift hub self-learning.

[0007] After determining the first limit position of the shift hub based on the first processing, a second processing of shift hub self-learning is performed, which is used to control the shift hub to rotate in the opposite direction to the first direction;

[0008] After determining the second limit position of the shift hub based on the second processing, a stroke check of the shift hub self-learning is performed based on the first limit position and the second limit position. Based on the stroke check result, a decision is made on whether to request the upper-level controller to perform shift hub self-learning again.

[0009] In the above scheme, the step of monitoring the execution status and obtaining a first monitoring result includes:

[0010] Determine whether the first condition is met. If the first condition is met, determine the first monitoring result as the first state. The first state indicates that the first process is executed to determine the first limit position. The first condition includes: meeting the condition for triggering the shift hub self-learning or the shift hub position is lost, the shift hub position does not exceed the design maximum value, the shift has been completed, the monitoring of the execution status has not been completed, and the first monitoring result is not the second state. The second state indicates that the gear is returned to the requested gear.

[0011] If the first monitoring result is in the first state and a monitoring stop signal is detected, the first monitoring result is determined to change from the first state to the second state.

[0012] If the first monitoring result is in the second state and the required position of the shift hub is not the design starting position, the first monitoring result is determined to change from the second state to the third state, and the third state indicates that the monitoring is completed.

[0013] If the requested gear has changed, the first monitoring result is not determined to be the third state, and the execution status is not monitored, the first monitoring result is determined to be the fourth state, which indicates that no monitoring was performed.

[0014] In the above scheme, the method further includes: determining a second monitoring result based on at least one of the execution results of the first processing, the second processing, and the stroke check, wherein the second monitoring result is used to characterize the execution state of the shift hub self-learning.

[0015] In the above scheme, determining the second monitoring result based on at least one of the execution results of the first processing, the second processing, and the trip check includes:

[0016] If the first limit position and the second limit position are determined, and the stroke check result meets the preset conditions, the second monitoring result is determined to be the fifth state, which indicates that the shift hub self-learning has been completed;

[0017] If the first extreme position is determined and the shift hub has not stopped rotating, the second monitoring result is determined to be the sixth state, which indicates that the second process is being executed.

[0018] If the first extreme position is determined, the shift hub stops rotating, and the number of times the shift hub self-learning is executed is greater than the first threshold, the second monitoring result is determined to be the seventh state, which indicates that the shift hub self-learning has stopped executing;

[0019] If the first extreme position is determined, the shift hub stops rotating, and the number of times the shift hub self-learning is executed is not greater than the first threshold, the first monitoring result is determined to be the eighth state, and the eighth state indicates that the state is maintained.

[0020] In the above scheme, the first process of performing shift hub self-learning includes:

[0021] Under the condition of satisfying the second condition, determine the first position requirement and the first speed for self-learning of the shift hub; control the shift hub to rotate in a first direction based on the first position requirement and the first speed, and determine the first limit position when the hub reaches the limit position. The first position requirement includes at least the shift hub position corresponding to each gear during the execution of the first process; and / or

[0022] The second process for performing shift hub self-learning includes:

[0023] Under the condition of satisfying the second condition, the second position requirement and the second speed of the shift hub self-learning are determined; based on the second position requirement and the second speed, the shift hub is controlled to rotate in the opposite direction to the first direction, and the second limit position is determined when it rotates to the limit position. The second position requirement includes at least the shift hub position corresponding to each gear during the execution of the second process.

[0024] The second condition includes: detecting shift hub jamming, repeated shifting number exceeding the second threshold, and failing to return to the previous gear after repeated shifting failure.

[0025] In the above scheme, the step of performing a stroke check for shift hub self-learning based on the first and second extreme positions, and deciding whether to re-request the upper-level controller to perform shift hub self-learning based on the stroke check result, includes: determining the self-learning stroke based on the first and second extreme positions; if the difference between the self-learning stroke and the shift hub design stroke is greater than a third threshold, determining that the stroke check result does not meet the preset conditions, and re-requesting the upper-level controller to perform shift hub self-learning if the number of times shift hub self-learning is executed is not greater than a first threshold.

[0026] In the above scheme, requesting the upper-level controller to perform shift hub self-learning includes: requesting the upper-level controller to perform shift hub self-learning when a third condition is met; the third condition includes: the shift hub self-learning stroke check has not failed, there is no fault degradation of forced stop shifting, and the conditions for triggering shift hub self-learning are met or the shift hub position is lost.

[0027] Secondly, embodiments of the present invention provide a shift hub self-learning device, including a communication unit, a processing unit, and a monitoring unit; wherein...

[0028] The communication unit is used to request the upper-level controller to perform shift hub self-learning;

[0029] The processing unit is configured to perform a first process of shift hub self-learning after receiving an permission command, the first process being configured to control the shift hub to rotate in a first direction.

[0030] The monitoring unit is used to monitor the execution status when the first processing is performed and the position of the shift hub is within a preset range, and obtain a first monitoring result. The first monitoring result is used by the upper-level controller to decide whether to allow the execution request of the shift hub self-learning.

[0031] The processing unit is further configured to, after determining the first limit position of the shift hub based on the first processing, perform a second processing of shift hub self-learning, the second processing being configured to control the shift hub to rotate in the opposite direction to the first direction; and, after determining the second limit position of the shift hub based on the second processing, perform a stroke check of shift hub self-learning based on the first limit position and the second limit position, and decide whether to request the upper-level controller to perform shift hub self-learning again based on the stroke check result.

