A control method and control device

Abstract

This invention discloses a control method and a control device. The control method includes: entering a first execution gear stage and determining a first target gear at this stage; acquiring execution information of the previous first target gear, including target position, drive duty cycle, and actual position; if the first position difference between the preset optimal position of the first target gear in the first execution gear stage and the actual position of the previous first target gear exceeds a first execution gear threshold, correcting the target position or drive duty cycle of the current first target gear; the previous first target gear and the current first target gear are in different first execution gear stages. In this invention, when the gear shifting control accuracy of the previous gear shifting operation is low, the control accuracy of the current gear shifting operation can be improved by correcting the target position or drive duty cycle of the current first target gear, thereby increasing the success rate and accuracy of gear shifting and ensuring the driver's driving experience.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a control method and control device. Background Technology

[0002] The transmission is the vehicle's electric actuator. The electric actuator has a self-locking steel ball. If the self-locking force of the steel ball is limited, relying solely on the downward force of the steel ball to control gear shifting may result in a high probability of failing to engage the gear.

[0003] If the actual position of the gear shift deviates during the gear shifting process, it may lead to the failure of the entire vehicle to shift gears, affecting the driver's safe driving. Summary of the Invention

[0004] This invention provides a control method and control device to solve the problem of low gear shifting accuracy.

[0005] According to one aspect of the present invention, a control method is provided, applied during vehicle operation, the control method comprising:

[0006] Enter the first execution phase and determine the first target gear for this level;

[0007] Obtain the execution information of the first target gear in the preceding stage, which includes the target position, drive duty cycle, and actual position;

[0008] If the first position difference between the preset optimal position of the first target gear in the first execution gear stage and the actual position of the previous first target gear exceeds the first execution gear threshold, the target position or drive duty cycle of the current first target gear is corrected.

[0009] The preceding first target gear and the current first target gear are in different first execution gear stages.

[0010] Furthermore, the first gear-selection stage is a gear-selection stage; or, the first gear-selection stage is a gear-shifting stage.

[0011] Furthermore, correcting the target position of the first target gear in this level includes:

[0012] A(n+1) = A(n) + ME(n);

[0013] Wherein, A(n+1) is the target position of the first target gear in this level, A(n) is the target position of the first target gear in the preceding level, M is the preset optimal position of the first target gear in the first execution gear stage, and E(n) is the actual position of the first target gear in the preceding level.

[0014] Further, the correction of the drive duty ratio of the first target gear at this level includes:

[0015] C(n + 1) = P * C(n);

[0016] Where, C(n + 1) is the drive duty ratio of the first target gear at this level, P is the correction parameter of the first target gear in the first execution gear stage, and C(n) is the drive duty ratio of the first target gear at the previous level.

[0017] Further, the correction of the target position or drive duty ratio of the first target gear at this level includes:

[0018] If the first position difference is greater than the second execution gear threshold, correct the target position of the first target gear at this level;

[0019] Or, if the first position difference is less than or equal to the second execution gear threshold, correct the drive duty ratio of the first target gear at this level;

[0020] The first execution gear threshold is less than the second execution gear threshold.

[0021] Further, the correction of the drive duty ratio of the first target gear at this level includes:

[0022] When Kb < Jc ≤ Ka, correct the drive duty ratio of the first target gear at this level in the first sub-stage of the first execution gear stage;

[0023] Or, when Kc < Jc ≤ Kb, correct the drive duty ratio of the first target gear at this level in the second sub-stage of the first execution gear stage;

[0024] Or, when Kd < Jc ≤ Kc, correct the drive duty ratio of the first target gear at this level in the third sub-stage of the first execution gear stage;

[0025] Or, when Jc ≤ Kd, correct the drive duty ratio of the first target gear at this level in the fourth sub-stage of the first execution gear stage;

[0026] In the first execution gear stage, the first sub-stage, the second sub-stage, the third sub-stage, and the fourth sub-stage are different;

[0027] Jc is the first position difference, Ka is the second execution gear threshold, Kd is the third execution gear threshold, and the first execution gear threshold is less than the third execution gear threshold Kd.

