Shift control method, device, equipment and storage medium

Abstract

The application provides a gear shifting control method, device, equipment and storage medium, and belongs to the technical field of automobiles. The method comprises the following steps: in response to the start of a gear shifting process, obtaining an initial position and a target position of a gear shifting actuator; determining a gear shifting action according to the initial position and the target position; reading a duty cycle offset corresponding to the gear shifting action and a preset duty cycle; controlling the gear shifting actuator to perform gear shifting according to the duty cycle offset and the preset duty cycle, and recording a gear shifting duration; reading a real-time position of the gear shifting actuator after gear shifting; and modifying the duty cycle offset according to the gear shifting duration, the real-time position and the target position. The method solves the problem of long gear shifting time.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, and in particular to a gear shifting control method, device, equipment and storage medium. BACKGROUND

[0002] During the operation of an automobile, gear shifting is often required to control the moving speed of the automobile. During gear shifting, a transmission control unit (TCU) drives a gear shifting motor to control a gear shifting actuator.

[0003] At present, the TCU controls the duty cycle of an H-bridge to control the gear shifting actuator to complete gear shifting.

[0004] However, the inventors have found that the prior art has at least the following technical problem: different automobiles require different duty cycles, which can easily lead to long gear shifting time. SUMMARY

[0005] The present application provides a gear shifting control method, device, equipment and storage medium to solve the problem of long gear shifting time.

[0006] In a first aspect, the present application provides a gear shifting control method, comprising: in response to the start of a gear shifting process, obtaining an initial position and a target position of a gear shifting actuator. According to the initial position and the target position, a gear shifting action is determined. The duty cycle offset corresponding to the gear shifting action and a preset duty cycle are read. According to the duty cycle offset and the preset duty cycle, the gear shifting actuator is controlled to perform gear shifting, and the gear shifting time is recorded. The real-time position of the gear shifting actuator after gear shifting is read. According to the gear shifting time, the real-time position and the target position, the duty cycle offset is modified.

[0007] In a possible implementation manner, according to the gear shifting time, the real-time position and the target position, the duty cycle offset is modified, comprising: if the real-time position is different from the target position, the duty cycle offset is reduced. If the real-time position is the same as the target position, and the gear shifting time is greater than a preset time, the duty cycle offset is increased; if the real-time position is the same as the target position, and the gear shifting time is less than or equal to the preset time, the duty cycle offset is not changed.

[0008] In a possible implementation manner, after the duty cycle offset is reduced, the method further comprises: according to the target position, the gear shifting process is performed again.

[0009] In a possible implementation manner, in response to the start of the gear shifting process, the initial position and the target position of the gear shifting actuator are obtained, comprising: continuously monitoring the connection relationship between a gear shifting lever and a transmission, and obtaining the initial position and the target position of the gear shifting actuator when the connection relationship changes.

[0010] In a possible implementation, before the initial position and the target position of the shift actuator are acquired in response to the start of the shift process, the method further includes: acquiring a real-time vehicle speed and a preset shift speed range. Accordingly, in response to the start of the shift process, the initial position and the target position of the shift actuator are acquired by: in response to the real-time vehicle speed entering any shift speed range, acquiring the initial position and the target position of the shift actuator.

[0011] In a possible implementation, the initial position and the target position of the shift actuator are acquired by: receiving a real-time voltage sent by a position sensor, where the position sensor is configured to monitor the position of the shift actuator; determining the voltage at the start of the shift process as an initial voltage; according to the initial voltage, searching a preset voltage-position correspondence relationship to obtain an initial position corresponding to the initial voltage; and according to the real-time vehicle speed, searching a preset vehicle speed-position correspondence relationship to determine the target position.

[0012] In a second aspect, the present application provides a shift control device, including: a position acquisition module configured to acquire an initial position and a target position of a shift actuator in response to the start of a shift process; an action determination module configured to determine a shift action according to the initial position and the target position; an offset determination module configured to read an offset of a duty cycle corresponding to the shift action and a preset duty cycle; a time recording module configured to control the shift actuator to shift according to the offset of the duty cycle and the preset duty cycle, and record a shift time; a position reading module configured to read a real-time position of the shift actuator after the shift; and an offset modification module configured to modify the offset of the duty cycle according to the shift time, the real-time position, and the target position.