[0032] In the above scheme, the monitoring unit is used to determine whether a first condition is met. If the first condition is met, the first monitoring result is determined to be a first state, which indicates that the first process is executed to determine the first limit position. The first condition includes: meeting the condition for triggering the shift hub self-learning or the shift hub position is lost, the shift hub position does not exceed the design maximum value, the shift has been completed, the monitoring of the execution status is not completed, and the first monitoring result is not a second state, which indicates that the gear has been returned to the requested gear. If the first monitoring result is in the first state and a monitoring stop signal is detected, the first monitoring result is determined to change from the first state to the second state. If the first monitoring result is in the second state and the required position of the shift hub is not the design starting position, the first monitoring result is determined to change from the second state to the third state, which indicates that the monitoring is completed. If the requested gear has changed, the first monitoring result is not determined to be in the third state, and the execution status is not monitored, the first monitoring result is determined to be in the fourth state, which indicates that no monitoring has been performed.

[0033] In the above scheme, the monitoring unit is further configured to determine a second monitoring result based on at least one of the execution results of the first processing, the second processing, and the stroke check, wherein the second monitoring result is used to characterize the execution state of the shift hub self-learning.

[0034] In the above scheme, the monitoring unit is further configured to: determine a second monitoring result as a fifth state when the first extreme position and the second extreme position are determined and the stroke check result meets preset conditions, wherein the fifth state indicates that the shift hub self-learning has been completed; determine a second monitoring result as a sixth state when the first extreme position is determined and the shift hub has not stopped rotating, wherein the sixth state indicates that the second processing is being executed; determine a second monitoring result as a seventh state when the first extreme position is determined, the shift hub has stopped rotating, and the number of times the shift hub self-learning has been executed is greater than a first threshold, wherein the seventh state indicates that the shift hub self-learning has stopped executing; and determine a first monitoring result as an eighth state when the first extreme position is determined, the shift hub has stopped rotating, and the number of times the shift hub self-learning has been executed is not greater than the first threshold, wherein the eighth state indicates that the state is maintained.

[0035] In the above scheme, the processing unit is used to determine the first position requirement and the first speed of the shift hub self-learning when the second condition is met; control the shift hub to rotate in the first direction based on the first position requirement and the first speed, and determine the first limit position when it rotates to the limit position, wherein the first position requirement includes at least the shift hub position corresponding to each gear during the execution of the first processing; and / or, the processing unit is used to determine the second position requirement and the second speed of the shift hub self-learning when the second condition is met; control the shift hub to rotate in the opposite direction to the first direction based on the second position requirement and the second speed, and determine the second limit position when it rotates to the limit position, wherein the second position requirement includes at least the shift hub position corresponding to each gear during the execution of the second processing; wherein the second condition includes: detecting shift hub jamming, repeated shifting number greater than a second threshold, and failing to return to the previous gear after repeated shifting failure.

[0036] In the above scheme, the processing unit is used to determine the self-learning stroke based on the first limit position and the second limit position; if the difference between the self-learning stroke and the shift hub design stroke is greater than a third threshold, it is determined that the stroke check result does not meet the preset condition, and if the number of times the shift hub self-learning is executed is not greater than the first threshold, it requests the upper-level controller to execute the shift hub self-learning again.

[0037] In the above scheme, the communication unit is used to request the upper-level controller to perform shift hub self-learning when a third condition is met; the third condition includes: the stroke check of shift hub self-learning has not failed, there is no fault degradation of forced stop shifting, and the conditions for triggering shift hub self-learning are met or the shift hub position is lost.

[0038] Thirdly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions thereon, which, when executed by a processor, implement the steps of the aforementioned shift hub self-learning method.

[0039] Fourthly, embodiments of the present invention provide a control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the aforementioned shift hub self-learning method.

[0040] This invention provides a shift hub self-learning method, apparatus, storage medium, and control device, which can meet the self-learning requirements of certain shift execution system assemblies that achieve shifting through a shift hub, protect the shifting mechanism, and, through reasonable self-learning and monitoring self-checking strategies, check the position and shifting status of the shift hub before the vehicle starts, effectively reducing shifting failures and improving shifting reliability. Attached Figure Description

[0041] Figure 1 This is a flowchart illustrating the shift hub self-learning method according to an embodiment of the present invention;

[0042] Figure 2 This is an application example flow of the shift hub self-learning method according to an embodiment of the present invention. Figure 1 ;

[0043] Figure 3 This is an application example flow of the shift hub self-learning method according to an embodiment of the present invention. Figure 2 ;

[0044] Figure 4 This is a schematic diagram of the monitoring and self-testing process according to an embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram of the composition structure of the shift hub self-learning device according to an embodiment of the present invention;

[0046] Figure 6 This is a schematic diagram of the control device according to an embodiment of the present invention. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0048] This invention provides a self-learning method for a gear shift hub. Figure 1 This is a flowchart illustrating the shift hub self-learning method according to an embodiment of the present invention, as shown below. Figure 1 As shown, the method includes:

[0049] Step 101: Request the upper-level controller to perform shift hub self-learning. After receiving the permission instruction, perform the first processing of shift hub self-learning. The first processing is used to control the shift hub to rotate in the first direction. And when the first processing is performed and the position of the shift hub is within a preset range, monitor the execution status and obtain a first monitoring result. The first monitoring result is used by the upper-level controller to decide whether to allow the execution request of shift hub self-learning.

[0050] Step 102: After determining the first limit position of the shift hub based on the first processing, execute the second processing of shift hub self-learning, the second processing being used to control the shift hub to rotate in the opposite direction to the first direction;

[0051] Step 103: After determining the second limit position of the shift hub based on the second processing, perform a stroke check for shift hub self-learning based on the first limit position and the second limit position, and decide whether to request the upper-level controller to perform shift hub self-learning again based on the stroke check result.

[0052] In various embodiments of the present invention, the method can be applied to various types of vehicles that achieve gear shifting through a shift hub, specifically to the vehicle's transmission control unit (TCU), where the upper-level controller can be the vehicle electronic control unit (VECU). In step 101, the TCU can request the VECU to perform shift hub self-learning if the shift hub self-learning conditions are met, and begin the first process of shift hub self-learning after receiving the permission command sent by the VECU.

