Vehicle gear control method, system, electronic device and readable storage medium

Abstract

The present invention relates to the field of vehicle control technology, and discloses a vehicle gear control method, system, electronic device and readable storage medium. The method divides the gear sensor into multiple sensor groups. When a sensor group fails, the normal gear signal is obtained multiple times through the sensor group in normal working state, and the alternative vehicle gears corresponding to the normal gear signals are compared. The first switching gear is determined by the comparison result, thereby realizing vehicle gear control of the vehicle terminal. While introducing a redundant mechanism on the vehicle gear, the control accuracy is improved when only a part of the sensor groups are working, and the risk of being unable to switch the vehicle gear through a self-resetting hand-held gear shift lever due to a Hall sensor failure or a failure of a related part is avoided from two aspects, which is safe and efficient.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle gear control method, system, electronic equipment and readable storage medium. Background Art

[0002] With the continuous development of vehicle technology, vehicle personalization and operability have also become an important part of vehicle evaluation criteria. Since the self-resetting hand-shift lever is set on the steering wheel to replace the traditional physical gear position, it not only occupies a small space, but also highlights the vehicle's personalization and operability, and its usage rate in vehicles is also increasing.

[0003] At present, the self-resetting hand-held gear shift usually uses a Hall sensor as a gear position sensor. Since the Hall sensor will output different hard-wired signals as the magnetic pole changes, different vehicle gears can be identified by collecting the hard-wired signals output by the Hall sensor. However, if any Hall sensor fails or the associated parts fail, there is a risk that the vehicle gear cannot be switched through the self-resetting hand-held gear shift lever, which poses a safety hazard to personnel and vehicles. In Chinese patent CN111316181A, a method is disclosed for detecting the driving state switching conditions before driving, and judging whether to switch the driving state according to whether the driving state switching conditions are met. This method cannot operate normally if any condition is not met, and the fault tolerance rate is low. In Chinese patent CN107643682A, a technical solution is disclosed for providing a reference to the driver controller by switching to a potentiometer in a normal working state when any potentiometer fails. However, the accuracy of the output result of a single potentiometer in this solution is low, resulting in a decrease in the safety of vehicle control.

[0004] Therefore, in order to avoid the risk of being unable to switch vehicle gears through the self-resetting hand-held gear shift lever due to a malfunction of the Hall sensor or failure of associated components, it is necessary to provide a safe and efficient vehicle gear control method for the self-resetting hand-held gear shift lever. Summary of the invention

[0005] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention discloses a vehicle gear control method, system, electronic device and readable storage medium to improve the safety of vehicle gear control.

[0007] The present invention provides a vehicle gear control method, which is applied to a vehicle terminal, wherein the vehicle terminal includes a plurality of sensor groups, and the sensor groups are composed of gear sensors. The method comprises: performing fault detection on each of the sensor groups respectively to obtain fault detection results of each of the sensor groups; if the fault detection results simultaneously contain a normal working state and a fault state, determining the sensor group in the normal working state as the normal working group; acquiring normal gear signals from the normal working group for multiple times, and determining the alternative vehicle gears corresponding to each of the normal gear signals from the preset vehicle gears of the vehicle terminal respectively, wherein the normal gear signals are obtained by collecting the sensor signals output by each gear sensor in the normal working group in response to the gear shifting operation corresponding to the vehicle terminal; and determining a first switching gear from the preset vehicle gears according to the comparison results between the alternative vehicle gears to control the vehicle terminal to switch to the first switching gear.

[0008] Optionally, before performing fault detection on each sensor group in the vehicle terminal and obtaining the fault detection result of each sensor group, the method also includes: obtaining a sensor base, the sensor base including multiple first base areas, wherein if the gear sensor is located in the first base area, the gear sensor outputs a first voltage signal; setting each gear sensor in each sensor group in a different first base area, and recording the area position of each gear sensor; determining the second base area corresponding to each preset vehicle gear from the first base area according to the area position; determining the sensor signal output by each gear sensor according to the first base area and the second base area corresponding to different preset vehicle gears, obtaining the gear signal threshold corresponding to each preset vehicle gear, and determining the single group signal threshold corresponding to each sensor group from the gear signal threshold, wherein, in the same sensor group, the single group signal threshold corresponding to each preset vehicle gear is different.

[0009] Optionally, the method also includes: the preset vehicle gear includes a reference vehicle gear and multiple target vehicle gears; if it is detected that the sensor signal output by each gear sensor switches from the gear signal threshold corresponding to the reference vehicle gear to the gear signal threshold corresponding to any target vehicle gear, it is determined that the vehicle terminal performs a gear shifting operation.

[0010] Optionally, normal gear signals are obtained from the normal working group multiple times, including: pre-setting the number of signal acquisition times; in response to the gear shifting operation corresponding to the vehicle terminal, collecting the sensor signals output by each gear sensor in the normal working group to obtain the normal gear signal, and prompting to re-perform the gear shifting operation until the number of signal acquisition times is met.

[0011] Optionally, the alternative vehicle gear corresponding to each normal gear signal is determined from the preset vehicle gears of the vehicle terminal, including: matching each single group signal threshold corresponding to the normal working group according to the normal gear signal, and determining the alternative vehicle gear corresponding to the normal gear signal from each preset vehicle gear according to the matching result.

[0012] Optionally, the alternative vehicle gear corresponding to the normal gear signal is determined by the following method, including: if the number of the normal working groups is one, matching the single group signal thresholds corresponding to the normal working group according to the normal gear signal, and determining the alternative vehicle gear corresponding to the normal gear signal from each of the preset vehicle gears according to the matching result; if the number of the normal working groups is multiple, splitting the normal gear signal into working sub-signals corresponding to each of the normal working groups, matching the single group signal thresholds corresponding to the working sub-signals according to each of the working sub-signals, and determining the second vehicle gear corresponding to each of the preset vehicle gears according to the matching result; if any two second vehicle gears are the same, taking the second vehicle gear as the alternative vehicle gear corresponding to the normal gear signal; if there are two different second vehicle gears, taking the reference vehicle gear as the alternative vehicle gear corresponding to the normal gear signal.

