A fault processing method and device, electronic equipment and storage medium

Abstract

The application relates to a fault processing method and device, electronic equipment and a storage medium, and relates to the technical field of computers. The method comprises the following steps: in the case that a rotation speed sensor of a first input shaft is faulty, the gear of a target vehicle at a current moment is acquired, then the target pre-engaged gear is determined based on the gear of the target vehicle at the current moment, the displacement value of a yoke corresponding to the target pre-engaged gear is determined, and in the case that the first distance difference value is greater than or equal to a difference value threshold, the gear of the target vehicle is switched to the target pre-engaged gear. Therefore, the driving performance of the vehicle in the case of fault and the driving experience of the user can be improved, and the vehicle cannot normally drive in the case of fault.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computers, in particular to the technical field of double clutch input shaft speed sensor fault detection, and specifically relates to a fault processing method and device, an electronic device and a storage medium. BACKGROUND

[0002] At present, whether the input shaft speed sensor is faulty can be determined based on the input shaft speed, the output shaft speed and the input shaft speed sensor voltage. When the input shaft speed sensor is faulty, the corresponding clutch is opened so that the vehicle enters the limp mode and drives.

[0003] However, the above method is relatively simple in handling the fault, and the vehicle in the limp mode may not be able to drive normally, thereby reducing the driving performance of the vehicle. SUMMARY

[0004] The present application provides a fault processing method and device, an electronic device and a storage medium to at least solve the technical problem that the related art is relatively simple in handling the fault when the input shaft speed sensor is faulty, the vehicle in the limp mode may not be able to drive normally, and the performance of the vehicle is reduced. The technical solution of the present application is as follows:

[0005] According to a first aspect of the present application, a fault processing method is provided, comprising: in the case that the speed sensor of a first input shaft is faulty, obtaining the gear of a target vehicle at the current time, the speed sensor of the first input shaft being a speed sensor included in the target vehicle, and the first input shaft being an input shaft corresponding to the gear of the target vehicle at the current time; determining a target pre-engagement gear based on the gear of the target vehicle at the current time; determining the displacement value of the fork corresponding to the target pre-engagement gear; and in the case that the first distance difference value is greater than or equal to the difference value threshold, switching the gear of the target vehicle to the target pre-engagement gear, the first distance difference value being the difference value between the displacement value of the target fork and the displacement value of the fork corresponding to the target pre-engagement gear.

[0006] According to the above technical means, in the case that the speed sensor of the first input shaft is faulty, the gear to be switched can be determined, and since each gear corresponds to the position of a fork, the electronic device can switch the gear of the target vehicle to the target pre-engagement gear in the case that the target fork has reached the position of the target pre-engagement gear, so that the target vehicle can still drive normally in the case that the speed sensor of the first input shaft is faulty, and the driving performance of the vehicle in the case of fault and the driving experience of the user are improved.

[0007] In one possible implementation, the above-mentioned determination of the target pre-engaged gear based on the gear position of the target vehicle at the current moment specifically includes: determining a set of pre-engaged gears, the set of pre-engaged gears including a first pre-engaged gear and a second pre-engaged gear, the first pre-engaged gear being less than the gear position of the target vehicle at the current moment, and the second pre-engaged gear being greater than the gear position of the target vehicle at the current moment; determining a first rotational speed of a first input shaft based on the current rotational speed of the output shaft and a first speed ratio, the first speed ratio being the speed ratio corresponding to the first pre-engaged gear; and determining the first pre-engaged gear as the target pre-engaged gear when the first rotational speed of the first input shaft is less than or equal to a rotational speed threshold.

[0008] Based on the aforementioned technical means, this application can determine the high and low pre-engagement gears of the target vehicle. Then, based on the gear ratio corresponding to the low pre-engagement gear and the first rotational speed of the first input shaft calculated from the output shaft, since the first rotational speed of the first input shaft is less than or equal to a speed threshold, it indicates that the first rotational speed of the first input shaft is the speed allowed by the clutch. Therefore, when the calculated first rotational speed of the first input shaft is the speed allowed by the clutch, the electronic device determines the first pre-engagement gear as the target pre-engagement gear, which can improve the accuracy of the target pre-engagement gear determination.

[0009] In one possible implementation, the method further includes: resetting the speed sensor of the first input shaft if the speed sensor of the first input shaft is in an abnormal state; and determining that the speed sensor of the first input shaft is faulty if the speed sensor of the first input shaft is in an abnormal state after the reset.

[0010] According to the above technical means, since the abnormal speed sensor signal of the first input shaft may be caused by the abnormal operation of the speed sensor, the electronic device can reset the speed sensor of the first input shaft when the speed sensor signal of the first input shaft is abnormal. And if the speed sensor of the first input shaft is still in an abnormal state after the reset, it can be determined that the speed sensor of the first input shaft cannot be used normally at the current moment. At this time, the electronic device can determine that the speed sensor of the first input shaft is faulty, which can improve the accuracy of the fault determination.

[0011] In a possible implementation, the method further includes: determining that the speed sensor of the first input shaft is in the abnormal state when the first speed ratio value, which is used to represent a difference between the current speed of the first input shaft and the current speed of the output shaft, is greater than or equal to a speed ratio value threshold, and a second speed ratio value, which is used to represent a difference between the current speed of the first input shaft and the current speed of a second input shaft, is greater than or equal to the speed ratio value threshold, the second input shaft being an input shaft of the target vehicle other than the first input shaft; and determining that the speed sensor of the first input shaft is in the abnormal state when a first time length, which is a duration for which the speed sensor of the first input shaft is in the abnormal state, is greater than or equal to a time length threshold.

[0012] According to the technical solution described above, since the first speed ratio value is used to represent a difference between the current speed of the first input shaft and the current speed of the output shaft, and the second speed ratio value is used to represent a difference between the current speed of the first input shaft and the current speed of the second input shaft, when the difference between the current speed of the first input shaft and the current speed of the output shaft is large, and the difference between the current speed of the first input shaft and the current speed of the second input shaft is large, it is determined that the current speed of the first input shaft is abnormal, and when the time for which the current speed of the first input shaft is abnormal is long, it is determined that the speed sensor of the first input shaft is in the abnormal state, which can improve the accuracy of determining the abnormal state of the speed sensor of the first input shaft.

[0013] In a possible implementation, the method further includes: determining a first calculated speed of the output shaft by multiplying the second speed ratio and the current speed of the first input shaft, where the second speed ratio is a speed ratio corresponding to a gear of the target vehicle at the current time; and determining the first speed ratio value based on the first calculated speed of the output shaft and the current speed of the output shaft.