[0053] In this embodiment, a complete shift hub self-learning process may include the execution of a first process, a second process, and a stroke check. Specifically, upon receiving an authorization command, the first process can be executed, and based on the first process, a first limit position of the shift hub can be determined. The first limit position is the shift hub position corresponding to when the shift hub rotates to the limit position in a first direction. After determining the first limit position, the second process can be executed, and based on the second process, a second limit position of the shift hub can be determined, and the second limit position is the shift hub position corresponding to when the shift hub rotates to the limit position in the opposite direction to the first direction. After determining the first limit position and the second limit position, the stroke check can be executed, and based on the stroke check, it can be determined whether the shift hub self-learning is successful. If the stroke check result indicates that the shift hub self-learning has failed, the shift hub self-learning can be re-requested from the upper-level controller, and the first process, the second process, and the stroke check can be re-executed after meeting the corresponding conditions. That is, the first process is re-executed after receiving an authorization command, the second process is re-executed after determining the first limit position, and the stroke check is re-executed after determining the first and second limit positions.

[0054] The first processing and the second processing are respectively used to control the shift hub to rotate in a first direction and the opposite direction of the first direction. The first direction may be, for example, clockwise, and the opposite direction of the first direction may be, for example, counterclockwise. Alternatively, the first direction may be counterclockwise and the opposite direction of the first direction may be clockwise.

[0055] As an example, the first process of performing shift hub self-learning may include: the TCU controlling the shift hub to rotate in the first direction via the shift motor; and / or, the second process of performing shift hub self-learning may include: the TCU controlling the shift hub to rotate in the opposite direction to the first direction via the shift motor.

[0056] In step 101, during the execution of the first process, if the shift hub rotates to a preset range position, the execution status can be monitored to obtain a first monitoring result. It can be understood that the first monitoring result in this embodiment is used to characterize the TCU's self-check status during the shift hub's self-learning process, such as whether there are any execution anomalies (e.g., receiving a shift request, stopping monitoring request, etc.). When an anomaly occurs, it can be reported to the upper-level controller for the upper-level controller to decide whether to allow the received shift hub self-learning execution request. Alternatively, it can also serve as a status indicator to ensure the normal execution of the shift hub self-learning.

[0057] In one embodiment, determining that the position of the shift hub is within a preset range may include: determining the angle difference between the current position of the shift hub and its initial position within a range of 0 to 180°; if the angle difference is greater than or equal to a preset angle threshold, then the position of the shift hub is determined to be within the preset range. For example, assuming the angle corresponding to the initial position of the shift hub is θ, if the angle α corresponding to the current position of the shift hub is greater than 180°, then the angle difference is δ = |α - 360° - θ|; if the angle α corresponding to the current position of the shift hub is less than or equal to 180°, then the angle difference is δ = |α - θ|. The angle difference δ is compared with the preset angle threshold; if the angle difference δ is greater than or equal to the preset angle threshold, then the position of the shift hub is determined to be within the preset range, and the execution status is monitored. Optionally, the TCU can obtain the real-time position information of the shift hub through a Hall sensor.

[0058] The shift hub self-learning method of this invention can meet the self-learning requirements of certain shift execution system assemblies that achieve shifting through the shift hub, protect the shifting mechanism, and at the same time, through reasonable self-learning strategy and monitoring self-checking strategy, can check the position and shifting status of the shift hub before the vehicle starts, effectively reducing the occurrence of shifting failures and improving the reliability of shifting.

[0059] In an optional embodiment of the present invention, the step of monitoring the execution status and obtaining a first monitoring result may include: determining whether a first condition is met; if the first condition is met, determining the first monitoring result as a first state, the first state indicating that a first process is performed to determine a first limit position; the first condition includes: meeting the condition for triggering shift hub self-learning or the shift hub position is lost, the shift hub position does not exceed the design maximum value, the shift has been completed, the monitoring of the execution status is not completed, and the first monitoring result is not a second state, the second state indicating a return to the requested gear; if the first monitoring result is in the first state and a monitoring stop signal is detected, determining that the first monitoring result changes from the first state to the second state; if the first monitoring result is in the second state and the required position of the shift hub is not the design starting position, determining that the first monitoring result changes from the second state to the third state, the third state indicating that monitoring is completed; if the requested gear has changed, the first monitoring result is not determined to be in the third state, and the execution status is not monitored, determining that the first monitoring result is in the fourth state, the fourth state indicating that no monitoring is performed.

[0060] For example, firstly, a judgment is made on the first condition. If the conditions for shift hub self-learning are met, or the shift hub position is lost, the shift hub position does not exceed the design maximum value (e.g., angle 360°), the shift has been completed, the monitoring of the execution status is not completed, and the first monitoring result is not the second state indicating a return to the requested gear, then the first monitoring result is determined to be the first state, indicating that the first processing is performed to determine the first limit position. Further, if no monitoring stop signal is detected or the first monitoring information result is always the first state, then the first monitoring result is determined to still be the first state; otherwise (i.e., the first monitoring result is the first state and the detection...), the first monitoring result is determined to still be the first state. Upon receiving a monitoring stop signal, the first monitoring result can be determined to change from the first state to the second state. If the current first monitoring result is in the second state and the required position of the shift hub is not the designed starting position (e.g., angle 0), then the first monitoring result is determined to change from the second state to the third state, indicating that monitoring is complete. Otherwise, the first monitoring result can be determined to remain in the second state. If the requested gear has changed, the first monitoring result is not determined to be in the third state (i.e., the third state is not output), and the execution status is not monitored, then the first monitoring result is determined to be in the fourth state, indicating that monitoring has not been performed. Otherwise, the first monitoring result can be determined to be in the third state. This embodiment, through a reasonable self-checking strategy, can achieve safety assurance for the shift hub's self-learning process.

[0061] The conditions for triggering shift hub self-learning or the loss of shift hub position can be, for example, actively requested by the upper controller (e.g., VECU) for self-learning, triggered by shift hub self-learning in each driving cycle, or forced loss of shift hub position.