[0013] Optionally, the first vehicle gear is determined based on the comparison results between each of the alternative vehicle gears, including: if the comparison results between any two alternative vehicle gears are the same, then the alternative vehicle gear is used as the first vehicle gear; if the comparison results between any two alternative vehicle gears are different, then the reference vehicle gear is used as the first vehicle gear.

[0014] Optionally, after performing fault detection on each sensor group in the vehicle terminal and obtaining the fault detection results of each sensor group, the method further includes: if the fault detection results are all in normal working state, then in response to the shifting operation corresponding to the vehicle terminal, obtaining the sensor signal corresponding to each gear sensor to obtain a complete gear signal; matching the gear signal threshold corresponding to each preset vehicle gear according to the complete gear signal, and determining the third vehicle gear corresponding to the complete gear signal from each preset vehicle gear according to the matching result, so as to control the vehicle terminal to switch to the third vehicle gear.

[0015] Optionally, the gear signal thresholds corresponding to each preset vehicle gear are matched according to the complete gear signal, and the third vehicle gear corresponding to the complete gear signal is determined from each preset vehicle gear according to the matching result, including: determining a single group of gear signals corresponding to each sensor group from the complete gear signal; matching the gear signal thresholds corresponding to the single group of gear signals according to each single group of gear signals, and determining a fourth vehicle gear corresponding to each single group of gear signals from each preset vehicle gear according to the matching result; if any two fourth vehicle gears are the same, the fourth vehicle gear is determined as the third vehicle gear corresponding to the complete gear signal; if there are two fourth vehicle gears that are different, the reference vehicle gear is determined as the third vehicle gear corresponding to the complete gear signal.

[0016] Optionally, after performing fault detection on each sensor group in the vehicle terminal and obtaining the fault detection results of each sensor group, the method further includes: if the fault detection results are all fault states, switching the vehicle terminal to the reference vehicle gear position and issuing a gear abnormality reminder.

[0017] Optionally, fault detection is performed on each sensor group in the vehicle terminal respectively to obtain a fault detection result of each sensor group, including: obtaining a factor to be detected of the sensor group and a state duration corresponding to the factor to be detected, the factor to be detected including one or more of the vehicle power state of the vehicle terminal, the power supply voltage corresponding to the sensor group, the sensor signal corresponding to each gear sensor in the sensor group, and the current vehicle gear corresponding to the sensor group, wherein the current vehicle gear is determined by the sensor signal corresponding to each gear sensor in the sensor group; matching the factor to be detected and / or the state duration according to preset working conditions; if the factor to be detected and / or the state duration both meet the preset working conditions, determining the fault detection result of the sensor group as a normal working state; if there is a factor to be detected and / or the state duration that does not meet the preset working conditions, determining the fault detection result of the sensor group as a fault state.

[0018] The present invention provides a vehicle gear control system, which is applied to a vehicle terminal, wherein the vehicle terminal includes a plurality of sensor groups, and the sensor groups are composed of gear sensors. The system includes: a detection module, which is used to perform fault detection on each of the sensor groups respectively to obtain fault detection results of each of the sensor groups; a determination module, which is used to determine the sensor group in the normal working state as the normal working group if both the normal working state and the fault state exist in the fault detection results; an acquisition module, which is used to acquire normal gear signals from the normal working group for multiple times, and respectively determine the alternative vehicle gear corresponding to each normal gear signal from the preset vehicle gears of the vehicle terminal, wherein the normal gear signal is obtained by collecting the sensor signals output by each gear sensor in the normal working group in response to the gear shifting operation corresponding to the vehicle terminal; and a control module, which is used to determine a first switching gear from the preset vehicle gear according to the comparison result between the alternative vehicle gears, so as to control the vehicle terminal to switch to the first switching gear.

[0019] The present invention provides an electronic device, comprising: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device executes the above method.

[0020] The present invention provides a computer-readable storage medium on which a computer program is stored: when the computer program is executed by a processor, the above method is implemented.

[0021] Beneficial effects of the present invention:

[0022] By dividing the gear position sensor into multiple sensor groups, when a sensor group fails, the normal gear position signal is obtained multiple times through the sensor group in normal working state, and the alternative vehicle gear positions corresponding to each normal gear position signal are compared, and the first switching gear position is determined by the comparison result, thereby realizing the vehicle gear position control of the vehicle terminal. In this way, compared with the vehicle gear position control through all shifting sensors, the gear position sensor is divided into multiple sensor groups, not only when there is a faulty sensor group, the normal gear position signal is obtained through the sensor group in normal working state, but also the normal gear position signal is obtained multiple times to verify the alternative vehicle gear position corresponding to the normal gear signal. While introducing a redundancy mechanism on the vehicle gear position, the control accuracy when only a part of the sensor groups are working is improved, and the risk of not being able to switch the vehicle gear position through the self-resetting hand-held gear shift lever due to the failure of the Hall sensor or the failure of the associated parts is avoided from two aspects, which is safe and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flow chart of a vehicle gear control method in an embodiment of the present invention;

[0024] Figure 2 is a system block diagram of a vehicle gear control method implemented in an embodiment of the present invention;

[0025] Figure 3 is another system block diagram of a vehicle gear control method implemented in an embodiment of the present invention;

[0026] Figure 4 is a schematic diagram of the position of a gear position sensor arrangement method in an embodiment of the present invention;

[0027] Figure 5 is a flow chart of a sensor group fault detection method in an embodiment of the present invention;

[0028] Figure 6 is a flow chart of another vehicle gear control method in an embodiment of the present invention;

[0029] Figure 7 is a schematic structural diagram of a vehicle gear control system in an embodiment of the present invention;

[0030] Figure 8 is a schematic diagram of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and sub-samples in the embodiments can be combined with each other without conflict.