[0014] According to the technical solution described above, since the first calculated speed of the output shaft is a product of the first speed ratio and the current speed of the first input shaft, the electronic device can accurately determine the difference between the current speed of the first input shaft and the current speed of the output shaft based on the first calculated speed of the output shaft and the current speed of the output shaft.

[0015] According to a second aspect provided in the present application, a fault processing apparatus is provided, comprising an obtaining unit, a determining unit and a processing unit; the obtaining unit is configured to, in the case that a speed sensor of a first input shaft is faulty, obtain a gear of a target vehicle at a current time, the speed sensor of the first input shaft being a speed sensor included in the target vehicle, the first input shaft being an input shaft corresponding to the gear of the target vehicle at the current time; the determining unit is configured to determine a target pre-engagement gear based on the gear of the target vehicle at the current time; the determining unit is further configured to determine a displacement value of a fork corresponding to the target pre-engagement gear; and the processing unit is configured to, in the case that a first distance difference value is greater than or equal to a distance difference threshold value, switch the gear of the target vehicle to the target pre-engagement gear, the first distance difference value being a difference value between the displacement value of the target fork and the displacement value of the fork corresponding to the target pre-engagement gear.

[0016] In a possible implementation, the determining unit is specifically configured to determine a pre-engagement gear set, the pre-engagement gear set including a first pre-engagement gear and a second pre-engagement gear, the first pre-engagement gear being smaller than the gear of the target vehicle at the current time, and the second pre-engagement gear being greater than the gear of the target vehicle at the current time; the determining unit is further specifically configured to determine a first speed of the first input shaft based on a current speed of the output shaft and a first speed ratio, the first speed ratio being a speed ratio corresponding to the first pre-engagement gear; and the determining unit is further specifically configured to, in the case that the first speed of the first input shaft is less than or equal to a speed threshold value, determine the first pre-engagement gear as the target pre-engagement gear.

[0017] In a possible implementation, the processing unit is further configured to, in the case that the speed sensor of the first input shaft is in an abnormal state, perform a reset processing on the speed sensor of the first input shaft; and the determining unit is further configured to, in the case that the speed sensor of the first input shaft is in the abnormal state after the reset processing, determine that the speed sensor of the first input shaft is faulty.

[0018] In a possible implementation, the determining unit is further configured to, in the case that a first speed ratio value is greater than or equal to a speed ratio threshold value, and a second speed ratio value is greater than or equal to the speed ratio threshold value, determine that the speed sensor of the first input shaft is in a to-be-determined abnormal state, the first speed ratio value being used to represent a difference degree between a current speed of the first input shaft and a current speed of the output shaft, and the second speed ratio value being used to represent a difference degree between the current speed of the first input shaft and a current speed of a second input shaft, the second input shaft being an input shaft of the target vehicle other than the first input shaft; and the determining unit is further configured to, in the case that a first time length is greater than or equal to a time length threshold value, determine that the speed sensor of the first input shaft is in the abnormal state, the first time length being a duration of the speed sensor of the first input shaft being in the to-be-determined abnormal state.

[0019] In a possible implementation, the determining unit is further configured to determine a product of the second gear ratio and the current rotating speed of the first input shaft as a first calculated rotating speed of the output shaft, where the second gear ratio is a gear ratio corresponding to a gear of the target vehicle at the current time; and determine the first gear ratio value based on the first calculated rotating speed of the first input shaft and the current rotating speed of the output shaft.

[0020] According to a third aspect provided in the present application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method of the first aspect and any possible implementation thereof.

[0021] According to a fourth aspect provided in the present application, a computer-readable storage medium is provided, when instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the method of the first aspect and any possible implementation thereof.

[0022] According to a fifth aspect provided in the present application, a computer program product is provided, the computer program product comprises computer instructions, when the computer instructions are executed on an electronic device, the electronic device performs the method of the first aspect and any possible implementation thereof.

[0023] According to a sixth aspect provided in the present application, a vehicle is provided, comprising: the electronic device of the third aspect.

[0024] Therefore, the above technical features of the present application have the following beneficial effects:

[0025] (1) The electronic device can determine the gear to be switched in the case of failure of the rotating speed sensor of the first input shaft, and since each gear corresponds to the position of a fork, the electronic device can switch the gear of the target vehicle to the target pre-engaged gear in the case that the target fork has reached the position of the target pre-engaged gear, which can ensure that the target vehicle can still travel normally in the case of failure of the rotating speed sensor of the first input shaft, and improve the driving performance of the vehicle in the case of failure and the driving experience of the user.

[0026] (2) The electronic device can determine the high pre-engaged gear and the low pre-engaged gear of the target vehicle, and then determine the first pre-engaged gear based on the low pre-engaged gear corresponding to the gear ratio and the calculated first rotating speed of the first input shaft of the output shaft. Since the first rotating speed of the first input shaft is less than or equal to the rotating speed threshold in the case that the first rotating speed of the first input shaft is less than or equal to the rotating speed threshold, it is indicated that the first rotating speed of the first input shaft is the allowable rotating speed of the clutch, and therefore, the electronic device can determine the first pre-engaged gear as the target pre-engaged gear in the case that the calculated first rotating speed of the first input shaft is the allowable rotating speed of the clutch, which can improve the accuracy of the determination of the target pre-engaged gear.

[0027] (3) Since the speed sensor signal abnormality of the first input shaft can be caused by the abnormal operation of the speed sensor, the electronic device can reset the speed sensor of the first input shaft in the case of the speed sensor signal abnormality of the first input shaft, and determine that the speed sensor of the first input shaft cannot be normally used at the current time in the case that the speed sensor of the first input shaft is still in the abnormal state after the reset, so that the electronic device can determine the fault of the speed sensor of the first input shaft, and the accuracy of the fault determination can be improved.

[0028] (4) Since the first speed ratio is used to represent the difference between the current speed of the first input shaft and the current speed of the output shaft, and the second speed ratio is used to represent the difference between the current speed of the first input shaft and the current speed of the second input shaft, in the case that the difference between the current speed of the first input shaft and the current speed of the output shaft is large, and the difference between the current speed of the first input shaft and the current speed of the second input shaft is large, it is determined that the current speed of the first input shaft is abnormal, and in the case that the time of the abnormal current speed of the first input shaft is long, it is determined that the speed sensor of the first input shaft is in the abnormal state, so that the accuracy of the determination of the abnormal state of the speed sensor of the first input shaft can be improved.

[0029] (5) Since the first calculated speed of the output shaft is the product of the first speed ratio and the current speed of the first input shaft, the electronic device can accurately determine the difference between the current speed of the first input shaft and the current speed of the output shaft based on the first calculated speed of the output shaft and the current speed of the output shaft.