[0062] It should be noted that the monitoring of the execution status in this embodiment can be a real-time process, that is, the first monitoring result can change in real time. When the execution status is monitored for the first time, an initial value can be assigned to the first monitoring result, such as the first state. It can be understood that the first state can represent the normal execution of the first processing of the shift hub self-learning. The second, third and fourth states can represent abnormal situations that occur in the first processing, such as receiving a shift request or monitoring stop signal.

[0063] In one embodiment, monitoring the execution status and obtaining a first monitoring result when the first process is performed and the position of the shift hub is within a preset range may include: monitoring the execution status and obtaining a new first monitoring result when the first monitoring result is a first state and the position of the shift hub is within a preset range.

[0064] Optionally, the method may further include: sending the first monitoring result to the upper-level controller, so that the upper-level controller decides whether to allow the execution request of the shift hub self-learning based on the first monitoring result.

[0065] Based on the foregoing embodiments, this embodiment of the invention also provides a shift hub self-learning method. In this embodiment, the method further includes:

[0066] Step 104: Determine a second monitoring result based on at least one of the execution results of the first processing, the second processing, and the stroke check. The second monitoring result is used to characterize the execution status of the shift hub self-learning.

[0067] In this embodiment, the TCU can also monitor the execution status of the shift hub self-learning. Optionally, the second monitoring result may include multiple states, such as a state indicating that the shift hub self-learning has been completed, a state indicating that the second process is being executed, a state indicating that the shift hub self-learning has stopped, or a state indicating that the state is maintained, etc.

[0068] As an example, determining the second monitoring result based on at least one execution result of the first processing, the second processing, and the stroke check may include: determining the second monitoring result as a fifth state when the first limit position and the second limit position are determined and the stroke check result meets a preset condition, the fifth state indicating that the shift hub self-learning has been completed; determining the second monitoring result as a sixth state when the first limit position is determined and the shift hub has not stopped rotating, the sixth state indicating that the second processing is being executed; determining the second monitoring result as a seventh state when the first limit position is determined, the shift hub has stopped rotating, and the number of executions of the shift hub self-learning is greater than a first threshold, the seventh state indicating that the shift hub self-learning has stopped; and determining the first monitoring result as an eighth state when the first limit position is determined, the shift hub has stopped rotating, and the number of executions of the shift hub self-learning is not greater than the first threshold, the eighth state indicating that the state is maintained. The first threshold can be determined through calibration, for example, 5 times. This embodiment can obtain the execution status of the shift hub self-learning in real time through the second monitoring result.

[0069] Optionally, the travel check result meeting preset conditions may include: determining the self-learning travel based on the first limit position and the second limit position; and determining that the travel check result meets preset conditions if the difference (absolute value) between the self-learning travel and the shift hub design travel is not greater than a third threshold. The third threshold can be determined by calibration, for example, 1°.

[0070] In various embodiments of the present invention, the first monitoring result (or the second monitoring result) can be represented by a flag bit to indicate the first state, the second state, the third state, or the fourth state (or the fifth state, the sixth state, the seventh state, or the eighth state).

[0071] In an optional embodiment of the present invention, the first process of performing shift hub self-learning may include: determining a first position requirement and a first speed for shift hub self-learning when a second condition is met; controlling the shift hub to rotate in a first direction based on the first position requirement and the first speed, and determining the first limit position when the hub reaches the limit position, wherein the first position requirement includes at least the shift hub position corresponding to each gear during the execution of the first process; and / or, the second process of performing shift hub self-learning may include: determining a second position requirement and a second speed for shift hub self-learning when a second condition is met; controlling the shift hub to rotate in the opposite direction to the first direction based on the second position requirement and the second speed, and determining the second limit position when the hub reaches the limit position, wherein the second position requirement includes at least the shift hub position corresponding to each gear during the execution of the second process; wherein the second condition includes: detecting shift hub jamming, repeated shifting number exceeding a second threshold, and failure to return to the previous gear after repeated failed shifting. The second threshold can be obtained through calibration, for example, 3 to 6 times.

[0072] In this embodiment, the first position requirement and the second position requirement are the target positions for controlling the rotation of the shift drum when performing the first and second processes, respectively, and can be determined according to the position range corresponding to each gear; the first speed and the second speed are the speeds for controlling the rotation of the shift drum when performing the first and second processes, such as a preset angular velocity.

[0073] Optionally, determining the first position requirement (or the second position requirement) for the shift hub's self-learning can include: determining the first position requirement (or the second position requirement) based on the shift hub's position, the self-learning guidance position difference, and the self-learning direction, wherein the self-learning guidance position difference can be determined by the design position difference (e.g., angle difference) between each gear. For example, for any gear, the position requirement = current shift hub position + self-learning guidance angle × self-learning direction. It should be noted that in practice, the first and second processes can be executed by the same module in the TCU. When executing the first process, the self-learning direction can be a first direction as the positive direction; when executing the second process, the self-learning direction can be the opposite direction as the positive direction. Accordingly, for the same two gears, the self-learning guidance position difference can be distinguished by a positive or negative relationship in different rotational directions (i.e., different processing processes).

[0074] In one embodiment, the method may further include: if the first monitoring result is a first state, the gear has not been returned to the requested gear, and no shift hub jamming is detected, it can be determined that a first process is being performed, thereby determining the self-learning direction.

[0075] As an optional implementation, the step of performing a stroke check for shift hub self-learning based on the first and second extreme positions, and deciding whether to re-request the upper-level controller to perform shift hub self-learning based on the stroke check result, may include: determining the self-learning stroke based on the first and second extreme positions; if the difference (absolute value) between the self-learning stroke and the shift hub design stroke is greater than a third threshold, determining that the stroke check result does not meet a preset condition, and re-requesting the upper-level controller to perform shift hub self-learning if the number of times shift hub self-learning is executed is not greater than a first threshold. Optionally, the first threshold and the third threshold can be determined by calibration, for example, the first threshold is 5 times, and the third threshold is for example, 1°.