[0013] In a possible implementation, the offset modification module is configured to: if the real-time position is different from the target position, decrease the offset of the duty cycle; if the real-time position is the same as the target position, and the shift time is greater than a preset time, increase the offset of the duty cycle; and if the real-time position is the same as the target position, and the shift time is less than or equal to the preset time, do not change the offset of the duty cycle.

[0014] In a third aspect, the present application provides an electronic device, including: a processor, and a memory connected to the processor in communication. The memory stores computer execution instructions. The shift actuator is connected to the processor, and is configured to shift. The processor executes the computer execution instructions stored in the memory, so that the processor executes the shift control method described in the first aspect.

[0015] In a fourth aspect, the present application provides a computer readable storage medium, the computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the shift control method described in the first aspect.

[0016] The shift control method, device, equipment and storage medium provided by the application, by acquiring the initial position and target position of the shift execution mechanism at the beginning of the shift process, determining the shift action from the initial position and target position, reading the duty cycle offset corresponding to the shift action and the preset duty cycle, controlling the shift execution mechanism to shift according to the duty cycle offset and the preset duty cycle, recording the shift duration, acquiring the real-time position of the execution mechanism after the shift, modifying the duty cycle offset according to the real-time position, the target position and the shift duration, modifying the duty cycle offset after the shift, and dynamically adjusting the duty cycle offset to make the duty cycle offset more suitable for the vehicle condition, thereby reducing the shift time. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the application and, together with the description, further serve to explain the principles of the application.

[0018] Figure 1 The application scenario diagram of the shift control method provided by the embodiment of the application is shown in the figure.

[0019] Figure 2 The flowchart of the shift control method provided by the embodiment of the application is shown in the figure.

[0020] Figure 3 The specific flowchart of the shift control method provided by the embodiment of the application is shown in the figure.

[0021] Figure 4 The structure diagram of the shift control device provided by the embodiment of the application is shown in the figure.

[0022] Figure 5 The structure diagram of the electronic equipment provided by the embodiment of the application is shown in the figure.

[0023] The above figures have shown the specific embodiments of the application, which will be described in more detail hereinafter. These figures and the description are not intended to limit the scope of the concept of the application by any means, but to illustrate the concept of the application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0024] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the application as detailed in the appended claims.

[0025] During the operation of the vehicle, it is often necessary to shift gears due to the increase of vehicle speed or the needs of the driver. The current electric gear shifting actuator is usually connected to the transmission controller of the vehicle through an H-bridge, and the duty cycle of the H-bridge is controlled to achieve gear shifting of the vehicle.

[0026] However, different vehicles use different gear shifting actuators, and the corresponding duty cycles are different. Some gear shifting actuators can be driven by an 8% duty cycle, and some gear shifting actuators cannot be driven even by a 10% duty cycle. The larger the duty cycle of the H-bridge, the faster the gear shifting actuator moves. However, if the speed is still high when approaching the target position, it is easy to overshoot the target range and cause the gear shifting actuator to exceed the expected position. At this time, additional time is needed to return the gear shifting actuator to the appropriate position, so using a fixed duty cycle can easily cause long gear shifting time.

[0027] To solve the above technical problems, the inventors propose the following technical concept: by determining the gear shifting action using the initial position and the target position of the gear shifting actuator during gear shifting, determining the corresponding duty cycle offset based on the gear shifting action, and correcting the original duty cycle using the duty cycle offset, and dynamically adjusting the duty cycle offset based on the position reached after gear shifting, the expected position reached, and the gear shifting time, the duty cycle offset is continuously optimized.

[0028] Figure 1 The application scenario of the gear shifting control method provided by the embodiments of the present application is shown in the figure. Figure 1 In this scenario, it includes a transmission controller 101 and a gear shifting actuator 102.

[0029] In the specific implementation process, the transmission controller 101 can be a dedicated transmission controller (TCU, Transmission Control Unit), and can also be a processor on the vehicle, an ECU (Electronic Control Unit, Electronic Control Unit). It is used to control the transmission controller 101.