[0030] It should be noted that the technical effects brought by any one of the implementation manners of the second aspect to the sixth aspect can be referred to the technical effects brought by the corresponding implementation manners in the first aspect, which will not be repeated here.

[0031] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0032] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application; they should not be taken as undue limitations on the application, as illustrated in the description.

[0033] Figure 1 is a flowchart of a fault processing method according to an exemplary embodiment;

[0034] Figure 2is a schematic diagram of a shift fork gear control according to an exemplary embodiment;

[0035] Figure 3 is a schematic diagram of yet another shift fork gear control according to an exemplary embodiment;

[0036] Figure 4 is a schematic diagram of a reset process according to an exemplary embodiment;

[0037] Figure 5 is a flowchart of yet another fault handling method according to an exemplary embodiment;

[0038] Figure 6 is a block diagram of a fault handling apparatus according to an exemplary embodiment;

[0039] Figure 7 is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0040] In order for those skilled in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings.

[0041] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of devices and methods consistent with some aspects of the present application, as detailed in the appended claims.

[0042] At present, a dual clutch transmission system is composed of two clutches, one set of clutches controls odd-numbered shaft gears, and the other set of clutches controls even-numbered shaft gears. When one set of clutches is working, the other set of clutches is in an open state. When the transmission is working, one set of gears is engaged, and when upshifting or downshifting is required, the other set of gears is first engaged, and then the two sets of clutches are switched to achieve gear shifting without power interruption. During transmission travel, a transmission control unit (TCU) needs to control clutch engagement, separation, and sliding according to power source speed, transmission input shaft speed, output shaft speed, etc., as well as shift fork gear control. When the transmission input shaft speed sensor fails, the fault input shaft speed sensor corresponding shaft cannot travel normally, and the vehicle performance is affected.

[0043] Therefore, it is necessary to develop a transmission input shaft speed sensor fault detection and processing method to ensure that the transmission electronic control unit can correctly detect the input shaft speed sensor fault and identify the fault trigger mechanism, and make reasonable post-processing based on the transmission hardware characteristics, to ensure that the transmission can continue to limp driving under fault. In related technologies, whether the sensor is failed can be judged based on the inner input shaft speed, the output shaft speed and the inner input shaft speed sensor voltage, and after failure, the corresponding clutch is opened to make the vehicle enter the limp mode, and the fault processing is relatively simple, the vehicle performance is greatly reduced after entering the limp mode, and the user use is affected. Or the speed sensor fault is judged based on the speed sensor voltage and the speed change rate, and there is no any fault processing.

[0044] The present application provides a fault processing method, which judges whether the transmission input shaft speed sensor is faulty based on transmission information and makes the most reasonable processing method, to ensure that the transmission can work with optimal performance under fault mode, and improve the user driving satisfaction.

[0045] For ease of understanding, the fault processing method provided by the present application is specifically introduced below in combination with the drawings.

[0046] Figure 1 is a flow chart of a fault processing method according to an exemplary embodiment, as shown in Figure 1 The fault processing method includes the following steps:

[0047] S101, in the case of failure of the speed sensor of the first input shaft, the electronic device acquires the gear of the target vehicle at the current time.

[0048] Among them, the speed sensor of the first input shaft is a speed sensor included in the target vehicle, and the first input shaft is the input shaft corresponding to the gear of the target vehicle at the current time.

[0049] It should be understood that in the case of failure of the speed sensor of the first input shaft, it is explained that the speed of the first input shaft output by the speed sensor of the first input shaft is abnormal, at this time, the electronic device cannot determine which gear the target vehicle should use based on the abnormal speed of the first input shaft, resulting in that the target vehicle cannot normally drive, at this time, the electronic device can first acquire the gear of the target vehicle at the current time.

[0050] S102, the electronic device determines the target pre-engaged gear based on the gear of the target vehicle at the current time.

[0051] It should be understood that the target pre-engaged gear is the gear to be switched by the target vehicle.

[0052] In the embodiment of the present application, in the case of failure of the rotation speed sensor of the first input shaft, the electronic device can make a pre-shift gear request.

[0053] Specifically, the electronic device needs to ensure that the odd shaft shift fork gear and the even shaft shift fork gear of the transmission of the target vehicle are both in the engaged state, when the gear of the target vehicle at the current moment is an odd shaft gear, the target pre-shift gear is an even shaft gear, and when the gear of the target vehicle at the current moment is an odd-even shaft gear, the target pre-shift gear is an odd shaft gear.

[0054] In S103, the electronic device determines the displacement value of the shift fork corresponding to the target pre-shift gear.

[0055] In the embodiment of the present application, in the case of failure of the rotation speed sensor of the first input shaft, the electronic device can also perform shift fork gear engagement control on the target vehicle, and the shift fork gear engagement control method generally includes three stages, i.e., a pre-synchronization stage, a synchronization stage, and a gear engagement stage.

[0056] Specifically, in the pre-synchronization stage, the electronic device can control the shift fork to push the synchronizer ring included in the synchronizer to contact the synchronizer cone included in the synchronizer; in the synchronization stage, the electronic device can control the shift fork to push the synchronizer ring to contact the synchronizer cone to generate a friction torque, and then reduce the rotation speed difference between the rotation speed of the first input shaft and the rotation speed of the output shaft, so that the ratio between the rotation speed of the first input shaft and the rotation speed of the second output shaft is the same as the speed ratio corresponding to the target pre-shift gear; in the gear engagement stage, the electronic device can push the synchronizer sleeve to align the synchronizer ring, and push the synchronizer sleeve to pass through the synchronizer ring and the engagement teeth to complete the gear engagement action.

[0057] It should be noted that after the shift fork is disengaged, the rotation speed of the first input shaft cannot be calculated through the speed ratio and the rotation speed of the output shaft, so the electronic device can obtain the displacement value of the target pre-shift gear, and through the displacement value of the target shift fork and the displacement value of the target pre-shift gear, determine that the ratio between the rotation speed of the first input shaft and the rotation speed of the second output shaft is the same as the speed ratio corresponding to the target pre-shift gear, i.e., the synchronization stage is completed, and the gear engagement operation can be performed.

[0058] It should be understood that the displacement values of the shift forks corresponding to different gears are different, and the displacement value of the shift fork corresponding to an empty gear is the distance between the position of the shift fork corresponding to the empty gear and the position of the shift fork corresponding to the gear.