[0076] In an optional embodiment of the present invention, requesting the upper-level controller to perform shift hub self-learning may include: requesting the upper-level controller to perform shift hub self-learning if a third condition is met; the third condition includes: the shift hub self-learning stroke check has not failed, there is no fault degradation of forced shifting, and the conditions for triggering shift hub self-learning are met or the shift hub position is lost. That is, before requesting the execution of shift hub self-learning, the TCU also needs to judge the third condition. Only if the shift hub self-learning stroke check has not failed, there is no fault degradation of forced shifting, and the conditions for triggering shift hub self-learning are met or the shift hub position is lost, does the TCU request the upper-level controller to perform shift hub self-learning, and when the corresponding conditions are met, the first processing, the second processing, and the stroke check of shift hub self-learning are executed sequentially, that is, the first processing is executed after receiving the permission instruction, the second processing is executed after determining the first limit position, and the stroke check is executed after determining the first limit position and the second limit position.

[0077] The shift hub self-learning method of the present invention will be described in detail below with specific application examples.

[0078] Figure 2 This is an application example flow of the shift hub self-learning method according to an embodiment of the present invention. Figure 1 ,like Figure 2 As shown, this example may include: Step 201, determining whether the first prerequisite for requesting self-learning is met; Step 202, determining whether the second prerequisite for performing self-learning is met; Step 203, finding the lower endpoint (i.e., the first extreme position); Step 204, finding the upper endpoint (i.e., the second extreme position); Step 205, total travel check; Step 206, monitoring self-test; Step 207, monitoring the completion status of self-test.

[0079] Figure 3 This is an application example flow of the shift hub self-learning method according to an embodiment of the present invention. Figure 2 The following is combined with Figure 3 Steps 201 to 207 above will be explained in detail.

[0080] Step 201: Determine whether the first prerequisite (i.e., the third condition) for requesting self-learning is met. The first prerequisite is: the total stroke check has not failed, there is no fault downgrade due to forced stop shifting, and the conditions for triggering self-learning or shift hub position loss are met (e.g., VECU actively requests self-learning, self-learning triggered by each driving cycle, or forced shift hub position loss, etc.). If the first prerequisite is met, proceed to step 202.

[0081] Step 202: Determine whether the second prerequisite for self-learning is met. The second prerequisite is: the first prerequisite is met, and the VECU allows self-learning (e.g., the vehicle is powered on and stationary), meaning the TCU receives a permission command from the VECU. If the second prerequisite is met, proceed to step 203.

[0082] Step 203: Find the lower dead center.

[0083] The third prerequisite (i.e., the second condition) for finding the lower limit is: satisfying the second prerequisite for self-learning, detecting a stall, retrying gears more than the second threshold (which can be calibrated, for example, 3 to 6 times), and not returning to the previous gear after a failed retry. Once the third prerequisite is met, the search for the lower limit can begin.

[0084] Determine the self-learning direction of the shift hub. If the bottom dead center is being searched, the self-learning direction is positive with the direction in which the bottom dead center is being searched (i.e., the first direction).

[0085] Calculate the target shift hub angle (i.e., the first position requirement) during self-learning. When self-learning is in progress, the target shift hub angle requirement is the current shift hub angle + self-learning guidance angle × self-learning direction.

[0086] Calculate the target shift hub velocity (i.e., the first velocity) during self-learning. When self-learning is in progress, the target shift hub velocity requirement is a custom self-learned shift hub velocity (e.g., 40° / s).

[0087] Find the bottom dead center. The TCU controls the shift motor to operate according to the target shift hub angle and angular velocity. The shift hub rotates clockwise, and the bottom dead center is reached when the shift hub reaches its limit position. During this process, the rotation can be adjusted according to the target shift hub angle corresponding to each gear.

[0088] Step 204: Find the top dead center.

[0089] The fourth prerequisite for finding the top dead center is that the third prerequisite for finding the bottom dead center is met, and the bottom dead center has already been found. Once the fourth prerequisite is met, the search for the top dead center can begin.

[0090] The shift hub self-learning direction. If the top dead center is being searched, the self-learning direction is positive with the direction in which the top dead center is being searched (i.e., the opposite direction of the first direction).

[0091] Calculate the target shift hub angle (i.e., the second position requirement) during self-learning. When self-learning is in progress, the target shift hub angle requirement is the current shift hub angle + self-learning guidance angle × self-learning direction.

[0092] Calculate the target shift hub velocity (i.e., the second velocity) during self-learning. When self-learning is in progress, the target shift hub velocity requirement is a custom self-learned shift hub velocity (e.g., 40° / s).

[0093] Find the top dead center. The TCU controls the shift motor to operate according to the target shift hub angle and angular velocity. The shift hub rotates counterclockwise, and the top dead center is reached when the shift hub reaches its limit position. During this process, the rotation can be adjusted according to the target shift hub angle corresponding to each gear.

[0094] Step 205: Total travel check.

[0095] Calculate the total travel error. After finding the upper and lower dead centers, calculate the absolute value of the difference between the self-learned total travel (i.e., the positional difference between the upper and lower dead centers) and the design travel of the shift drum.

[0096] Determine if the total travel error is too large. If the total travel error is less than or equal to the allowable deviation value (i.e., the third threshold, which can be calibrated, for example, 1°), it means that the self-learning travel meets the requirements. Otherwise, report that the position error is too large and restart self-learning (re-perform steps 201 to 205). The number of self-learning attempts cannot exceed the maximum allowable value (i.e., the first threshold, which can be calibrated, for example, 5 times).