[0032] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0033] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0034] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0035] Unless otherwise stated, the term "plurality" means two or more.

[0036] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0037] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0038] Combination Figure 1 As shown, an embodiment of the present disclosure provides a vehicle gear position control method, which is applied to a vehicle terminal, wherein the vehicle terminal includes a plurality of sensor groups, and the sensor group includes a gear position sensor. The method includes:

[0039] Step S101, performing fault detection on each sensor group respectively to obtain a fault detection result of each sensor group;

[0040] Step S102, if the fault detection result contains both a normal working state and a fault state, the sensor group in the normal working state is determined as the normal working group;

[0041] Step S103, obtaining normal gear signals from the normal working group multiple times, and determining the candidate vehicle gears corresponding to the normal gear signals from the preset vehicle gears of the vehicle terminal;

[0042] The normal gear position signal is obtained by collecting the sensor signals output by each gear position sensor in the normal working group in response to the gear shift operation corresponding to the vehicle terminal;

[0043] Step S104, determining a first switching gear from the preset vehicle gears according to the comparison results between the candidate vehicle gears, so as to control the vehicle terminal to switch to the first switching gear.

[0044] The vehicle gear control method provided by the embodiment of the present disclosure is adopted. By dividing the gear sensor into multiple sensor groups, when a sensor group fails, the normal gear signal is obtained multiple times through the sensor group in normal working state, and the alternative vehicle gear corresponding to each normal gear signal is compared, and the first switching gear is determined by the comparison result, thereby realizing the vehicle gear control of the vehicle terminal. In this way, compared with the vehicle gear control by all the shifting sensors, the gear sensor is divided into multiple sensor groups. Not only when there is a faulty sensor group, the normal gear signal is obtained by the sensor group in normal working state, but also the alternative vehicle gear corresponding to the normal gear signal is verified by obtaining the normal gear signal multiple times. While introducing a redundancy mechanism on the vehicle gear, the control accuracy when only a part of the sensor groups are working is improved, and the risk of not being able to switch the vehicle gear through the self-resetting hand-held gear shift lever due to the failure of the Hall sensor or the failure of the associated parts is avoided from two aspects, which is safe and efficient.

[0045] Combination Figure 2 As shown, the embodiment of the present disclosure provides a system block diagram for implementing the above-mentioned vehicle gear control method, including a hand-held gear shifter 201 and a vehicle controller 202. The hand-held gear shifter and the vehicle controller are respectively connected by a power line, a ground line (GND), and a signal transmission line of multiple gear sensors. The hand-held gear shifter includes an information acquisition module and a button module. The information acquisition module is used to output the sensor signal of each gear sensor to the vehicle controller through the signal transmission lines of the main channel and the redundant channel. The button module is used to communicate with the vehicle controller through the button of the hand-held gear shifter. The vehicle controller is used to control the vehicle gear of the vehicle terminal based on the sensor signal of the gear sensor.

[0046] In some embodiments, the connection relationship between the handheld gear shifter and the vehicle controller is as follows: Figure 3 As shown, the hand-held gear shifter includes an information acquisition module and a key module. The information acquisition module includes a main channel and a redundant channel. The main channel is a main dual-channel grating, and the redundant channel is a redundant dual-channel grating. The main dual-channel grating is connected to the vehicle controller through power supply 1, CHANNEL 1, CHANNEL 2, and GDN 1 respectively, and the redundant dual-channel grating is connected to the vehicle controller through power supply 2, CHANNEL3, CHANNEL 4, and GDN 2 respectively. The key module includes P gear switch 1 and P gear switch 2. The P gear switch 1 is connected to the vehicle controller through the P gear signal 1 line, and the P gear switch 2 is connected to the vehicle controller through the P gear signal 2 line. At the same time, the key module is connected to the vehicle controller through GND3.

[0047] Optionally, before performing fault detection on each sensor group in the vehicle terminal and obtaining the fault detection result of each sensor group, the method also includes: obtaining a sensor base, the sensor base including multiple first base areas, wherein if the gear sensor is located in the first base area, the gear sensor outputs a first voltage signal; setting each gear sensor in each sensor group in a different first base area, and recording the regional position of each gear sensor; determining the second base area corresponding to each preset vehicle gear from the first base area according to the regional position; determining the sensor signal output by each gear sensor according to the first base area and the second base area corresponding to different preset vehicle gears, obtaining the gear signal threshold corresponding to each preset vehicle gear, and determining the single group signal threshold corresponding to each sensor group from the gear signal threshold, wherein, in the same sensor group, the single group signal threshold corresponding to each preset vehicle gear is different.

[0048] In some embodiments, the gear sensor is a Hall sensor, the first base area is a magnetic N-pole area, and the second base area is a magnetic S-pole area; if the Hall sensor is located in the magnetic N-pole area, the Hall sensor is turned on and outputs a first voltage signal, wherein the voltage value of the first voltage signal is between 0-1.5V, for example, the voltage value of the first voltage signal is between 0.6-1V; if the Hall sensor is located in the magnetic S-pole area, the Hall sensor is disconnected and outputs a second voltage signal, wherein the voltage value of the second voltage signal is between 3-5V, for example, the voltage value of the second voltage signal is between 4-4.4V.

[0049] Optionally, the method further includes: the preset vehicle gear position includes a reference vehicle gear position (Center, middle position) and a plurality of target vehicle gear positions.

[0050] In some embodiments, the target vehicle gear position includes the previous level (Up), the previous two levels (UpUp), the next level (Down), and the next two levels (DownDown).