[0059] In the embodiments of the present application, the position of the shift fork corresponding to one gear can also be understood as the synchronization point of the shift fork corresponding to the gear, and the displacement value of the shift fork corresponding to one gear can also be understood as the synchronization displacement of the shift fork corresponding to the gear. The electronic device can acquire the synchronization points of the shift forks corresponding to each gear when the rotation speed sensor of the first input shaft is in a normal state, and then determine the displacement value of the shift fork corresponding to the gear based on the synchronization points.

[0060] In an optional implementation, the electronic device can determine the synchronization displacement based on the synchronization device movement characteristics. During the synchronization process, the shift fork displacement remains unchanged, and the speed difference slowly decreases to 0. The average value of the synchronization speed difference in the range of 20% to 80% is taken as the average value of the synchronization displacement range as the synchronization point.

[0061] In the case where the first distance difference value is greater than or equal to the difference value threshold, the electronic device switches the gear of the target vehicle to the target pre-engaged gear.

[0062] The first distance difference value is the difference between the displacement value of the target shift fork and the displacement value of the shift fork corresponding to the target pre-engaged gear.

[0063] It should be understood that, in the case where the first distance difference value is greater than or equal to the difference value threshold, it indicates that the displacement value of the target shift fork is greater than or equal to the displacement value of the target pre-engaged gear, and the target shift fork has reached the position of the target pre-engaged gear. At this time, the electronic device can switch the gear of the target vehicle to the target pre-engaged gear.

[0064] In an optional implementation, the electronic device can control the shift fork engagement force to increase by a preset slope every period in the synchronization stage, so as to push the target shift fork to move, while the displacement value of the target shift fork is detected in real time.

[0065] As shown in Figure 2 , it is an example of the shift fork engagement control provided by the embodiments of the present application. Specifically, Figure 2 , the horizontal coordinate of the coordinate system represents the time, and the vertical coordinate represents the shift fork displacement. The line L1 represents the displacement value of the target shift fork.

[0066] As shown in Figure 2 , the time t1-t2 is the pre-synchronization stage, t2-t4 is the synchronization stage, and t4-t5 is the gear advancing stage. The difference between the displacement value of the target shift fork and the synchronization point is equal to the difference value threshold at time t3. At this time, the electronic device can start to enter the gear advancing stage and determine that the gear advancing stage is entered at time t4. After the gear advancing stage is completed, i.e., at time t5, the electronic device can switch the gear of the target vehicle to the target pre-engaged gear.

[0067] In combination with Figure 2 , as shown in Figure 3 , the electronic device can control the shift fork engagement force to increase by a preset slope every period in the synchronization stage, so as to push the target shift fork to move, while the displacement value of the target shift fork is detected in real time.As shown, the ordinate is used to represent the engagement force, and in the pre-synchronization stage, the engagement force is F1, and in the synchronization stage, the engagement force is periodically increased according to the slope k, that is, the engagement force in the first period is F1+k, the engagement force in the second period is F1+k+k, the engagement force in the third period is F1+k+k+k, the engagement force in the fourth period is F1+k+k+k+k, the engagement force in the fifth period is F1+k+k+k+k+k, and the engagement force in the sixth period is F1+k+k+k+k+k, and the shift fork displacement is detected in real time, and the target shift fork position is determined by combining the target pre-engagement gear position and the target shift fork displacement. Figure 2 At t3, the synchronization is completed, at t4, the shift-in stage is entered, the shift-in operation is performed with the engagement force F2, and at t5, the shift-in operation is completed to switch the target vehicle gear to the target pre-engagement gear.

[0068] In the embodiments of the present application, the electronic device can determine the gear to be switched in the case of failure of the speed sensor of the first input shaft, and since each gear corresponds to the position of a shift fork, the electronic device can switch the target vehicle gear to the target pre-engagement gear in the case that the target shift fork has reached the position of the target pre-engagement gear, which can ensure that the target vehicle can still travel normally in the case of failure of the speed sensor of the first input shaft, and improve the driving performance of the vehicle in the case of failure and the driving experience of the user.

[0069] In some embodiments, the electronic device determines the target pre-engagement gear based on the gear of the target vehicle at the current time, which can specifically include the following steps:

[0070] S1021, the electronic device determines a pre-engagement gear set.

[0071] The pre-engagement gear set includes a first pre-engagement gear and a second pre-engagement gear, the first pre-engagement gear is less than the gear of the target vehicle at the current time, and the second pre-engagement gear is greater than the gear of the target vehicle at the current time.

[0072] It should be understood that the target vehicle can be switched to a higher gear or a lower gear during driving.

[0073] In some embodiments, the electronic device can determine the pre-engagement gear set based on the gear of the target vehicle at the current time, wherein the first pre-engagement gear can be understood as a low pre-engagement gear, and the gear value of the low pre-engagement gear is one less than the gear of the target vehicle at the current time, and the second pre-engagement gear can be understood as a high pre-engagement gear, and the gear value of the high pre-engagement gear is one more than the gear of the target vehicle at the current time.

[0074] S1022, the electronic device determines the first speed of the first input shaft based on the current speed of the output shaft and the first speed ratio.

[0075] The first speed ratio is a speed ratio corresponding to the first pre-engagement gear.

[0076] Specifically, the electronic device determines a product of the current rotation speed of the output shaft and the first speed ratio as the first rotation speed of the first input shaft.

[0077] In a case where the first rotation speed of the first input shaft is less than or equal to the rotation speed threshold, the electronic device determines the first pre-engagement gear as the target pre-engagement gear.

[0078] It should be understood that the rotation speed threshold is used to represent the maximum allowable clutch rotation speed, and in a case where the first rotation speed of the first input shaft is less than or equal to the rotation speed threshold, it means that the first rotation speed of the first input shaft is the rotation speed allowed by the clutch, at this time, the electronic device can determine the first pre-engagement gear as the target pre-engagement gear.

[0079] In some embodiments, in a case where the first rotation speed of the first input shaft is greater than the rotation speed threshold, it means that the first rotation speed of the first input shaft is not the rotation speed allowed by the clutch, at this time, the electronic device can determine the second rotation speed of the first input shaft based on a product of the output shaft rotation speed and a speed ratio corresponding to the second pre-engagement gear, and in a case where the second rotation speed of the first input shaft is less than or equal to the rotation speed threshold, determine the second pre-engagement gear as the target pre-engagement gear.

[0080] In some embodiments, the electronic device can preferentially determine the first pre-engagement gear (i.e., the low pre-engagement gear) as the target pre-engagement gear, and in a case where the first rotation speed of the first input shaft is greater than the rotation speed threshold, determine the second pre-engagement gear (i.e., the high pre-engagement gear) as the target pre-engagement gear.