[0097] Self-learning status monitoring (i.e., the second monitoring result): If the upper and lower dead points are successfully found and the self-learning stroke meets the requirements, it means that self-learning has been completed and self-learning monitoring status 1 (i.e., the fifth state) can be output; if the lower dead point is successfully found but self-learning is still being performed (e.g., the shift motor is still rotating, the shift hub is still rotating, etc.), it means that the upper dead point is being searched (i.e., the sixth state), and self-learning monitoring status 2 can be output; if the lower dead point is successfully found but self-learning is not performed, and the number of self-learning times is greater than the maximum allowed value (which can be calibrated, e.g., 5 times), it means that self-learning has stopped (i.e., the seventh state), and self-learning monitoring status 3 can be output; if the lower dead point is successfully found but self-learning is not performed, and the number of self-learning times has not exceeded the maximum allowed value (which can be calibrated, e.g., 5 times), it means that the state is maintained (i.e., the eighth state), and self-learning monitoring status 4 can be output.

[0098] Step 206: Monitor self-check (i.e., monitor the execution status). The self-check status is as follows: searching for the lower dead center; the absolute value of the self-check angle difference is greater than or equal to the maximum limit, indicating that a self-check is in progress. Specifically, if the actual shift hub angle is greater than 180°, then the self-check angle difference = actual shift hub angle - 360° - the starting position of the self-check shift hub; if the actual shift hub angle is less than or equal to 180°, then the self-check angle difference = actual shift hub angle - the starting position of the self-check shift hub.

[0099] Step 207: Self-inspection completion monitoring (i.e., first monitoring result). Figure 4 This is a schematic diagram of the monitoring and self-testing process according to an embodiment of the present invention, as shown below. Figure 4 As shown, the monitoring self-check mainly includes the following situations:

[0100] Judgment 1: If the conditions for triggering self-learning are met, or the shift hub position is lost, the current shift hub position is less than or equal to the maximum position (e.g., 360°), the shift has been completed, the self-check has not been completed, or the self-check state is not "return to the requested gear", then output "find the bottom dead center" as self-check state 1 (i.e., the first state).

[0101] Judgment 2: After judgment 1 is completed, if no self-test stop signal is detected, or the search for the lower stop point is always in the search for the lower stop point state, then output the search for the lower stop point (i.e., self-test state 1 or first state); otherwise, output the return to the requested gear as self-test state 2 (i.e., second state).

[0102] Judgment 3: When the self-test status is returned to the requested gear (i.e., self-test status 2 or the second status) and the target shift hub position is not zero, the output self-test is completed as self-test status 3 (i.e., the third status); otherwise, output status 2.

[0103] Judgment 4: If the requested gear has changed, the self-test status is not completed (self-test status 3 is not output), and the self-test has not been performed, then output the self-test status as not executed as self-test status 4 (i.e., the fourth status); otherwise, output status 3.

[0104] If the self-test status is searching for the lower limit (i.e., status 1), and there is no retraction to the retry request gear and no jamming is detected, the TCU can determine that it is searching for the lower limit.

[0105] This example provides a reliable and practical shift hub self-learning control strategy that can meet the self-learning requirements of certain shift execution system assemblies that achieve shifting through the shift hub, protect the shifting mechanism, and effectively reduce shifting failures and improve shifting reliability through reasonable self-learning and self-checking strategies.

[0106] The steps in the embodiments of the present invention are not necessarily processed in the described order. The steps can be selectively rearranged, deleted, or added as needed. The step descriptions in the embodiments of the present invention are only optional combinations of order and do not represent all possible combinations of steps in the embodiments of the present invention. The order of steps in the embodiments should not be considered as a limitation of the present invention.

[0107] This invention also provides a shift hub self-learning device. Figure 5 This is a schematic diagram of the composition structure of the shift hub self-learning device according to an embodiment of the present invention, as shown below. Figure 5 As shown, the shift hub self-learning device 30 includes a communication unit 31, a processing unit 32, and a monitoring unit 33; wherein,

[0108] The communication unit 31 is used to request the upper-level controller to perform shift hub self-learning.

[0109] The processing unit 32 is used to perform a first process of shift hub self-learning after receiving an permission command. The first process is used to control the shift hub to rotate in a first direction.

[0110] The monitoring unit 33 is used to monitor the execution status when the first processing is performed and the position of the shift hub is within a preset range, and obtain a first monitoring result. The first monitoring result is used by the upper-level controller to decide whether to allow the execution request of the shift hub self-learning.

[0111] The processing unit 32 is further configured to, after determining the first limit position of the shift hub based on the first processing, perform a second processing of shift hub self-learning, the second processing being configured to control the shift hub to rotate in the opposite direction to the first direction; and, after determining the second limit position of the shift hub based on the second processing, perform a stroke check of shift hub self-learning based on the first limit position and the second limit position, and decide whether to request the upper-level controller to perform shift hub self-learning again based on the stroke check result.

[0112] In an optional embodiment of the present invention, the monitoring unit 33 is used to determine whether a first condition is met. If the first condition is met, the first monitoring result is determined to be a first state, whereby the first state indicates that a first process is performed to determine a first limit position. The first condition includes: meeting the condition for triggering shift hub self-learning or the shift hub position is lost, the shift hub position does not exceed the design maximum value, the shift has been completed, the monitoring of the execution status is not completed, and the first monitoring result is not a second state, whereby the second state indicates a return to the requested gear. If the first monitoring result is in the first state and a monitoring stop signal is detected, the first monitoring result is determined to change from the first state to the second state. If the first monitoring result is in the second state and the required position of the shift hub is not the design starting position, the first monitoring result is determined to change from the second state to the third state, whereby the third state indicates that the monitoring is completed. If the requested gear has changed, the first monitoring result is not determined to be in the third state, and the execution status is not monitored, the first monitoring result is determined to be in the fourth state, whereby the fourth state indicates that no monitoring is performed.

[0113] In an optional embodiment of the present invention, the monitoring unit 33 is further configured to determine a second monitoring result based on at least one execution result of the first processing, the second processing, and the stroke check, wherein the second monitoring result is used to characterize the execution state of the shift hub self-learning.