[0028] Further, the first sub-stage coincides with the first execution gear stage;

[0029] The start time of the second sub-stage is earlier than the start time of the third sub-stage, and the end time of the second sub-stage is earlier than the end time of the third sub-stage.

[0030] The start time of the third sub-stage is earlier than the start time of the fourth sub-stage, and the end time of the third sub-stage is earlier than the end time of the fourth sub-stage.

[0031] Furthermore, the end time of the second sub-stage is equal to or later than the start time of the third sub-stage;

[0032] The end time of the third sub-stage is equal to or later than the start time of the fourth sub-stage.

[0033] Furthermore, the durations of the second sub-stage, the third sub-stage, and the fourth sub-stage are equal.

[0034] According to another aspect of the present invention, a control device is provided for use during vehicle operation, the control device comprising:

[0035] The gear determination module is used to enter the first execution gear stage and determine the first target gear for this level;

[0036] The information acquisition module is used to acquire the execution information of the first target gear in the preceding stage. This execution information includes the target position, drive duty cycle, and actual position.

[0037] The judgment and correction module is used to correct the target position or drive duty cycle of the first target gear in the current stage if the first position difference between the preset optimal position of the first target gear in the first execution gear stage and the actual position of the first target gear in the previous stage exceeds the first execution gear threshold.

[0038] The preceding first target gear and the current first target gear are in different first execution gear stages.

[0039] In this invention, after entering the first execution gear stage, the first target gear of this level is first determined. Based on the first target gear of this level, the execution information of the first target gear of the previous level that is the same as the first target gear of this level is obtained. The execution information includes the target position, the drive duty cycle and the actual position. If the first position difference between the preset optimal position of the first target gear in the first execution gear stage and the actual position of the first target gear of the previous level exceeds the first execution gear threshold, the target position or drive duty cycle of the first target gear of this level is corrected. The first target gear of the previous level and the first target gear of this level are in different first execution gear stages. If the first position difference exceeds the first execution gear threshold, it indicates that the error between the preset optimal position of the first target gear in the first execution gear stage and the actual position of the previous first target gear is large, and the gear shifting control accuracy of the previous gear shifting operation is low. At this time, the control accuracy of the current gear shifting operation can be improved by correcting the target position or drive duty cycle of the current first target gear. This avoids gear shifting failure due to incomplete gear shifting, which can cause the gear shifting motor to stall, damage the gear shifting motor, and cause the entire vehicle to fail to shift gears. It can also reduce the difficulty of PID calibration for the vehicle, improve the robustness of the vehicle software, improve the success rate and accuracy of gear shifting, and ensure the driver's driving experience.

[0040] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of a control method provided in an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of a gear selection stage provided in an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of a gear shifting stage provided in an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of a control device provided in an embodiment of the present invention;

[0046] Figure 5 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0047] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0048] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0049] Figure 1 This is a schematic diagram of a control method provided by an embodiment of the present invention. This embodiment is applicable to the situation of motor control during gear shifting. The control method can be executed by a control device, which can be implemented in hardware and / or software. The control device can be configured in a vehicle, and the control method is applied during vehicle operation, especially to the situation of motor control during gear shifting. Figure 1 As shown, the control method includes:

[0050] Step 110: Enter the first execution gear stage and determine the first target gear for this level;

[0051] Step 120: Obtain the execution information of the first target gear in the preceding stage. This execution information includes the target position, drive duty cycle, and actual position.

[0052] Step 130: If the first position difference between the preset optimal position of the first target gear in the first execution gear stage and the actual position of the first target gear in the previous stage exceeds the first execution gear threshold, the target position or drive duty cycle of the first target gear in this stage shall be corrected.

[0053] The first target gear in the previous stage and the first target gear in this stage are in different first execution gear stages.

[0054] The first gear-selection stage can be selected as the gear-selection stage; or, the first gear-shifting stage can be selected as the gear-shifting stage.

[0055] When a driver controls the vehicle to perform a gear shifting operation, a single gear shifting operation includes a gear selection phase and a gear shifting phase performed sequentially. In this embodiment, the first gear shifting phase can be a gear selection phase; in other embodiments, the first gear shifting phase can also be a gear shifting phase. Specifically, the vehicle includes a motor with multiple different gear selection positions and multiple different gear shifting positions; during the gear selection phase, the control motor switches to the gear selected by the driver; during the gear shifting phase, the control motor switches to the gear shifted by the driver.