[0030] The gear shifting actuator 102 can be a part of the transmission, which can be composed of three actuator elements: clutches, brakes, and one-way clutches, or more or fewer components. It is used to change the direction of power transmission and the transmission ratio to achieve gear shifting.

[0031] The linkage between the transmission controller 101 and the gear shifting actuator 102 can be through an H-bridge, or through other circuits or components, where the H-bridge is a direct current motor control circuit.

[0032] It can be understood that the structure shown in the embodiments of the present application does not constitute a specific limitation on the gear shifting control method. In other possible embodiments of the present application, the above structure can include more or fewer components than shown, or combine certain components, or split certain components, or different component arrangement, which can be determined according to actual application scenarios, and is not limited herein. Figure 1 The components shown can be implemented by hardware, software, or a combination of software and hardware.

[0033] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0034] Figure 2 The flowchart of the gear shifting control method provided by the embodiments of the present application is shown. The execution subject of the embodiments of the present application can be the gearbox controller 101 in Figure 1 As shown in Figure 2 , the method comprises:

[0035] S201: In response to the start of the gear shifting process, the initial position and the target position of the gear shifting actuator are obtained.

[0036] In this step, the gear shifting process starts, which can be that the current vehicle speed does not match the vehicle speed range corresponding to the current gear, the gear shifting process is executed, or the user performs manual gear shifting. The initial position of the gear shifting actuator can be received from the sensor. The target position of the gear shifting actuator can be determined by the vehicle speed range in which the current vehicle speed is located, and the target position corresponding to the vehicle speed range is determined. The target position can also be determined by receiving the gear shifting information transmitted by the user through the gear shifting lever or button, and the target position is obtained by looking up the corresponding relationship between the gear and the position according to the target gear in the gear shifting information.

[0037] S202: Determine the gear shifting action according to the initial position and the target position.

[0038] In this step, the initial position and the target position constitute a mapping relationship with the gear shifting action, which can be that the initial position and the target position are used as keys, and the gear shifting action is used as a value, so that the gear shifting action is obtained by querying the initial position and the target position. The corresponding relationship between the initial position, the target position and the gear shifting action can also be stored in a table.

[0039] The shift action is determined by the initial position and the target position, for example, the initial position corresponding to gear 1 is determined, then the shift action corresponding to the initial position corresponding to gear 1 and all target positions is searched, and the final remaining shift action is obtained by screening the target position. The initial position and the target position are not limited in the embodiments of the present application. For example, the initial position corresponding to gear 1 is switched to the target position corresponding to neutral gear, and the shift action is to engage neutral gear from gear 1. For another example, the initial position corresponding to gear 3 is switched to the target position corresponding to neutral gear, and the shift action is to engage neutral gear from gear 3. For another example, the initial position corresponding to gear 2 is switched to the target position corresponding to gear 3, and the shift action is to engage gear 3 from gear 2. The name of the shift action is not limited in the embodiments of the present application.

[0040] S203: reading the duty cycle offset corresponding to the shift action and the preset duty cycle.

[0041] In this step, the correspondence between the shift action and the duty cycle offset and the correspondence between the shift action and the preset duty cycle can be stored in the form of a table, a dictionary, a key-value pair, etc.

[0042] The correspondence table of the shift action and the duty cycle offset and the preset duty cycle is shown in Table 1. The specific names or values of the shift action name, the duty cycle offset, and the preset duty cycle in the table are only illustrative, and are not limited in the embodiments of the present application.

[0043] Table 1: correspondence table of shift action, duty cycle offset, and preset duty cycle (illustrative)

[0044] Shift action Duty cycle offset Pre-set duty cycle Neutral to 1st gear 1％ 7％ Neutral to 2nd gear 0.5％ 8％ …… …… …… 5th gear to neutral -0.7％ -10％ …… …… ……

[0045] S204: controlling the shift actuator to shift according to the duty cycle offset and the preset duty cycle, and recording the shift duration.