[0114] In an optional embodiment of the present invention, the monitoring unit 33 is further configured to: determine a second monitoring result as a fifth state when the first extreme position and the second extreme position are determined and the stroke check result meets a preset condition, wherein the fifth state indicates that the shift hub self-learning has been completed; determine a second monitoring result as a sixth state when the first extreme position is determined and the shift hub has not stopped rotating, wherein the sixth state indicates that the second processing is being executed; determine a second monitoring result as a seventh state when the first extreme position is determined, the shift hub has stopped rotating, and the number of times the shift hub self-learning has been executed is greater than a first threshold, wherein the seventh state indicates that the shift hub self-learning has stopped executing; and determine a first monitoring result as an eighth state when the first extreme position is determined, the shift hub has stopped rotating, and the number of times the shift hub self-learning has been executed is not greater than the first threshold, wherein the eighth state indicates that the state is maintained.

[0115] In an optional embodiment of the present invention, the processing unit 32 is configured to, under the condition of satisfying a second condition, determine a first position requirement and a first speed for self-learning of the shift hub; control the shift hub to rotate in a first direction based on the first position requirement and the first speed, and determine the first limit position when the hub rotates to the limit position, wherein the first position requirement includes at least the shift hub position corresponding to each gear during the execution of the first processing; and / or, the processing unit 32 is configured to, under the condition of satisfying a second condition, determine a second position requirement and a second speed for self-learning of the shift hub; control the shift hub to rotate in the opposite direction to the first direction based on the second position requirement and the second speed, and determine the second limit position when the hub rotates to the limit position, wherein the second position requirement includes at least the shift hub position corresponding to each gear during the execution of the second processing; wherein the second condition includes: detecting shift hub jamming, repeated shifting number exceeding a second threshold, and failing to return to the previous gear after repeated shifting failure.

[0116] In an optional embodiment of the present invention, the processing unit 32 is configured to determine the self-learning stroke based on the first limit position and the second limit position; if the difference between the self-learning stroke and the shift hub design stroke is greater than a third threshold, it is determined that the stroke check result does not meet the preset condition, and if the number of times the shift hub self-learning is executed is not greater than a first threshold, it re-requests the upper-level controller to execute the shift hub self-learning.

[0117] In an optional embodiment of the present invention, the communication unit 31 is configured to request the upper-level controller to perform shift hub self-learning when a third condition is met; the third condition includes: the stroke check of shift hub self-learning has not failed, there is no fault degradation of forced stop shifting, and the conditions for triggering shift hub self-learning are met or the shift hub position is lost.

[0118] In this embodiment of the invention, the processing unit 32 and the monitoring unit 33 in the shift hub self-learning device 30 can both be implemented by the central processing unit (CPU), digital signal processor (DSP), microcontroller unit (MCU), or field-programmable gate array (FPGA) in the shift hub self-learning device 30 in practical applications; the communication unit 31 in the shift hub self-learning device 30 can be implemented by a communication module (including: basic communication kit, operating system, communication module, standardized interface and protocol, etc.) in practical applications.

[0119] It should be noted that the shift hub self-learning device provided in the above embodiments is only illustrated by the division of the above program modules during self-learning. In practical applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program modules to complete all or part of the processing described above. In addition, the shift hub self-learning device and the shift hub self-learning method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be repeated here.

[0120] Figure 6 This is a schematic diagram of the structure of the control device according to an embodiment of the present invention. The control device 40 may be a TCU. Figure 6 The control device 40 shown includes at least one processor 41, a memory 42, and at least one communication interface 43. The various components of the control device 40 are coupled together via a bus system 44. It is understood that the bus system 44 is used to implement communication between these components. In addition to a data bus, the bus system 44 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in… Figure 6 The general labeled all buses as Bus System 44.

[0121] It is understood that memory 42 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 42 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memory.

[0122] In this embodiment of the invention, the memory 42 is used to store various types of data to support the operation of the control device 40. Examples of such data include any computer program used to operate on the control device 40, such as a program that implements the method of this embodiment.

[0123] The methods disclosed in the above embodiments of the present invention can be applied to processor 41, or implemented by processor 41. Processor 41 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 41 or by instructions in the form of software. The processor 41 may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Processor 41 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of the present invention can be directly manifested as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in memory 42. Processor 41 reads the information in memory 42 and combines its hardware to complete the steps of the aforementioned method.

[0124] In an exemplary embodiment, the control device 40 may be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components to perform the aforementioned method.

[0125] In an exemplary embodiment, the present invention also provides a computer-readable storage medium, such as a memory 42 including a computer program, which can be executed by a processor 41 of a control device 40 to complete the steps described in the foregoing method. The computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM; or it may be various devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0126] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0127] The features disclosed in the several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0128] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0129] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0130] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0131] In addition, in the various embodiments of the present invention, each functional unit can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0132] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0133] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0134] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A self-learning method for a gear shift hub, characterized in that, The method includes: The upper-level controller requests the execution of shift hub self-learning. Upon receiving the permission instruction, the upper-level controller executes the first process of shift hub self-learning, which is used to control the shift hub to rotate in a first direction. When the first process is executed and the position of the shift hub is within a preset range, the execution status is monitored to obtain a first monitoring result. The first monitoring result is used by the upper-level controller to decide whether to allow the execution request of shift hub self-learning. After determining the first limit position of the shift hub based on the first processing, a second processing of shift hub self-learning is performed, which is used to control the shift hub to rotate in the opposite direction to the first direction; After determining the second limit position of the shift hub based on the second processing, a stroke check of the shift hub self-learning is performed based on the first limit position and the second limit position. Based on the stroke check result, a decision is made on whether to request the upper-level controller to perform shift hub self-learning again. The monitoring of the execution status to obtain a first monitoring result includes: Determine whether the first condition is met. If the first condition is met, determine the first monitoring result as the first state. The first state indicates that the first process is executed to determine the first limit position. The first condition includes: meeting the condition for triggering the shift hub self-learning or the shift hub position is lost, the shift hub position does not exceed the design maximum value, the shift has been completed, the monitoring of the execution status has not been completed, and the first monitoring result is not the second state. The second state indicates that the gear is returned to the requested gear. If the first monitoring result is in the first state and a monitoring stop signal is detected, the first monitoring result is determined to change from the first state to the second state. If the first monitoring result is in the second state and the required position of the shift hub is not the design starting position, the first monitoring result is determined to change from the second state to the third state, and the third state indicates that the monitoring is completed. If the requested gear has changed, the first monitoring result is not determined to be the third state, and the execution status is not monitored, the first monitoring result is determined to be the fourth state, which indicates that no monitoring was performed.