[0056] In this embodiment, after the vehicle enters the first gear selection stage based on the driver's instruction, the first target gear for this stage can be determined according to the driver's instruction. Here, the first target gear for this stage refers to the motor gear required by the driver in the current first gear selection stage. For example, if the driver inputs the instruction to select gear 1, the vehicle enters the gear selection stage based on the driver's instruction, and determines gear 1 as the first target gear for this stage.

[0057] Based on the driver's command, after entering the first gearing stage and determining the first target gear, the execution information of the previous first target gear is obtained. This execution information includes the target position, drive duty cycle, and actual position. Prior to this, when the driver last entered the same command, the first gearing stage of the same type that the vehicle entered can be defined as the previous first gearing stage, and the determined first target gear can be defined as the previous first target gear. It can be understood that the gear engagement operation for the previous first target gear has been completed. Therefore, the relevant execution information for the previous first target gear includes at least the target position of the previous first target gear in the previous first gearing stage, the drive duty cycle of the previous first target gear in the previous first gearing stage, and the actual position of the previous first target gear in the previous first gearing stage.

[0058] The electric actuator has a self-locking steel ball, and the gear engagement operation is completed by controlling the position of the self-locking steel ball. The self-locking force of the electric actuator's steel ball is limited. If the gear engagement operation relies solely on the downward force of the self-locking steel ball, it may fail to slide into the gear, making it impossible to accurately control the motor actuator to reach the optimal position. In other words, there is a deviation between the target gear engagement position and the actual position, which can lead to gear engagement failure in severe cases. In this invention, the target position refers to the gear engagement target position of the electric actuator's self-locking steel ball, and the actual position refers to the actual gear engagement position of the electric actuator's self-locking steel ball.

[0059] For example, at the current moment, if the driver inputs the command to select gear 1, the vehicle enters the current gear selection stage based on the driver's command, and determines gear 1 as the first target gear for this stage. Prior to this, if the driver previously input the command to select gear 1, the gear selection stage the vehicle entered based on that command is the previous gear selection stage, and the determined gear 1 is the previous first target gear. The gear engagement operation at the previous first target gear is different from the gear engagement operation at the current first target gear; these two gear engagement operations may be consecutive or non-consecutive.

[0060] The control device has already completed the first execution stage of the preceding gear shift, so the execution information of the first target gear is known. Simultaneously, the control device stores the preset optimal position of the first target gear during the first execution stage. The preset optimal position may differ for different selected gears and different shift gears; there are no specific limitations. The preset optimal position for a selected gear is the best gear position obtained after testing during vehicle testing; the best gear position may differ for the same selected gear across different vehicle models. Similarly, the preset optimal position for a shift gear is the best gear position obtained after testing during vehicle testing; the best gear position may differ for the same shift gear across different vehicle models.

[0061] The control device can retrieve the execution information of the previous first target gear from the historical database, and also retrieve the preset optimal position of the first target gear in the first execution stage from the memory. It can compare the preset optimal position of the first target gear in the first execution stage with the actual position of the previous first target gear. The difference between the preset optimal position of the first target gear in the first execution stage and the actual position of the previous first target gear is defined as the first position difference. If the first position difference exceeds the first execution gear threshold, the target position or drive duty cycle of the current first target gear is corrected. The control device's memory stores the first execution gear threshold, which is obtained after testing during vehicle trials, and represents the allowable error between the preset optimal position of the first target gear in the first execution stage and the actual position of the previous first target gear.

[0062] If the first position difference exceeds the first execution gear threshold, it indicates that the error between the preset optimal position of the first target gear and the actual position of the previous first target gear in the first execution gear stage is large, and the gear shifting control accuracy of the previous gear shifting operation is low. At this time, the control accuracy of the current gear shifting operation can be improved by correcting the target position or drive duty cycle of the first target gear in this stage.

[0063] If the first position difference does not exceed the first execution gear threshold, it indicates that the error between the preset optimal position of the first target gear and the actual position of the previous first target gear in the first execution gear stage is small, and the gear shifting control accuracy of the previous gear shifting operation is high. At this time, there is no need to correct the target position and drive duty cycle of the current first target gear. Control the current gear shifting operation according to the target position and drive duty cycle of the previous first target gear.