[0081] In the embodiments of the present application, the electronic device can determine the high pre-engagement gear and the low pre-engagement gear of the target vehicle, and then determine the first pre-engagement gear as the target pre-engagement gear based on the speed ratio corresponding to the low pre-engagement gear and the calculated first rotation speed of the first input shaft of the output shaft. Since in a case where the first rotation speed of the first input shaft is less than or equal to the rotation speed threshold, it means that the first rotation speed of the first input shaft is the rotation speed allowed by the clutch, the electronic device determines the first pre-engagement gear as the target pre-engagement gear in a case where the calculated first rotation speed of the first input shaft is the rotation speed allowed by the clutch, which can improve the accuracy of determining the target pre-engagement gear.

[0082] Secondly, since the electronic device preferentially determines the first pre-engagement gear (i.e., the low pre-engagement gear) as the target pre-engagement gear, the safety of the target vehicle in a case where the rotation speed sensor of the first input shaft fails can be improved.

[0083] In some embodiments, the fault processing method provided by the embodiments of the present application further includes the following steps:

[0084] S105, in a case where the rotation speed sensor of the first input shaft is in an abnormal state, the electronic device performs reset processing on the rotation speed sensor of the first input shaft.

[0085] In the embodiment of the present application, in a case where the signal of the rotation speed sensor of the first input shaft is abnormal, the electronic device can determine that the rotation speed sensor of the first input shaft is in an abnormal state.

[0086] It can be understood that, since the rotation speed sensor detects pulses by a Hall sensor and calculates the rotation speed, the possible reasons for the abnormal signal of the rotation speed sensor of the first input shaft include abnormality of the transmission hardware shaft system, abnormality of the sensor, abnormality of the electronic control unit, and abnormality of the sensor-related electrical harness, and therefore, in a case where the signal of the rotation speed sensor of the first input shaft is abnormal, the electronic device can determine whether the rotation speed sensor of the first input shaft is in an abnormal state due to abnormality of the rotation speed sensor of the first input shaft by resetting.

[0087] In some embodiments, the reset processing performed by the electronic device on the rotation speed sensor of the first input shaft specifically includes: the electronic device turns off the power supply voltage of the rotation speed sensor of the first input shaft, and then turns on the power supply voltage of the sensor after a preset time period.

[0088] S106, in a case where the rotation speed sensor of the first input shaft is in an abnormal state after the reset processing, the electronic device determines that the rotation speed sensor of the first input shaft is faulty.

[0089] It should be understood that, after the reset processing on the rotation speed sensor of the first input shaft, the electronic device can again detect whether the rotation speed sensor of the first input shaft is in an abnormal state.

[0090] It can be understood that, in a case where the rotation speed sensor of the first input shaft is still in an abnormal state after the reset, it indicates that the reason why the rotation speed sensor of the first input shaft is in an abnormal state is not abnormality of the voltage of the rotation speed sensor of the first input shaft, and at this time, the electronic device can determine that the rotation speed sensor of the first input shaft cannot work normally and that the rotation speed sensor of the first input shaft is faulty.

[0091] In some embodiments, in a case where the rotation speed sensor of the first input shaft is in a normal state after the reset, it indicates that the abnormality of the rotation speed sensor of the first input shaft is caused by the rotation speed sensor itself and has been restored to normal, and at this time, the electronic device can determine that the target vehicle can normally travel according to the original gear and shifting mode.

[0092] For example, as shown in FIG. 1, an example of reset processing provided by the embodiment of the present application is shown, and specifically, Figure 4 Figure 4 ​The coordinate system shown in the figure represents time on the horizontal axis, the speed ratio on the vertical axis, the first speed ratio on line L2, the second speed ratio on line L3, and the speed ratio threshold on line P1.

[0093] like Figure 4 As shown, at time t6, the first speed ratio is equal to the speed ratio threshold, and the second speed ratio is equal to the speed ratio threshold. The electronic device turns off the voltage of the speed sensor of the first input shaft at time t7 and turns on the voltage of the speed sensor of the first input shaft at time t8. After time t8, the first speed ratio is still greater than the speed ratio threshold, and the second speed ratio is still greater than the speed ratio threshold. At this time, the electronic device can determine that the speed sensor of the first input shaft is faulty.

[0094] In this embodiment, since the abnormal speed sensor signal of the first input shaft may be caused by a malfunction of the speed sensor, the electronic device can reset the speed sensor of the first input shaft when the speed sensor signal of the first input shaft is abnormal. If the speed sensor of the first input shaft is still in an abnormal state after the reset, it can be determined that the speed sensor of the first input shaft cannot be used normally at the current moment. At this time, the electronic device can determine that the speed sensor of the first input shaft is faulty, which can improve the accuracy of the fault determination.

[0095] In some embodiments, the fault handling method provided in this application further includes the following steps:

[0096] S107. If the first speed ratio is greater than or equal to the speed ratio threshold and the second speed ratio is greater than or equal to the speed ratio threshold, the electronic device determines that the speed sensor of the first input shaft is in an abnormal state to be determined.

[0097] The first speed ratio is used to characterize the degree of difference between the current speed of the first input shaft and the current speed of the output shaft, and the second speed ratio is used to characterize the degree of difference between the current speed of the first input shaft and the current speed of the second input shaft, wherein the second input shaft is the input shaft of the target vehicle other than the first input shaft.

[0098] For example, assuming the first input axis is an odd-numbered axis, then the second input axis is an even-numbered axis.

[0099] In this embodiment of the application, the speed ratio threshold is used to characterize the minimum fault percentage.

[0100] It should be understood that, in a case where the first speed ratio value is greater than or equal to the speed ratio threshold value, it indicates that the first speed ratio value is greater than the minimum failure percentage, the difference between the current speed of the first input shaft and the current speed of the target output shaft is relatively large, the current speed of the first input shaft is possibly abnormal, and / or the current speed of the output shaft is abnormal; in a case where the second speed ratio value is greater than or equal to the speed ratio threshold value, it indicates that the second speed ratio value is greater than the minimum failure percentage, the difference between the current speed of the first input shaft and the current speed of the second input shaft is relatively large, the current speed of the first input shaft is possibly abnormal, and / or the current speed of the second input shaft is abnormal.

[0101] It can be understood that, in a case where the first speed ratio value is greater than or equal to the speed ratio threshold value and the second speed ratio value is greater than or equal to the speed ratio threshold value, the electronic device can determine that the current speed of the first input shaft is abnormal, and determine that the speed sensor of the first input shaft is in a to-be-determined abnormal state.