[0051] Optionally, the method also includes: if it is detected that the sensor signal output by each gear sensor switches from the gear signal threshold corresponding to the reference vehicle gear to the gear signal threshold corresponding to any target vehicle gear, determining that the vehicle terminal performs a gear shift operation.

[0052] Combination Figure 4As shown, the embodiment of the present disclosure provides a method for arranging a gear position sensor, including: the gear position sensor includes sensor 1, sensor 2, sensor 3, sensor 4, sensor 5 and sensor 6, sensor 2, sensor 3, sensor 4 are used as the first group of the sensor group, and sensor 1, sensor 5, sensor 6 are used as the second group of the sensor group; the Hall sensor is fixed on the base, the arm-type gear shifter handle is connected to the magnet, and the Hall sensor is turned on and off by operating the arm-type gear shifter position change; if the arm-type gear shifter is in the middle position, sensor 1, sensor 2, sensor 4, sensor 5 are located in the magnetic N-pole area (first base area), and sensor 3 and sensor 6 are located in the magnetic S-pole area (second base area); if the arm-type gear shifter is in the upper order, the magnetic S-pole area is moved one grid to the left of the area, so that sensor 1, sensor 2, sensor 3, sensor 4 are located in the magnetic N-pole area, and sensor 5 and sensor 6 are located in the magnetic S-pole area; if the arm-type gear shifter is in the upper second order, then The magnetic S-pole region is moved two squares to the left side of the region, so that sensor 1, sensor 2, sensor 3, and sensor 6 are located in the magnetic N-pole region, and sensor 4 and sensor 5 are located in the magnetic S-pole region; if the hand-held gear shifter is in the next stage, the magnetic S-pole region is moved one square to the right side of the region, so that sensor 1, sensor 4, sensor 5, and sensor 6 are located in the magnetic N-pole region, and sensor 2 and sensor 3 are located in the magnetic S-pole region; if the hand-held gear shifter is in the next second stage, the magnetic S-pole region is moved two squares to the right side of the region, so that sensor 3, sensor 4, sensor 5, and sensor 6 are located in the magnetic N-pole region, and sensor 1 and sensor 2 are located in the magnetic S-pole region; the sensor signal output by each gear sensor is determined according to the first base area and the second base area corresponding to different preset vehicle gears, and the gear signal threshold corresponding to each preset vehicle gear is obtained, wherein the gear signal threshold corresponding to each preset vehicle gear is as shown in Table 1, the first voltage signal is represented by "0", and the second voltage signal is represented by "1".

[0053] Table 1

[0054] Vehicle gear Sensor 1 Sensor 2 Sensor 3 Sensor 4 Sensor 5 Sensor 6 Upper second level 0 0 0 1 1 0 Previous level 0 0 0 0 1 1 Middle position 0 0 1 0 0 1 Next level 0 1 1 0 0 0 Lower second level 1 1 0 0 0 0

[0055] The arrangement method of the gear position sensor provided by the embodiment of the present disclosure is adopted. By dividing the gear position sensor into multiple sensor groups, when a sensor group fails, the normal gear position signal is obtained multiple times through the sensor group in normal working state, and the alternative vehicle gear positions corresponding to each normal gear position signal are compared, and the first switching gear position is determined by the comparison result, thereby realizing the vehicle gear position control of the vehicle terminal. In this way, compared with the vehicle gear position control by all the shifting sensors, the gear position sensor is divided into multiple sensor groups. Not only when there is a faulty sensor group, the normal gear position signal is obtained by the sensor group in normal working state, but also the normal gear position signal is obtained multiple times to verify the alternative vehicle gear position corresponding to the normal gear signal. While introducing a redundancy mechanism on the vehicle gear position, the control accuracy when only a part of the sensor groups are working is improved, and the risk of not being able to switch the vehicle gear position through the self-resetting hand-held gear shift lever due to the failure of the Hall sensor or the failure of the associated parts is avoided from two aspects, which is safe and efficient.

[0056] Optionally, fault detection is performed on each sensor group in the vehicle terminal respectively to obtain a fault detection result of each sensor group, including: obtaining a factor to be detected of the sensor group and a state duration corresponding to the factor to be detected, the factor to be detected including one or more of the vehicle power state of the vehicle terminal, the power supply voltage corresponding to the sensor group, the sensor signal corresponding to each gear sensor in the sensor group, and the current vehicle gear corresponding to the sensor group, wherein the current vehicle gear is determined by the sensor signal corresponding to each gear sensor in the sensor group; matching the factor to be detected and / or the state duration according to preset working conditions; if the factor to be detected and / or the state duration both meet the preset working conditions, determining the fault detection result of the sensor group as a normal working state; if there is a factor to be detected and / or the state duration that does not meet the preset working conditions, determining the fault detection result of the sensor group as a fault state.

[0057] Combination Figure 5 As shown, the embodiment of the present disclosure provides a sensor group fault detection method, including:

[0058] Step S501, obtaining a power supply voltage of the sensor group, and obtaining a first duration corresponding to the power supply voltage;

[0059] Step S502, setting a first determination condition for the power supply voltage and the first duration;

[0060] The first determination condition includes that the power supply voltage is within a preset power supply interval, and the first duration is greater than or equal to the preset first duration;

[0061] Among them, the preset power supply range includes 4.8-5.2V, and the preset first time length includes 50ms;

[0062] Step S503, determining whether the power supply voltage and the first duration meet the first determination condition, if so, jump to step S504, if not, jump to step S514;

[0063] Step S504: obtaining a sensor signal corresponding to each gear position sensor in the sensor, and obtaining a second duration corresponding to each sensor signal;

[0064] Step S505, setting a second determination condition according to the sensor signal and the second duration;

[0065] The second determination condition includes that the sensor signal is in a preset signal voltage interval, and the second duration is greater than or equal to the preset second duration;