[0064] In this invention, after entering the first execution gear stage, the first target gear of this level is first determined. Based on the first target gear of this level, the execution information of the first target gear of the previous level that is the same as the first target gear of this level is obtained. The execution information includes the target position, the drive duty cycle and the actual position. If the first position difference between the preset optimal position of the first target gear in the first execution gear stage and the actual position of the first target gear of the previous level exceeds the first execution gear threshold, the target position or drive duty cycle of the first target gear of this level is corrected. The first target gear of the previous level and the first target gear of this level are in different first execution gear stages. If the first position difference exceeds the first execution gear threshold, it indicates that the error between the preset optimal position of the first target gear in the first execution gear stage and the actual position of the previous first target gear is large, and the gear shifting control accuracy of the previous gear shifting operation is low. At this time, the control accuracy of the current gear shifting operation can be improved by correcting the target position or drive duty cycle of the current first target gear. This avoids gear shifting failure due to incomplete gear shifting, which can cause the gear shifting motor to stall, damage the gear shifting motor, and cause the entire vehicle to fail to shift gears. It can also reduce the difficulty of PID calibration for the vehicle, improve the robustness of the vehicle software, improve the success rate and accuracy of gear shifting, and ensure the driver's driving experience.

[0065] Optional adjustments to the target position of the first target gear in this level include:

[0066] A(n+1) = A(n) + ME(n);

[0067] Where A(n+1) is the target position of the first target gear in this level, A(n) is the target position of the first target gear in the previous level, M is the preset optimal position of the first target gear in the first execution gear stage, and E(n) is the actual position of the first target gear in the previous level.

[0068] Optional adjustments to the drive duty cycle of the first target gear in this level include:

[0069] C(n+1) = P*C(n);

[0070] Wherein, C(n+1) is the drive duty cycle of the first target gear in this level, P is the correction parameter of the first target gear in the first execution gear stage, and C(n) is the drive duty cycle of the first target gear in the previous level.

[0071] Optionally, correcting the target position or drive duty ratio of the first target gear at this level includes:

[0072] If the first position difference is greater than the second execution gear threshold, correct the target position of the first target gear at this level;

[0073] Or, if the first position difference is less than or equal to the second execution gear threshold, correct the drive duty ratio of the first target gear at this level;

[0074] The first execution gear threshold is less than the second execution gear threshold.

[0075] Optionally, correcting the drive duty ratio of the first target gear at this level includes:

[0076] When Kb < Jc ≤ Ka, correct the drive duty ratio of the first target gear at this level in the first sub-phase of the first execution gear stage;

[0077] Or, when Kc < Jc ≤ Kb, correct the drive duty ratio of the first target gear at this level in the second sub-phase of the first execution gear stage;

[0078] Or, when Kd < Jc ≤ Kc, correct the drive duty ratio of the first target gear at this level in the third sub-phase of the first execution gear stage;

[0079] Or, when Jc ≤ Kd, correct the drive duty ratio of the first target gear at this level in the fourth sub-phase of the first execution gear stage;

[0080] In the first execution gear stage, the first sub-phase, the second sub-phase, the third sub-phase, and the fourth sub-phase are different;

[0081] Jc is the first position difference, Ka is the second execution gear threshold, Kd is the third execution gear threshold, and the first execution gear threshold is less than the third execution gear threshold Kd.

[0082] Optionally, the first sub-phase coincides with the first execution gear stage;

[0083] The start time of the second sub-phase is earlier than the start time of the third sub-phase, and the end time of the second sub-phase is earlier than the end time of the third sub-phase;

[0084] The start time of the third sub-phase is earlier than the start time of the fourth sub-phase, and the end time of the third sub-phase is earlier than the end time of the fourth sub-phase.

[0085] Optionally, the end time of the second sub-phase is equal to or later than the start time of the third sub-phase;

[0086] The end time of the third sub-phase is equal to or later than the start time of the fourth sub-phase.

[0087] The durations of the second, third, and fourth sub-stages can be equal.

[0088] The above summarizes the main content of this invention. The technical solution will be described in detail below through multiple embodiments from different aspects.