[0102] In some embodiments, in a case where the electronic device determines that the speed sensor of the first input shaft is in the to-be-determined abnormal state, the electronic device can freeze the target gear of the target vehicle at the current time and the pre-engagement gear request of the target vehicle at the current time, while determining a replacement speed of the first input shaft, the replacement speed being used to perform a gear shifting operation based on the replacement speed before the speed sensor of the first input shaft returns to normal.

[0103] Optionally, the electronic device can determine a product of the current speed of the output shaft and a second speed ratio as the replacement speed of the speed sensor of the first input shaft, where the second speed ratio is a speed ratio corresponding to a current gear of the target vehicle.

[0104] S108, in a case where the first time length is greater than or equal to a time length threshold value, the electronic device determines that the speed sensor of the first input shaft is in an abnormal state.

[0105] The first time length is a duration that the speed sensor of the first input shaft is in a to-be-determined abnormal state.

[0106] It should be understood that, in a case where the first time length is greater than or equal to the time length threshold value, it indicates that the current speed of the first input shaft is abnormal for a relatively long time, and at this time, the electronic device can determine that the speed sensor of the first input shaft is in an abnormal state.

[0107] It can be understood that, in the case that the first time length is less than the time length threshold, it is indicated that the current speed of the first input shaft is abnormal for a short time, and the current speed of the first input shaft has been restored to normal in a short time, at this time, the electronic device can determine that the speed sensor of the first input shaft is in a normal state, and the target vehicle normally travels based on the original gear and the shift mode.

[0108] Optionally, the time length threshold can be 1 second.

[0109] In the embodiments of the present application, since the first speed ratio is used to represent the difference between the current speed of the first input shaft and the current speed of the output shaft, and the second speed ratio is used to represent the difference between the current speed of the first input shaft and the current speed of the second input shaft, in the case that the difference between the current speed of the first input shaft and the current speed of the output shaft is large, and the difference between the current speed of the first input shaft and the current speed of the second input shaft is large, it is determined that the current speed of the first input shaft is abnormal, and in the case that the time for which the current speed of the first input shaft is abnormal is long, it is determined that the speed sensor of the first input shaft is in an abnormal state, which can improve the accuracy of the determination of the abnormal state of the speed sensor of the first input shaft.

[0110] In some embodiments, the fault processing method provided by the embodiments of the present application further includes the following steps:

[0111] S109, the electronic device determines the product of the second speed ratio and the current speed of the first input shaft as the first calculated speed of the output shaft.

[0112] It should be understood that the second speed ratio is the speed ratio corresponding to the gear of the target vehicle at the current time.

[0113] S110, the electronic device determines a first speed ratio based on the first calculated speed of the output shaft and the current speed of the output shaft.

[0114] Specifically, the first speed ratio satisfies the following formula:

[0115]

[0116] Wherein, P1 represents the first speed ratio, N1 represents the first calculated speed of the output shaft, and N2 represents the current speed of the output shaft.

[0117] In some embodiments, the electronic device may determine the product of the first speed ratio and the current speed of the second input shaft as the second calculated speed of the output shaft, or determine the product of the speed ratio corresponding to the second pre-engaged gear and the current speed of the second input shaft as the second calculated speed of the output shaft, and then determine the second speed ratio based on the second calculated speed of the output shaft and the first calculated speed of the output shaft.

[0118] Specifically, determine the second speed ratio to satisfy the following formula;

[0119]

[0120] Wherein, P2 represents the first speed ratio, N1 represents the first calculated speed of the output shaft, and N3 represents the second calculated speed of the output shaft.

[0121] In some embodiments, the electronic device can obtain the current rotational speed of the output shaft, the odd-numbered axle shift fork gear and the even-numbered axle shift fork gear of the target vehicle at the current moment, and then execute the fault handling method provided in the embodiments of this application if the current rotational speed of the output shaft is greater than or equal to the minimum detection speed threshold and the target vehicle has a gear in both the odd-numbered axle shift fork gear and the even-numbered axle shift fork gear at the current moment.

[0122] In this embodiment, since the first calculated rotational speed of the output shaft is the product of the first speed ratio and the current rotational speed of the first input shaft, the electronic device can accurately determine the degree of difference between the current rotational speed of the first input shaft and the current rotational speed of the output shaft based on the first calculated rotational speed of the output shaft and the current rotational speed of the output shaft.

[0123] like Figure 5 As shown, assuming the first input axis is an odd-numbered axis, the following example illustrates the fault handling method provided by the embodiments of this application.

[0124] S201, The speed sensor of the first input shaft meets the fault detection conditions.

[0125] Specifically, the detection conditions are: the current speed of the output shaft is greater than or equal to the minimum detection speed threshold, and the target vehicle has a gear in both the odd-numbered shaft shift fork and the even-numbered shaft shift fork at the current moment.

[0126] If the speed sensor of the first input shaft meets the fault detection conditions, execute S202; if the speed sensor of the first input shaft does not meet the fault detection conditions, do not detect whether the speed sensor of the first input shaft is faulty.

[0127] S202. Is the speed sensor signal of the first input shaft abnormal?

[0128] Specifically, the electronic device determines that the rotation speed sensor signal of the first input shaft is abnormal in a case where the first rotation speed ratio value is greater than or equal to the rotation speed ratio value threshold and the second rotation speed ratio value is greater than or equal to the rotation speed ratio value threshold.

[0129] In a case where the rotation speed sensor signal of the first input shaft is abnormal, S203 is performed, and in a case where the rotation speed sensor signal of the first input shaft is normal, S201 is performed.

[0130] S203, freezing the target gear and the pre-engagement gear request, and calculating a replacement value of the rotation speed sensor of the first input shaft.

[0131] It should be understood that the target gear is the gear of the target vehicle at the current moment, and the pre-engagement gear request is the pre-engagement gear request of the target vehicle at the current moment, and the pre-engagement gear request includes a first pre-engagement gear and a second pre-engagement gear.

[0132] S204, whether the duration of the abnormality of the rotation speed sensor of the first input shaft is greater than or equal to a preset duration threshold.

[0133] In a case where the duration is greater than or equal to the preset duration threshold, S205 is performed, and in a case where the duration is less than the preset duration threshold, S204 is performed.

[0134] S205, determining that the rotation speed sensor of the first input shaft is in an abnormal state at this time, and controlling the rotation speed sensor of the first input shaft to reset.

[0135] Specifically, the electronic device controls the rotation speed sensor power supply voltage of the first input shaft to be turned off, waits for a certain period of time, and then turns on the rotation speed sensor power supply voltage.

[0136] S206, whether the rotation speed sensor signal of the first input shaft is restored to normal.