[0066] Among them, the signal voltage range includes 0.6-1V and 4-4.4V, and the preset second time length includes 80ms;

[0067] Step S506, determining whether the sensor signal and the second duration meet the second determination condition, if so, jump to step S507, if not, jump to step S514;

[0068] Step S507, obtaining the vehicle power state of the vehicle terminal, and obtaining the third duration corresponding to the vehicle power state;

[0069] Step S508, setting a third determination condition according to the vehicle power state and the third duration;

[0070] The third determination condition includes that the vehicle power state is in the ON state, and the third duration is greater than or equal to the preset third duration;

[0071] Among them, the preset third time length includes 10s;

[0072] Step S509, determining whether the vehicle power state and the third duration meet the third determination condition, if so, jump to step S510, if not, jump to step S514;

[0073] Step S510, obtaining the current vehicle gear position corresponding to the sensor group;

[0074] Wherein, the current gear position of the vehicle is determined by the sensor signals corresponding to each gear position sensor in the sensor group;

[0075] Step S511, setting a fourth determination condition for the current vehicle gear position;

[0076] The fourth determination condition includes that the current vehicle gear is in the middle position;

[0077] Step S512, determining whether the current vehicle gear position satisfies the fourth determination condition, if so, jump to step S513, if not, jump to step S514;

[0078] Step S513: determining the fault detection result of the sensor group as a normal working state.

[0079] Step S514: determining the fault detection result of the sensor group as a fault state.

[0080] Optionally, normal gear signals are obtained from the normal working group multiple times, including: pre-setting the number of signal acquisition times; in response to the gear shifting operation corresponding to the vehicle terminal, the sensor signals output by each gear sensor in the normal working group are collected to obtain the normal gear signal, and a prompt is given to re-perform the gear shifting operation until the number of signal acquisition times is met.

[0081] Optionally, the alternative vehicle gear corresponding to each normal gear signal is determined from the preset vehicle gears of the vehicle terminal, including: matching each single group signal threshold corresponding to the normal working group according to the normal gear signal, and determining the alternative vehicle gear corresponding to the normal gear signal from each preset vehicle gear according to the matching result.

[0082] Optionally, the alternative vehicle gear corresponding to the normal gear signal is determined by the following method, including: if the number of normal working groups is one, matching the single group signal thresholds corresponding to the normal working group according to the normal gear signal, and determining the alternative vehicle gear corresponding to the normal gear signal from each preset vehicle gear according to the matching result; if the number of normal working groups is multiple, splitting the normal gear signal into working sub-signals corresponding to each normal working group, matching the single group signal thresholds corresponding to the working sub-signals according to each working sub-signal, and determining the second vehicle gear corresponding to each working sub-signal from each preset vehicle gear according to the matching result; if any two second vehicle gears are the same, the second vehicle gear is used as the alternative vehicle gear corresponding to the normal gear signal; if there are two different second vehicle gears, the reference vehicle gear is used as the alternative vehicle gear corresponding to the normal gear signal.

[0083] Optionally, the first vehicle gear is determined based on the comparison results between the alternative vehicle gears, including: if the comparison results between any two alternative vehicle gears are the same, the alternative vehicle gear is used as the first vehicle gear; if the comparison results between any two alternative vehicle gears are different, the reference vehicle gear is used as the first vehicle gear.

[0084] In some embodiments, if the first group (sensor 2, sensor 3, sensor 4) is in a fault state, the second group including sensor 1, sensor 5, and sensor 6 is used as a normal working group; in response to the corresponding gear shifting operation of the vehicle terminal, the sensor signals output by each gear sensor in the normal working group are collected to obtain a normal gear signal; if the normal gear signal points to the previous level and lasts longer than the preset gear shifting duration, the gear position to be determined is recorded as the previous level, and the user is reminded that "the gear is abnormal, please re-operate"; if in response to the user's another gear shifting operation, the normal gear signal obtained still points to the previous level and lasts longer than the preset gear shifting duration, the previous level is used as the first vehicle gear; a gear control signal representing the previous level is sent, and it is ensured that the duration of the gear control signal is greater than or equal to the preset control duration, so that the vehicle terminal switches to the previous level; after the vehicle terminal switches to the previous level, a gear control signal representing the middle position is sent; if the normal gear signal points to other target vehicle gears, the same operation is performed.

[0085] In some embodiments, the recording time of the pending gear position does not exceed the preset recording time, the reminder to the user "gear abnormality, please try again" does not exceed the preset reminder time, and the reminder stops after the second normal gear signal is collected.

[0086] Optionally, after performing fault detection on each sensor group in the vehicle terminal and obtaining the fault detection results of each sensor group, the method further includes: if the fault detection results are all normal working conditions, then in response to the gear shifting operation corresponding to the vehicle terminal, obtaining the sensor signal corresponding to each gear sensor to obtain a complete gear signal; matching the gear signal threshold corresponding to each preset vehicle gear according to the complete gear signal, and determining the third vehicle gear corresponding to the complete gear signal from each preset vehicle gear according to the matching result, so as to control the vehicle terminal to switch to the third vehicle gear.

[0087] In some embodiments, switching the vehicle gear of a vehicle terminal includes: in response to a gear shifting operation corresponding to the vehicle terminal, acquiring a sensor signal corresponding to each gear sensor to obtain a complete gear signal; if the complete gear signal satisfies the gear signal threshold of the previous stage, and the duration of the complete gear signal is greater than or equal to the preset gear shifting duration, then the third vehicle gear corresponding to the complete gear signal is determined to be the previous stage; sending a gear control signal representing the previous stage, and ensuring that the duration of the gear control signal is greater than or equal to the preset control duration, so that the vehicle terminal switches to the previous stage; after the vehicle terminal switches to the previous stage, sending a gear control signal representing the middle position; and switching the vehicle gear of the vehicle terminal to other target vehicle gears is similar.