[0046] In this step, the total duty cycle can be obtained by adding the duty cycle offset and the preset duty cycle, and the duty cycle in the H-bridge is controlled to reach the total duty cycle, so as to control the shift actuator to shift. The shift duration can be recorded by starting timing when the duty cycle in the H-bridge is changed and stopping timing when the real-time position of the shift mechanism reaches stability, so as to obtain the shift duration.

[0047] Whether the real-time position of the shift mechanism reaches stability can be obtained by the voltage of the position sensor at the shift actuator. If the voltage is maintained within a certain range for a preset duration, the real-time position reaches stability.

[0048] S205: reading the real-time position of the shift actuator after shifting.

[0049] In this step, the real-time position of the gear shifting actuator can be monitored in real time. The real-time position can be obtained by a position sensor.

[0050] S206: modifying the duty cycle offset according to the gear shifting duration, the real-time position and the target position.

[0051] In this step, the duty cycle offset can be modified according to whether the gear shifting duration exceeds a preset duration, and whether the real-time position and the target position are equal or close.

[0052] The preset time is, for example, 0.5 seconds, 1 second, 1.5 seconds, etc. The preset time can be calibrated by a worker through experiments. The gear shifting duration can also correspond to a gear shifting action, for example, the preset time from the initial position corresponding to gear 1 to the target position corresponding to gear 2 is 1 second, the preset time from the initial position corresponding to gear 2 to the target position corresponding to gear 3 is 0.8 seconds, the preset time from the initial position corresponding to gear 2 to the target position corresponding to gear 3 is 0.5 seconds, etc. The specific value of the preset time is not limited in the embodiments of the present application.

[0053] As can be seen from the above description of the embodiments, the embodiments of the present application obtain the initial position and the target position of the gear shifting actuator at the beginning of the gear shifting process, determine the gear shifting action from the initial position and the target position, read the duty cycle offset corresponding to the gear shifting action and the preset duty cycle, control the gear shifting actuator to gear shift according to the duty cycle offset and the preset duty cycle, record the gear shifting duration, obtain the real-time position of the gear shifting actuator after gear shifting, and modify the duty cycle offset according to the real-time position, the target position and the gear shifting duration, so as to modify the duty cycle offset after gear shifting, dynamically adjust the duty cycle offset, make the duty cycle offset more suitable for the vehicle conditions, and thus reduce the gear shifting time.

[0054] In a possible implementation, in the step S206, the duty cycle offset is modified according to the gear shifting duration, the real-time position and the target position, including:

[0055] S206A: if the real-time position is different from the target position, the duty cycle offset is reduced.

[0056] In this step, as described in the above embodiments, the real-time position can be obtained by a position sensor, and the target position can be a position interval. The way of reducing the duty cycle offset can be reducing a preset value, or reducing a preset proportion, and the reduction can also be reducing an absolute value.

[0057] For example, the original duty cycle offset is reduced from 5% to 4%, or the original duty cycle offset is reduced from -3% to -2.2%, etc. The specific reduction value of the duty cycle offset is not limited in the embodiments of the present application.

[0058] S206B: If the real-time position is the same as the target position, and the shift duration is greater than the preset duration, increase the duty cycle offset.

[0059] In this step, the real-time position can reach the target position within a specified position interval. If the position is represented by a voltage value, the target position can be a voltage interval. The method for obtaining the shift duration is described in step S204 above. The method for increasing the duty cycle offset is similar to the method for decreasing the duty cycle offset in step S206A above, and will not be described again here.

[0060] S206C: If the real-time position is the same as the target position, and the shift duration is less than or equal to the preset duration, do not change the duty cycle offset.

[0061] In this step, the duty cycle offset is not changed, which means that the duty cycle offset is not increased or decreased. The other contents of this step are similar to step S206B above, and will not be described again here.

[0062] As can be seen from the description of the above embodiments, in the case where the real-time position is different from the target position, the duty cycle offset is decreased. In the case where the real-time position is the same as the target position, and the shift duration is greater than the preset duration, the duty cycle offset is increased. In the case where the shift duration is relatively long, the duty cycle offset is increased, so that the shift time is shortened when the same shift action is performed next time.

[0063] In a possible implementation, after the duty cycle offset is decreased in step S206A above, the method further includes:

[0064] S206A1: According to the target position, the shift process is performed again.