[0137] Specifically, the electronic device can re-detect whether the first rotation speed ratio value is greater than or equal to the rotation speed ratio value threshold and whether the second rotation speed ratio value is greater than or equal to the rotation speed ratio value threshold.

[0138] In a case where the rotation speed sensor signal of the first input shaft is restored to normal, S207 is performed, and in a case where the rotation speed sensor of the first input shaft is not restored to normal, S208 is performed.

[0139] S207, determining that the rotation speed sensor of the first input shaft is in a normal state at this time, canceling the freezing of the current gear and the pre-engagement gear request, and calculating the rotation speed of the first input shaft based on the rotation speed sensor of the first input shaft.

[0140] Specifically, in a case where the rotation speed sensor of the first input shaft is in a normal state, the electronic device performs gear shifting based on the rotation speed sensor signal of the first input shaft.

[0141] S208, in a case where the rotation speed sensor of the first input shaft is determined to be in a fault state, performing a pre-gear engagement request and a fork gear engagement control.

[0142] Specifically, the electronic device determines a target pre-engaged gear, and in a case where the first distance difference value is greater than or equal to a distance difference threshold value, switches the gear of the target vehicle to the target pre-engaged gear.

[0143] The above mainly describes the solutions provided by the embodiments of the present application from the perspective of methods. In order to implement the above functions, the fault processing device or the electronic device includes the hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0144] The embodiments of the present application can divide the fault processing device or the electronic device into functional modules according to the above method, for example, the fault processing device or the electronic device can include each functional module corresponding to each function division, or two or more functions can be integrated into one processing module. The above integrated module can be realized in the form of hardware or in the form of a software functional module. It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical function division. Actual implementation can have another division method.

[0145] Figure 6 is a block diagram of a fault processing device according to an example embodiment. Referring to Figure 6 The fault processing device 10 includes an acquisition unit 101, a determination unit 102, and a processing unit 103.

[0146] The acquisition unit 101 is configured to, in a case where a rotation speed sensor of a first input shaft is faulty, acquire a gear of a target vehicle at a current time, the rotation speed sensor of the first input shaft being a rotation speed sensor included in the target vehicle, the first input shaft being an input shaft corresponding to the gear of the target vehicle at the current time.

[0147] The determination unit 102 is configured to determine a target pre-engaged gear based on the gear of the target vehicle at the current time.

[0148] The determining unit 102 is further configured to determine a displacement value of the shift fork corresponding to the target pre-engaged gear.

[0149] The processing unit 103 is configured to switch the gear of the target vehicle to the target pre-engaged gear in a case where a first distance difference value is greater than or equal to a distance difference threshold value, the first distance difference value being a difference value between the displacement value of the target shift fork and the displacement value of the target pre-engaged gear shift fork.

[0150] The fault processing device provided by the embodiments of the present application can determine the gear to be switched in a case where the rotation speed sensor of the first input shaft is faulty, and since each gear corresponds to the position of a shift fork, the electronic device can switch the gear of the target vehicle to the target pre-engaged gear in a case where the target shift fork has reached the position of the target pre-engaged gear, so that the target vehicle can still travel normally in a case where the rotation speed sensor of the first input shaft is faulty, and the driving performance of the vehicle in a fault state and the driving experience of the user are improved.

[0151] In a possible implementation, the determining unit 102 is specifically configured to determine a pre-engaged gear set, the pre-engaged gear set including a first pre-engaged gear and a second pre-engaged gear, the first pre-engaged gear being smaller than the gear of the target vehicle at the current time, and the second pre-engaged gear being greater than the gear of the target vehicle at the current time.

[0152] The determining unit 102 is further specifically configured to determine a first rotation speed of the first input shaft based on the current rotation speed of the output shaft and a first speed ratio, the first speed ratio being a speed ratio corresponding to the first pre-engaged gear.

[0153] The determining unit 102 is further specifically configured to determine the first pre-engaged gear as the target pre-engaged gear in a case where the first rotation speed of the first input shaft is less than or equal to a rotation speed threshold value.

[0154] In a possible implementation, the processing unit 103 is further configured to perform reset processing on the rotation speed sensor of the first input shaft in a case where the rotation speed sensor of the first input shaft is in an abnormal state.

[0155] The determining unit 102 is further configured to determine that the rotation speed sensor of the first input shaft is faulty in a case where the rotation speed sensor of the first input shaft after the reset processing is in an abnormal state.

[0156] In a possible implementation, the determining unit 102 is further configured to determine that the rotation speed sensor of the first input shaft is in the abnormal state when the first rotation speed ratio value, which is used to represent a degree of difference between the current rotation speed of the first input shaft and the current rotation speed of the output shaft, is greater than or equal to a rotation speed ratio value threshold, and the second rotation speed ratio value, which is used to represent a degree of difference between the current rotation speed of the first input shaft and the current rotation speed of a second input shaft, is greater than or equal to the rotation speed ratio value threshold, the second input shaft being an input shaft of the target vehicle other than the first input shaft.

[0157] The determining unit 102 is further configured to determine that the rotation speed sensor of the first input shaft is in the abnormal state when a first time length, which is a duration that the rotation speed sensor of the first input shaft is in the abnormal state, is greater than or equal to a time length threshold.

[0158] In a possible implementation, the determining unit 102 is further configured to determine a first calculated rotation speed of the output shaft as a product of the second speed ratio and the current rotation speed of the first input shaft, where the second speed ratio is a speed ratio corresponding to a gear of the target vehicle at the current time.

[0159] The determining unit 102 is further configured to determine the first rotation speed ratio value based on the first calculated rotation speed of the output shaft and the current rotation speed of the output shaft.

[0160] As to the apparatus in the above-mentioned embodiments, the specific manners in which various modules perform operations have been described in detail in the embodiments of the method, and thus will not be described here in detail.

[0161] Figure 7 is a block diagram of an electronic device according to an example embodiment. As shown in Figure 7 The electronic device 20 includes, but is not limited to, a processor 201 and a memory 202.

[0162] The memory 202 is configured to store executable instructions of the processor 201. It can be understood that the processor 201 is configured to execute the instructions to implement the fault processing method in the above-mentioned embodiments.

[0163] It should be noted that those skilled in the art can understand Figure 7 that the electronic device structure shown in the above-mentioned embodiments does not constitute a limitation on the electronic device, and the electronic device can include more or fewer components than Figure 7 those shown, or combine certain components, or have different arrangement of components.

[0164] The processor 201 is the control center of the electronic device, connects each part of the whole electronic device by various interfaces and lines, executes various functions of the electronic device and processes data by running or executing software programs and / or modules stored in the memory 202 and calling data stored in the memory 202, thereby overall monitoring the electronic device. The processor 201 can include one or more processing units. Alternatively, the processor 201 can integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface and application program, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 201.