2. The method according to claim 1, characterized in that, The method further includes: A second monitoring result is determined based on the execution result of at least one of the first processing, the second processing, and the stroke check, and the second monitoring result is used to characterize the execution status of the shift hub self-learning.

3. The method according to claim 2, characterized in that, Determining the second monitoring result based on at least one of the execution results of the first processing, the second processing, and the trip check includes: If the first limit position and the second limit position are determined, and the stroke check result meets the preset conditions, the second monitoring result is determined to be the fifth state, which indicates that the shift hub self-learning has been completed; If the first extreme position is determined and the shift hub has not stopped rotating, the second monitoring result is determined to be the sixth state, which indicates that the second process is being executed. If the first extreme position is determined, the shift hub stops rotating, and the number of times the shift hub self-learning is executed is greater than the first threshold, the second monitoring result is determined to be the seventh state, which indicates that the shift hub self-learning has stopped executing; If the first extreme position is determined, the shift hub stops rotating, and the number of times the shift hub self-learning is executed is not greater than the first threshold, the first monitoring result is determined to be the eighth state, and the eighth state indicates that the state is maintained.

4. The method according to claim 1, characterized in that, The first process of performing shift hub self-learning includes: Under the condition of satisfying the second condition, determine the first position requirement and the first speed for self-learning of the shift hub; control the shift hub to rotate in a first direction based on the first position requirement and the first speed, and determine the first limit position when the hub reaches the limit position. The first position requirement includes at least the shift hub position corresponding to each gear during the execution of the first process; and / or The second process for performing shift hub self-learning includes: Under the condition of satisfying the second condition, the second position requirement and the second speed of the shift hub self-learning are determined; based on the second position requirement and the second speed, the shift hub is controlled to rotate in the opposite direction to the first direction, and the second limit position is determined when it rotates to the limit position. The second position requirement includes at least the shift hub position corresponding to each gear during the execution of the second process. The second condition includes: detecting shift hub jamming, repeated shifting number exceeding the second threshold, and failing to return to the previous gear after repeated shifting failure.

5. The method according to claim 1, characterized in that, The step of performing a shift hub self-learning stroke check based on the first and second extreme positions, and deciding whether to re-request the upper-level controller to perform shift hub self-learning based on the stroke check results, includes: The self-learning stroke is determined based on the first limit position and the second limit position; if the difference between the self-learning stroke and the shift hub design stroke is greater than the third threshold, it is determined that the stroke check result does not meet the preset conditions, and if the number of times the shift hub self-learning is executed is not greater than the first threshold, the upper-level controller is requested to execute the shift hub self-learning again.

6. The method according to any one of claims 1 to 5, characterized in that, The request to the upper-level controller to perform shift hub self-learning includes: If the third condition is met, a request is made to the upper-level controller to perform shift hub self-learning; the third condition includes: the shift hub self-learning stroke check has not failed, there is no fault downgrade that forces a stop to shifting, and the conditions for triggering shift hub self-learning are met or the shift hub position is lost.

7. A shift hub self-learning device, characterized in that, The device includes a communication unit, a processing unit, and a monitoring unit; wherein... The communication unit is used to request the upper-level controller to perform shift hub self-learning; The processing unit is configured to perform a first process of shift hub self-learning after receiving an permission command, the first process being configured to control the shift hub to rotate in a first direction. The monitoring unit is used to monitor the execution status when the first processing is performed and the position of the shift hub is within a preset range, and obtain a first monitoring result. The first monitoring result is used by the upper-level controller to decide whether to allow the execution request of the shift hub self-learning. The processing unit is further configured to, after determining the first limit position of the shift hub based on the first processing, perform a second processing of shift hub self-learning, the second processing being configured to control the shift hub to rotate in the opposite direction to the first direction; and, after determining the second limit position of the shift hub based on the second processing, perform a stroke check of shift hub self-learning based on the first limit position and the second limit position, and decide whether to request the upper-level controller to perform shift hub self-learning again based on the stroke check result; The monitoring unit is used to determine whether a first condition is met. If the first condition is met, the first monitoring result is determined to be a first state. The first state indicates that the first process is executed to determine the first limit position. The first condition includes: meeting the condition for triggering the shift hub self-learning or the shift hub position is lost, the shift hub position does not exceed the design maximum value, the shift has been completed, the monitoring of the execution status has not been completed, and the first monitoring result is not a second state. The second state indicates that the gear is returned to the requested gear. If the first monitoring result is in the first state and a monitoring stop signal is detected, the first monitoring result is determined to change from the first state to the second state. If the first monitoring result is in the second state and the required position of the shift hub is not the design starting position, the first monitoring result is determined to change from the second state to the third state, and the third state indicates that the monitoring is completed. If the requested gear has changed, the first monitoring result is not determined to be the third state, and the execution status is not monitored, the first monitoring result is determined to be the fourth state, which indicates that no monitoring was performed.

8. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by a processor, this instruction implements the steps of the method according to any one of claims 1 to 6.

9. A control device, 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 program, it implements the steps of the method according to any one of claims 1 to 6.

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