[0065] In this step, the real-time position of the shift execution mechanism can be used as the initial position, the original target position can be used as the target position, a new duty cycle offset and a new preset duty cycle can be read, and the shift execution mechanism can be controlled to shift according to the new duty cycle offset and the new preset duty cycle.

[0066] For example, in step S204 above, the shift is performed, the target position is the position corresponding to the neutral gear, but due to the high speed, the real-time position overshoots to the position corresponding to the fourth gear. At this time, the position corresponding to the fourth gear is used as the initial position, and the position corresponding to the neutral gear is used as the target position. The shift execution mechanism is controlled to shift again. The specific values of the initial position and the target position are not limited in the embodiments of the application.

[0067] As can be seen from the description of the above embodiments, in the case where the real-time position is different from the target position due to overshoot, the shift process is performed again using the target position, so that the gear position is corrected.

[0068] In a possible implementation, in the step S201, in response to the start of the gear shifting process, the initial position and the target position of the gear shifting actuator are acquired, including:

[0069] S201A: continuously monitoring the connection relationship between the gear shifting lever and the gearbox, and acquiring the initial position and the target position of the gear shifting actuator when the connection relationship changes.

[0070] In this step, the connection relationship between the gear shifting lever and the gearbox can be detected by a position sensor or a preset monitoring circuit. The way of acquiring the initial position and the target position of the gear shifting actuator can be as described in the step S201, which will not be repeated here.

[0071] For example, when the connection relationship between the gear shifting lever and the gearbox changes from A to B, the initial position and the target position of the gear shifting actuator are acquired. The specific connection relationship between the gear shifting lever and the gearbox is not limited in the embodiments of the application.

[0072] As can be seen from the description of the above embodiments, the initial position and the target position of the gear shifting actuator are acquired when the connection relationship between the gear shifting lever and the gearbox changes, so that the initial position and the target position of the gear shifting actuator are found in the case of manual gear shifting by the user, which facilitates the subsequent use of the corresponding duty cycle and duty cycle offset.

[0073] In a possible implementation, before the step S201, in response to the start of the gear shifting process, the initial position and the target position of the gear shifting actuator are acquired, the step further includes:

[0074] S210: acquiring a real-time vehicle speed and a preset gear shifting speed interval.

[0075] In this step, the real-time vehicle speed can be obtained by measuring the wheel speed, and the gear shifting speed interval can be pre-stored and read when needed.

[0076] The preset gear shifting speed interval, for example, 20 to 30 kilometers per hour is the gear shifting speed interval for shifting to second gear, 30 to 50 kilometers per hour is the gear shifting speed interval for shifting to third gear, and the like. The specific value of the gear shifting speed interval is not limited in the embodiments of the application, which can be calibrated by experiment in advance.

[0077] Correspondingly, in the step S201, in response to the start of the gear shifting process, the initial position and the target position of the gear shifting actuator are acquired, including:

[0078] S201B: in response to the real-time vehicle speed entering any gear shifting speed interval, the initial position and the target position of the gear shifting actuator are acquired.

[0079] In this step, the real-time vehicle speed can be greater than the minimum value of any shift speed interval and less than the maximum value of the shift speed interval. The determination of the initial position and the target position can be as described in step S201 above, and will not be described here. As can be seen from the description of the above embodiment, the initial position and the target position of the shift execution mechanism are obtained when the real-time vehicle speed enters any shift speed interval, different gears are implemented by different vehicle speeds, different duty cycle offsets and preset duty cycles are used in the case of different vehicle speeds, and the shift speed is increased in the case of automatic shift.

[0080] In a possible implementation, in S201, the initial position and the target position of the shift execution mechanism are obtained, including:

[0081] S2011: receiving a real-time voltage sent by a position sensor, wherein the position sensor is used to monitor the position of the shift execution mechanism.

[0082] In this step, the gearbox controller can continuously receive the voltage output by the position sensor, wherein the voltage is obtained by the position sensor continuously monitoring the position of the shift execution mechanism, and corresponds to the position of the shift execution mechanism.

[0083] S2012: determining the voltage at the beginning of the shift process as the initial voltage.