[0088] In some embodiments, if the complete gear signal meets the gear signal threshold of the previous level, and the duration of the complete gear signal is greater than or equal to the preset gear shifting duration, the hand-held shifter switches from the previous level to the previous second level, and still uses the previous level as the third vehicle gear corresponding to the complete gear signal.

[0089] Optionally, the gear signal thresholds corresponding to each preset vehicle gear are matched according to the complete gear signal, and the third vehicle gear corresponding to the complete gear signal is determined from each preset vehicle gear according to the matching result, including: determining a single group of gear signals corresponding to each sensor group from the complete gear signal; matching the gear signal thresholds corresponding to the single group of gear signals according to each single group of gear signals, and determining a fourth vehicle gear corresponding to each single group of gear signals from each preset vehicle gear according to the matching result; if any two fourth vehicle gears are the same, the fourth vehicle gear is determined as the third vehicle gear corresponding to the complete gear signal; if there are two fourth vehicle gears that are different, the reference vehicle gear is determined as the third vehicle gear corresponding to the complete gear signal.

[0090] In some embodiments, if the gears indicated by the output signals of different sensor groups are different, the reference vehicle gear is determined as the third vehicle gear corresponding to the complete gear signal.

[0091] Optionally, after performing fault detection on each sensor group in the vehicle terminal and obtaining the fault detection results of each sensor group, the method further includes: if the fault detection results are all fault states, switching the vehicle terminal to a reference vehicle gear position and issuing a gear abnormality reminder.

[0092] Combination Figure 6 As shown, the embodiment of the present disclosure provides a vehicle gear control method, including:

[0093] Step S601, determining whether the first group in the sensor group is in a normal working state, if so, jump to step S602, if not, jump to step S605;

[0094] Step S602, determining whether the second group in the sensor group is in a normal working state, if so, jump to step S603, if not, jump to step S604;

[0095] Step S603, controlling the vehicle gear position through all sensor groups.

[0096] Step S604, controlling the vehicle gear position through the first group.

[0097] Step S605, determining whether the second group in the sensor group is in a normal working state, if so, jump to step S606, if not, jump to step S607;

[0098] Step S606, controlling the vehicle gear position through the second group.

[0099] Step S607, abnormal gear position reminder.

[0100] The vehicle gear control method provided by the embodiment of the present disclosure is adopted. By dividing the gear sensor into multiple sensor groups, when a sensor group fails, the normal gear signal is obtained multiple times through the sensor group in normal working state, and the alternative vehicle gear corresponding to each normal gear signal is compared, and the first switching gear is determined by the comparison result, thereby realizing the vehicle gear control of the vehicle terminal. In this way, compared with the vehicle gear control by all the shifting sensors, the gear sensor is divided into multiple sensor groups. Not only when there is a faulty sensor group, the normal gear signal is obtained by the sensor group in normal working state, but also the alternative vehicle gear corresponding to the normal gear signal is verified by obtaining the normal gear signal multiple times. While introducing a redundancy mechanism on the vehicle gear, the control accuracy when only a part of the sensor groups are working is improved, and the risk of not being able to switch the vehicle gear through the self-resetting hand-held gear shift lever due to the failure of the Hall sensor or the failure of the associated parts is avoided from two aspects, which is safe and efficient.

[0101] In some embodiments, a normal working mode and a redundant working mode are pre-set, wherein the normal working mode is used to control the vehicle gear through all sensor groups, and the redundant working mode is used to control the vehicle gear through the sensor group in normal working state; if all sensor groups are in normal working state, the normal working state is entered; if there is a sensor group in a faulty state, the redundant working mode is entered.

[0102] In some embodiments, if the power supply state of the vehicle terminal is in the ON gear, the first group and the second group in the sensor group are detected for faults; if the first group and the second group are both in normal working state, the shifter of the vehicle terminal is controlled to switch to normal working mode; if the first group is in normal working state and the second group is in a fault state, the shifter of the vehicle terminal is controlled to switch to fault working mode one, wherein fault working mode one is used to control the vehicle gear through the first group; if the first group is in a fault state and the second group is in normal working state, the shifter of the vehicle terminal is controlled to switch to fault working mode two, wherein fault working mode two is used to control the vehicle gear through the second group; if the first group and the second group are both in a fault state, the shifter of the vehicle terminal is controlled to switch to fault working mode three, wherein fault working mode three is used when the vehicle controller cannot identify whether the shifter demand is valid, and at the same time sends a text prompt to the user that the gear cannot be shifted, similar to "gear shift fault, please repair" for a preset time period, controls the vehicle terminal to switch to the Center gear, and inputs the gear shift fault information into the vehicle gear switching module.

[0103] Combination Figure 7 As shown, the embodiment of the present disclosure provides a vehicle gear control system, which is applied to a vehicle terminal. The vehicle terminal includes a plurality of sensor groups, and the sensor groups are composed of gear sensors. The system includes a detection module 701, a determination module 702, an acquisition module 703, and a control module 704. The detection module 701 is used to perform fault detection on each sensor group respectively to obtain the fault detection results of each sensor group; the determination module 702 is used to determine the sensor group in the normal working state as the normal working group if there are both normal working state and fault state in the fault detection result; the acquisition module 703 is used to obtain normal gear signals from the normal working group for multiple times, and determine the alternative vehicle gear corresponding to each normal gear signal from the preset vehicle gear of the vehicle terminal, wherein the normal gear signal is obtained by collecting the sensor signals output by each gear sensor in the normal working group in response to the corresponding gear shift operation of the vehicle terminal; the control module 704 is used to determine the first switching gear from the preset vehicle gear according to the comparison results between the alternative vehicle gears, so as to control the vehicle terminal to switch to the first switching gear.