[0165] The memory 202 can be used to store software programs and various data. The memory 202 can mainly include a program storage area and a data storage area, wherein the program storage area can store the operating system, the application programs (such as determination unit, processing unit, etc.) required by at least one function module, etc. In addition, the memory 202 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device.

[0166] In the example embodiment, a computer readable storage medium including instructions is also provided, for example, the memory 202 including instructions, which can be executed by the processor 201 of the electronic device 20 to implement the method in the above embodiment.

[0167] In actual implementation, Figure 6 The functions of the acquisition unit 101, the determination unit 102 and the processing unit 103 in the above embodiment can be realized by the processor 201 calling the computer program stored in the memory 202. Figure 7 The specific execution process can refer to the description of the method part in the above embodiment, which will not be described here.

[0168] Alternatively, the computer readable storage medium can be a non-transitory computer readable storage medium, for example, the non-transitory computer readable storage medium can be a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a CD-ROM, a magnetic tape, a floppy disk and an optical data storage device, etc.

[0169] In the example embodiment, the embodiment of the present application also provides a vehicle, which includes the above electronic device.

[0170] In an example embodiment, the embodiments of the present application also provide a computer program product comprising one or more instructions executable by the processor 201 of the electronic device to perform the method in the above embodiments.

[0171] It should be noted that the instructions in the above computer-readable storage medium or the one or more instructions in the computer program product are executed by the processor of the electronic device to realize each process of the above method embodiments, and the same technical effects as the above method can be achieved. To avoid repetition, it will not be described here.

[0172] Through the description of the above embodiments, those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of functional modules is taken as an example for illustration. In actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete the above-described full classification or partial function.

[0173] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0174] The units described as separate components can or can not be physically separated, and the components displayed as units can be one physical unit or multiple physical units, that is, they can be located in one place or distributed to multiple different places. Part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.

[0175] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0176] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application essentially or say the part that contributes to the prior art or the whole classification part or part of the technical solutions can be embodied in the form of a software product. The software product is stored in a storage medium, including a plurality of instructions to make a device (which can be a single-chip microcomputer, a chip, etc.) or a processor execute the whole classification part or part of the steps of the method of each embodiment of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various storage program codes.

[0177] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any change or replacement within the technical scope disclosed in the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A failure handling method characterized by, The method comprises: In the case of a failure of a speed sensor of a first input shaft, obtaining a gear position of a target vehicle at a current time, the speed sensor of the first input shaft being a speed sensor included in the target vehicle, the first input shaft being an input shaft corresponding to the gear position of the target vehicle at the current time; determining a set of pre-engaged gear positions, the set of pre-engaged gear positions including a first pre-engaged gear position and a second pre-engaged gear position, the first pre-engaged gear position being smaller than the gear position of the target vehicle at the current time, and the second pre-engaged gear position being greater than the gear position of the target vehicle at the current time; determining a first speed of the first input shaft based on a current speed of an output shaft and a first speed ratio, the first speed ratio being a speed ratio corresponding to the first pre-engaged gear position; in the case that the first speed of the first input shaft is less than or equal to a speed threshold, determining that the first pre-engaged gear position is a target pre-engaged gear position; determining a displacement value of a shift fork corresponding to the target pre-engaged gear position; in the case that the first distance difference value is greater than or equal to a difference threshold, switching the gear position of the target vehicle to the target pre-engaged gear position, the first distance difference value being a difference between the displacement value of the target shift fork and the displacement value of the shift fork corresponding to the target pre-engaged gear position.

2. The failure handling method according to claim 1, characterized by, The method further comprises: in the case that the speed sensor of the first input shaft is in an abnormal state, resetting the speed sensor of the first input shaft; in the case that the speed sensor of the first input shaft is in an abnormal state after the resetting, determining that the speed sensor of the first input shaft is faulty.

3. The failure handling method according to claim 2, characterized by, The method further comprises: in the case that the first speed ratio value is greater than or equal to a speed ratio threshold, and the second speed ratio value is greater than or equal to the speed ratio threshold, determining that the speed sensor of the first input shaft is in a to-be-determined abnormal state, the first speed ratio value being used to represent a difference between the current speed of the first input shaft and the current speed of the output shaft, and the second speed ratio value being used to represent a difference between the current speed of the first input shaft and the current speed of a second input shaft, the second input shaft being an input shaft of the target vehicle other than the first input shaft; in the case that the first time length is greater than or equal to a time length threshold, determining that the speed sensor of the first input shaft is in an abnormal state, the first time length being a duration for which the speed sensor of the first input shaft is in the to-be-determined abnormal state.

4. The failure handling method according to claim 3, characterized by, The method comprises: determining a first calculated speed of the output shaft as a product of a second speed ratio and a current speed of the first input shaft, wherein the second speed ratio is a speed ratio corresponding to the gear position of the target vehicle at the current time; determining the first speed ratio value based on the first calculated speed of the output shaft and the current speed of the output shaft.

5. A failure handling apparatus characterized by comprising: The method comprises an obtaining unit, a determining unit, and a processing unit; The obtaining unit is configured to, in the case of a failure of a speed sensor of a first input shaft, obtain a gear position of a target vehicle at a current time, the speed sensor of the first input shaft being a speed sensor included in the target vehicle, the first input shaft being an input shaft corresponding to the gear position of the target vehicle at the current time; The determining unit is specifically configured to: determining a pre-engagement gear set, the pre-engagement gear set including a first pre-engagement gear and a second pre-engagement gear, the first pre-engagement gear being smaller than a gear of the target vehicle at a current time, and the second pre-engagement gear being larger than the gear of the target vehicle at the current time; the determining unit is further configured to determine a first rotation speed of the first input shaft based on the current rotation speed of the output shaft and a first speed ratio, the first speed ratio being a speed ratio corresponding to the first pre-engagement gear; the determining unit is further configured to determine the first pre-engagement gear as a target pre-engagement gear when the first rotation speed of the first input shaft is less than or equal to a rotation speed threshold; the determining unit is further configured to determine a displacement value of a shift fork corresponding to the target pre-engagement gear; the processing unit is configured to switch the gear of the target vehicle to the target pre-engagement gear when a first distance difference value is greater than or equal to a difference value threshold, the first distance difference value being a difference between the displacement value of the target shift fork and the displacement value of the shift fork corresponding to the target pre-engagement gear.

6. An electronic device, comprising: comprise: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the method of any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, When computer-executable instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can perform the method of any one of claims 1-4.

8. A vehicle characterized by comprising: comprise the electronic device of claim 6.

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