[0084] In this step, the real-time voltage sent by the position sensor can be recorded in response to the start of the shift process.

[0085] For example, when the voltage at the beginning of the shift process is 3.132V, 3.132V is determined as the initial voltage. The specific value of the voltage is not limited in the embodiment.

[0086] S2013: according to the initial voltage, searching a preset voltage-position correspondence relationship to obtain an initial position corresponding to the initial voltage.

[0087] In this step, the preset voltage-position correspondence relationship can be stored in the form of a table or a key-value pair. Different voltage-position correspondence relationships can be used for different shift execution mechanisms, and the voltage-position correspondence relationship can be preset by the staff according to experimental data.

[0088] The initial position represents the position of the shift execution mechanism at the beginning of the shift process.

[0089] S2014: obtaining a real-time vehicle speed, searching a preset vehicle speed-position correspondence relationship according to the real-time vehicle speed to determine a target position.

[0090] In this step, the real-time vehicle speed is obtained, which can be obtained by obtaining the rotation speed of the vehicle wheel. The preset vehicle speed and position correspondence can also be stored in the form of a table or a key-value pair.

[0091] The target position can correspond to a target voltage, and the target voltage can be obtained by querying the preset voltage and position correspondence in step S2013 to obtain the target voltage corresponding to the target position.

[0092] From the description of the above embodiments, it can be seen that the embodiments of the present application determine the voltage at the beginning of the shift process as the initial voltage by receiving the real-time voltage sent by the position sensor, find the initial position by looking up the preset voltage and position correspondence, obtain the real-time vehicle speed, find the target position by looking up the correspondence between the vehicle speed and the position, and obtain the initial position and the target position in response to the start of the shift process. This facilitates subsequent determination of the shift action based on the initial position and the target position, so as to find the appropriate duty cycle and duty cycle offset.

[0093] Figure 3 The specific flowchart of the shift control method provided by the embodiments of the present application is shown in FIG. 1. Figure 3 As shown in FIG. 1, the shift control method comprises the following steps:

[0094] S301: In response to the start of the shift process, the initial position and the target position of the shift actuator are obtained.

[0095] S302: The corresponding shift action is determined based on the initial position and the target position.

[0096] S303: The duty cycle offset corresponding to the shift action and the preset duty cycle are read.

[0097] S304: The shift actuator is controlled by using the duty cycle offset and the preset duty cycle, and the shift duration is recorded.

[0098] S305: Whether overshooting occurs is determined based on the real-time position after the shift and the target position. If overshooting occurs, step S306 is performed, and if overshooting does not occur, step S307 is performed.

[0099] S306: The duty cycle offset corresponding to the shift action is reduced.

[0100] S307: Whether the shift duration is less than or equal to the preset duration is determined. If the shift duration is less than or equal to the preset duration, the process ends, and if the shift duration is greater than the preset duration, step S308 is performed.

[0101] S308: The duty cycle offset corresponding to the shift action is increased.

[0102] Figure 4 The structure diagram of the shift control device provided by the embodiments of the present application is shown in FIG. 2.Figure 4 The shift control device 400 includes a position acquisition module 401, an action determination module 402, an offset determination module 403, a duration recording module 404, a position reading module 405, and an offset modification module 406.

[0103] The position acquisition module 401 is configured to acquire an initial position and a target position of a shift actuator in response to a start of a shift process.

[0104] The action determination module 402 is configured to determine a shift action based on the initial position and the target position.

[0105] The offset determination module 403 is configured to read a duty cycle offset corresponding to the shift action and a preset duty cycle.

[0106] The duration recording module 404 is configured to control the shift actuator to perform the shift based on the duty cycle offset and the preset duty cycle, and record a shift duration.

[0107] The position reading module 405 is configured to read a real-time position of the shift actuator after the shift.

[0108] The offset modification module 406 is configured to modify the duty cycle offset based on the shift duration, the real-time position, and the target position.

[0109] The device provided in the embodiment can be used to execute the technical solutions of the method embodiments, and has similar implementation principles and technical effects, which will not be described here again in the embodiment.