[0104] The vehicle gear control system provided by the embodiment of the present disclosure is adopted. By dividing the gear sensor into multiple sensor groups, when a sensor group fails, the normal gear signal is obtained multiple times through the sensor group in normal working state, and the alternative vehicle gear corresponding to each normal gear signal is compared, and the first switching gear is determined by the comparison result, thereby realizing the vehicle gear control of the vehicle terminal. In this way, compared with the vehicle gear control by all the shifting sensors, the gear sensor is divided into multiple sensor groups. Not only when there is a faulty sensor group, the normal gear signal is obtained by the sensor group in normal working state, but also the alternative vehicle gear corresponding to the normal gear signal is verified by obtaining the normal gear signal multiple times. While introducing a redundancy mechanism on the vehicle gear, the control accuracy when only a part of the sensor groups are working is improved, and the risk of not being able to switch the vehicle gear through the self-resetting hand-held gear shift lever due to the failure of the Hall sensor or the failure of the associated parts is avoided from two aspects, which is safe and efficient.

[0105] Figure 8 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Figure 8 The computer system 800 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0106] like Figure 8As shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 802 or the program loaded from the storage part 808 to the random access memory (RAM) 803, such as executing the method in the above embodiment. In the RAM 803, various programs and data required for system operation are also stored. The CPU 801, ROM 802 and RAM 803 are connected to each other through a bus 804. The input / output (I / O) interface 805 is also connected to the bus 804.

[0107] The following components are connected to the I / O interface 805: an input section 806 including a keyboard, a mouse, etc.; an output section 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as needed so that a computer program read therefrom is installed into the storage section 808 as needed.

[0108] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 809, and / or installed from a removable medium 811. When the computer program is executed by a central processing unit (CPU) 801, various functions defined in the system of the present application are executed.

[0109] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0110] The embodiments of the present disclosure further provide a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, any one of the methods in the embodiments is implemented.

[0111] The computer-readable storage medium in the embodiments of the present disclosure can be understood by ordinary technicians in the field: all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to the computer program. The aforementioned computer program can be stored in a computer-readable storage medium. When the program is executed, the execution includes the steps of the above-mentioned method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

[0112] The electronic device disclosed in this embodiment includes a processor, a memory, a transceiver and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication with each other. The memory is used to store computer programs, the communication interface is used to communicate, and the processor and the transceiver are used to run the computer program so that the electronic device executes each step of the above method.

[0113] In this embodiment, the memory may include a random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0114] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0115] The above description and accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent possible changes only. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. Parts and subsamples of some embodiments may be included in or replace parts and subsamples of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of a stated sub-sample, whole, step, operation, element, and / or component, but do not exclude the presence or addition of one or more other sub-samples, wholes, steps, operations, elements, components and / or groups of these. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical elements in the process, method or device comprising the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0116] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. Technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. Technicians can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0117] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units can be only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some sub-samples can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.

[0118] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A vehicle gear control method, characterized in that: Applied to a vehicle terminal, the vehicle terminal comprises a plurality of sensor groups, the sensor group comprises a gear position sensor, Performing fault detection on each sensor group respectively to obtain a fault detection result of each sensor group; If the fault detection result includes both a normal working state and a fault state, the sensor group in the normal working state is determined as the normal working group; Acquire normal gear signals from the normal working group multiple times, and determine the candidate vehicle gears corresponding to each normal gear signal from the preset vehicle gears of the vehicle terminal, respectively, wherein the normal gear signals are acquired by collecting sensor signals output by each gear sensor in the normal working group in response to the gear shift operation corresponding to the vehicle terminal; Determining a first switching gear from the preset vehicle gears according to the comparison results between the candidate vehicle gears, so as to control the vehicle terminal to switch to the first switching gear; The preset vehicle gear positions include a reference vehicle gear position and a plurality of target vehicle gear positions; if it is detected that the sensor signal output by each gear position sensor switches from a gear position signal threshold corresponding to the reference vehicle gear position to a gear position signal threshold corresponding to any target vehicle gear position, it is determined that the vehicle terminal performs a gear shift operation; Determining an alternative vehicle gear corresponding to the normal gear signal, including, if the number of the normal working groups is one, matching the threshold values ​​of each single group of signals corresponding to the normal working group according to the normal gear signal, and determining the alternative vehicle gear corresponding to the normal gear signal from each preset vehicle gear according to the matching result; If there are multiple normal working groups, the normal gear signal is split into working sub-signals corresponding to each normal working group, and the single group signal threshold corresponding to the working sub-signal is matched according to each working sub-signal, and the second vehicle gear corresponding to each working sub-signal is determined from each preset vehicle gear according to the matching result; if any two second vehicle gears are the same, the second vehicle gear is used as the alternative vehicle gear corresponding to the normal gear signal; if there are two different second vehicle gears, the reference vehicle gear is used as the alternative vehicle gear corresponding to the normal gear signal.

2. The method according to claim 1, characterized in that Before performing fault detection on each sensor group in the vehicle terminal and obtaining the fault detection result of each sensor group, Acquire a sensor base, wherein the sensor base includes a plurality of first base areas, and if the gear position sensor is located in the first base area, the gear position sensor outputs a first voltage signal; Disposing each gear position sensor in each sensor group in a different first base area, and recording the area position of each gear position sensor; According to the area positions, respectively determining second base areas corresponding to the preset vehicle gear positions from the first base areas; The sensor signals output by each gear sensor are determined respectively according to the first base area and the second base area corresponding to different preset vehicle gears, and the gear signal threshold corresponding to each preset vehicle gear is obtained, and the single group signal threshold corresponding to each sensor group is determined from the gear signal threshold. In the same sensor group, the single group signal threshold corresponding to each preset vehicle gear is different.