[0110] In a possible implementation, the offset modification module 406 is specifically configured to decrease the duty cycle offset if the real-time position is different from the target position. If the real-time position is the same as the target position, and the shift duration is greater than a preset duration, the duty cycle offset is increased. If the real-time position is the same as the target position, and the shift duration is less than or equal to the preset duration, the duty cycle offset is not changed.

[0111] The device provided in the embodiment can be used to execute the technical solutions of the method embodiments, and has similar implementation principles and technical effects, which will not be described here again in the embodiment.

[0112] In a possible implementation, the shift control device 400 further includes a re-shift module 407.

[0113] The re-shift module 407 is configured to perform the shift process again based on the target position.

[0114] The device provided in the embodiment can be used to execute the technical solutions of the method embodiments, and has similar implementation principles and technical effects, which will not be described here again in the embodiment.

[0115] In a possible implementation, the initial position is an initial voltage, and the target position is a target voltage. The position acquisition module 401 is specifically configured to receive a real-time voltage sent by a position sensor, where the position sensor is configured to monitor a position of the gear shifting actuator. The real-time voltage before the gear shifting process starts is determined as the initial voltage, and the target voltage is acquired.

[0116] The apparatus provided in the embodiment can be used to execute the technical solutions of the method embodiments, and has similar implementation principles and technical effects. Details are not described herein again.

[0117] In a possible implementation, the position acquisition module 401 is specifically configured to continuously monitor a connection relationship between the gear shifting lever and the gearbox, and acquire the initial position and the target position of the gear shifting actuator when the connection relationship changes.

[0118] The apparatus provided in the embodiment can be used to execute the technical solutions of the method embodiments, and has similar implementation principles and technical effects. Details are not described herein again.

[0119] In a possible implementation, the gear shifting control apparatus 400 further includes a vehicle speed acquisition module 408.

[0120] The vehicle speed acquisition module 408 is configured to acquire a real-time vehicle speed and a preset gear shifting vehicle speed range.

[0121] The position acquisition module 401 is specifically configured to acquire the initial position and the target position of the gear shifting actuator in response to the real-time vehicle speed entering any gear shifting vehicle speed range.

[0122] The apparatus provided in the embodiment can be used to execute the technical solutions of the method embodiments, and has similar implementation principles and technical effects. Details are not described herein again.

[0123] In a possible implementation, the position acquisition module 401 is specifically configured to receive a real-time voltage sent by a position sensor, where the position sensor is configured to monitor a position of the gear shifting actuator. The voltage when the gear shifting process starts is determined as the initial voltage. According to the initial voltage, a preset voltage-position correspondence relationship is searched to obtain an initial position corresponding to the initial voltage. According to the real-time vehicle speed, a preset vehicle speed-position correspondence relationship is searched to determine the target position.

[0124] The apparatus provided in the embodiment can be used to execute the technical solutions of the method embodiments, and has similar implementation principles and technical effects. Details are not described herein again.

[0125] Figure 5 A structural schematic diagram of an electronic device provided in the embodiment is shown. For example, refer to Figure 5As shown, the electronic device 500 can include a processor 501, and a memory 502 connected with the processor 501 in communication.

[0126] The memory 502 stores computer-executable instructions.

[0127] The shift execution mechanism 503 is connected with the processor 501, and is configured to perform gear shifting.

[0128] The processor 501 executes the computer-executable instructions stored in the memory 502 to implement the gear shifting control method provided in any of the above embodiments.

[0129] Optionally, the memory 502 can be independent or integrated with the processor 501. When the memory 502 is independent of the processor 501, the electronic device can further include a bus for connecting the memory 502 and the processor 501.

[0130] The present application also provides a computer-readable storage medium, which stores computer-executable instructions. When the processor executes the computer-executable instructions, the technical solution of the gear shifting control method in any of the above embodiments is implemented. The implementation principle and beneficial effects are similar to those of the gear shifting control method, and details are referred to the implementation principle and beneficial effects of the gear shifting control method, which will not be described herein.

[0131] In the context of the present application, the machine-readable medium can be a tangible medium, which can contain or store programs for use by or in connection with an instruction execution system, apparatus or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination of the above. More specific examples of machine-readable storage media can include one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.