3. The method according to claim 2, characterized in that Acquiring a normal gear position signal from the normal working group multiple times includes: Preset the number of signal acquisition times; In response to the gear shifting operation corresponding to the vehicle terminal, the sensor signals output by each gear sensor in the normal working group are collected to obtain a normal gear signal, and a gear shifting operation is prompted to be performed again until the signal acquisition times are met.

4. The method according to claim 3, characterized in that: Determining the candidate vehicle gear positions corresponding to the normal gear position signals from the preset vehicle gear positions of the vehicle terminal respectively includes: The signal thresholds of each single group corresponding to the normal working group are matched according to the normal gear signal, and the candidate vehicle gear corresponding to the normal gear signal is determined from the preset vehicle gears according to the matching result.

5. The method according to claim 4, characterized in that Determining the first vehicle gear position according to the comparison results between the candidate vehicle gear positions includes: If the comparison results between any two candidate vehicle gears are the same, the candidate vehicle gear is used as the first vehicle gear; If the comparison results between any two candidate vehicle gears are different, the reference vehicle gear is used as the first vehicle gear.

6. The method according to claim 1, characterized in that After performing fault detection on each sensor group in the vehicle terminal and obtaining the fault detection result of each sensor group, If the fault detection results are all in normal working state, in response to the gear shifting operation corresponding to the vehicle terminal, the sensor signal corresponding to each gear position sensor is acquired to obtain a complete gear position signal; According to the complete gear signal, the gear signal thresholds corresponding to each preset vehicle gear are matched respectively, and according to the matching result, the third vehicle gear corresponding to the complete gear signal is determined from each preset vehicle gear to control the vehicle terminal to switch to the third vehicle gear.

7. The method according to claim 6, characterized in that Matching the gear signal thresholds corresponding to each preset vehicle gear respectively according to the complete gear signal, and determining a third vehicle gear corresponding to the complete gear signal from each preset vehicle gear according to the matching result, including: Determining a single group of gear signals corresponding to each of the sensor groups from the complete gear signals; Matching the gear signal thresholds corresponding to the single gear signals according to the single gear signals, and determining the fourth vehicle gear corresponding to the single gear signals from the preset vehicle gears according to the matching results; If any two fourth vehicle gear positions are the same, the fourth vehicle gear position is determined as the third vehicle gear position corresponding to the complete gear position signal; If there are differences between the two fourth vehicle gears, the reference vehicle gear is determined to be the third vehicle gear corresponding to the complete gear signal.

8. The method according to claim 1, characterized in that: After performing fault detection on each sensor group in the vehicle terminal and obtaining the fault detection result of each sensor group, If the fault detection results are all fault states, the vehicle terminal is switched to the reference vehicle gear position, and a gear abnormality reminder is issued.

9. The method according to any one of claims 1 to 8, characterized in that: Performing fault detection on each sensor group in the vehicle terminal respectively to obtain the fault detection result of each sensor group includes: Acquire a factor to be detected of the sensor group and a duration of a state corresponding to the factor to be detected, wherein the factor to be detected includes one or more of a vehicle power state of the vehicle terminal, a power supply voltage corresponding to the sensor group, a sensor signal corresponding to each gear position sensor in the sensor group, and a current vehicle gear position corresponding to the sensor group, wherein the current vehicle gear position is determined by a sensor signal corresponding to each gear position sensor in the sensor group; Matching the factor to be detected and / or the duration of the state according to preset working conditions; If the factors to be detected and / or the duration of the state both meet the preset working conditions, the fault detection result of the sensor group is determined as a normal working state; If there are factors to be detected and / or the duration of the state does not satisfy the preset working conditions, the fault detection result of the sensor group is determined as a fault state.

10. A vehicle gear control system, characterized in that: Applied to a vehicle terminal, the vehicle terminal includes a plurality of sensor groups, the sensor groups are composed of gear position sensors, and the system includes: A detection module is used to perform fault detection on each sensor group respectively to obtain a fault detection result of each sensor group; A determination module, configured to determine the sensor group in the normal working state as the normal working group if both the normal working state and the fault state exist in the fault detection result; an acquisition module, for acquiring normal gear signals from the normal working group multiple times, and determining the candidate vehicle gears corresponding to each normal gear signal from the preset vehicle gears of the vehicle terminal, respectively, wherein the normal gear signal is acquired by collecting the sensor signals output by each gear sensor in the normal working group in response to the gear shift operation corresponding to the vehicle terminal; A control module, used to determine a first switching gear from the preset vehicle gears according to the comparison result between the candidate vehicle gears, so as to control the vehicle terminal to switch to the first switching gear; The acquisition module is also used for presetting the vehicle gear to include a reference vehicle gear and a plurality of target vehicle gears; if it is detected that the sensor signal output by each gear sensor switches from a gear signal threshold corresponding to the reference vehicle gear to a gear signal threshold corresponding to any target vehicle gear, then determining that the vehicle terminal performs a gear shift operation; The acquisition module determines the alternative vehicle gear corresponding to the normal gear signal, including: if the number of normal working groups is one, matching the threshold values ​​of each single group of signals corresponding to the normal working group according to the normal gear signal, and determining the alternative vehicle gear corresponding to the normal gear signal from each preset vehicle gear according to the matching result; if the number of normal working groups is multiple, splitting the normal gear signal into working sub-signals corresponding to each normal working group, matching the threshold values ​​of each single group of signals corresponding to the working sub-signals according to each working sub-signal, and determining the second vehicle gear corresponding to each working sub-signal from each preset vehicle gear according to the matching result; if any two second vehicle gears are the same, the second vehicle gear is used as the alternative vehicle gear corresponding to the normal gear signal; if there are two different second vehicle gears, the reference vehicle gear is used as the alternative vehicle gear corresponding to the normal gear signal.

11. An electronic device, characterized in that: include: Processor and memory; The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device executes the method according to any one of claims 1 to 9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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