[0132] The present application also provides a computer program product, which includes a computer program. When the computer program is executed by the processor, the technical solution of the gear shifting control method in any of the above embodiments is implemented. The implementation principle and beneficial effects are similar to those of the gear shifting control method, and details are referred to the implementation principle and beneficial effects of the gear shifting control method, which will not be described herein.

[0133] The above description is only the preferred embodiment of the present application and the explanation of the technical principles applied. It should be understood by those skilled in the art that the disclosed scope of the present application is not limited to the technical solutions with the above technical features in a certain combination, and should also cover other technical solutions formed by the combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the technical solutions formed by the mutual replacement of the above features and the technical features with similar functions disclosed in the present application (but not limited to).

[0134] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0135] It should be understood that the application is not limited to the precise construction that has been described above and shown in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the appended claims.

Claims

1. A gear shifting control method, characterized in that, include: In response to the start of the gear shifting process, the initial and target positions of the gear shifting actuator are obtained; The gear shifting action is determined based on the initial position and the target position; Read the duty cycle offset and preset duty cycle corresponding to the shifting action; Based on the duty cycle offset and the preset duty cycle, the shift actuator is controlled to shift gears and the shift duration is recorded. Read the real-time position of the shift actuator after shifting gears; The duty cycle offset is modified based on the shift duration, the real-time position, and the target position. The step of modifying the duty cycle offset based on the shift duration, the real-time position, and the target position includes: decreasing the duty cycle offset if the real-time position is different from the target position; increasing the duty cycle offset if the real-time position is the same as the target position and the shift duration is greater than a preset duration; and not changing the duty cycle offset if the real-time position is the same as the target position and the shift duration is less than or equal to the preset duration. The process includes, after reducing the duty cycle offset, performing the gear shifting procedure again based on the target position.

2. The method according to claim 1, characterized in that, The step of obtaining the initial and target positions of the shift actuator in response to the start of the shift process includes: The connection between the gear shift lever and the transmission is continuously monitored. When the connection changes, the initial position and target position of the gear shift actuator are obtained.

3. The method according to claim 1, characterized in that, Before obtaining the initial and target positions of the shift actuator in response to the start of the shift process, the method further includes: Obtain real-time vehicle speed and preset shift speed range; Accordingly, the step of obtaining the initial position and target position of the shift actuator in response to the start of the shift process includes: In response to the real-time vehicle speed entering any shift speed range, the initial position and target position of the shift actuator are obtained.

4. The method according to claim 3, characterized in that, The process of obtaining the initial and target positions of the gear shift actuator includes: Receives real-time voltage from a position sensor, wherein the position sensor is used to monitor the position of the shift actuator; The voltage at the start of the gear shifting process is determined as the initial voltage; Based on the initial voltage, a preset voltage-position correspondence is found to obtain the initial position corresponding to the initial voltage; Based on the real-time vehicle speed, a preset correspondence between vehicle speed and location is found to determine the target location.

5. A gear shifting control device, characterized in that, include: The position acquisition module is used to acquire the initial and target positions of the shift actuator in response to the start of the shift process; An action determination module is used to determine a gear shifting action based on the initial position and the target position; The offset determination module is used to read the duty cycle offset and the preset duty cycle corresponding to the shifting action; The duration recording module is used to control the shifting actuator to shift gears according to the duty cycle offset and the preset duty cycle, and to record the shifting duration. The position reading module is used to read the real-time position of the shift actuator after shifting gears; The offset modification module is used to modify the duty cycle offset based on the shift duration, the real-time position, and the target position. The offset modification module is configured to: decrease the duty cycle offset if the real-time position is different from the target position; increase the duty cycle offset if the real-time position is the same as the target position and the shift duration is greater than a preset duration; and not change the duty cycle offset if the real-time position is the same as the target position and the shift duration is less than or equal to the preset duration. The re-shift module is used to re-execute the shift process based on the target position.

6. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; A gear shifting actuator, connected to the processor, is used for gear shifting; The processor executes computer execution instructions stored in the memory, causing the processor to perform the shift control method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the shift control method as described in any one of claims 1 to 4.

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