[0089] The first execution stage can be selected as the gear selection stage. Taking gear 1 as an example, the control device pre-stores the preset optimal position Mx(1) and initial drive duty cycle Cx(1) corresponding to gear 1, the preset optimal position Mx(2) and initial drive duty cycle Cx(2) corresponding to gear 2, the preset optimal position Mx(3) and initial drive duty cycle Cx(3) corresponding to gear 3, and so on.

[0090] Figure 2 This is a schematic diagram of a gear selection stage provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the first target gear in this class can be selected as the driver's second gear selection, shifting to 1st gear.

[0091] Based on this, the vehicle's driving process is as follows:

[0092] When the driver selects gear 1 for the first time, the target position Ax(1) in the current gear selection execution information is Mx(1), and the drive duty cycle is Cx(1). Based on this, the gear selection operation is performed, and the actual position Ex(1) of the gear selection is recorded when the drive stops.

[0093] When the driver selects gear 1 for the second time, the steps are as follows:

[0094] Step 201: Obtain the preset optimal position Mx(1) corresponding to the selected gear 1;

[0095] Step 202: Obtain the gear selection execution information when shifting to 1st gear for the first time, including the gear selection target position Ax(1), the drive duty cycle Cx(1), and the actual gear selection position Ex(1), where Ax(1) = Mx(1);

[0096] Step 203: Calculate the first position difference, Mx(1)-Ex(1), and check whether the first position difference is less than or equal to the first execution threshold Kxe; if Mx(1)-Ex(1) is less than or equal to Kxe, proceed to step 204; if Mx(1)-Ex(1) is greater than Kxe, proceed to step 205.

[0097] Step 204: If Mx(1)-Ex(1) is less than or equal to Kxe, do not correct the gear selection target position and drive duty cycle when shifting to 1st gear for the second time. That is, the gear selection target position Ax(2) = Ax(1) when shifting to 1st gear for the second time, and the drive duty cycle Cx(2) = Cx(1) when shifting to 1st gear for the second time; proceed to step 216.

[0098] Step 205: If Mx(1)-Ex(1) is greater than Kxe, determine the relationship between the first position difference (Mx(1)-Ex(1)) and the second execution threshold Kxa, and execute step 206;

[0099] Step 206: Determine whether the first position difference (Mx(1)-Ex(1)) is greater than the second execution threshold Kxa; if Mx(1)-Ex(1) is greater than Kxa, proceed to step 207; if Mx(1)-Ex(1) is less than or equal to Kxa, proceed to step 208.

[0100] Step 207: When shifting to 1st gear for the second time, correct the gear selection target position Ax(2), and keep the drive duty cycle Cx(2) unchanged, where Ax(2) = Ax(1) + Mx(1) - Ex(1); Execute step 216;

[0101] Step 208: When shifting to 1st gear for the second time, the drive duty cycle Cx(2) is corrected, and the target position Ax(2) remains unchanged. Wherein, Cx(2) = Px*Cx(1); Px is the correction parameter for the 1st gear.

[0102] Step 209: Determine whether the first position difference (Mx(1)-Ex(1)) is greater than Kxb; if Mx(1)-Ex(1) is greater than Kxb, proceed to step 210; if Mx(1)-Ex(1) is less than or equal to Kxb, proceed to step 211.

[0103] Step 210: When shifting to 1st gear for the second time, adjust the drive duty cycle Cx(2) in the first sub-stage (such as the entire gear selection stage); execute step 216.

[0104] Step 211: Determine whether the first position difference (Mx(1)-Ex(1)) is greater than Kxc; if Mx(1)-Ex(1) is greater than Kxc, proceed to step 212; if Mx(1)-Ex(1) is less than or equal to Kxc, proceed to step 213.

[0105] Step 212: When shifting to 1st gear for the second time, in the second sub-stage (such as the first 1 / 3 of the gear selection stage), adjust the drive duty cycle Cx(2); execute step 216.

[0106] Step 213: Determine whether the first position difference (Mx(1)-Ex(1)) is greater than Kxd; if Mx(1)-Ex(1) is greater than Kxd, proceed to step 214; if Mx(1)-Ex(1) is less than or equal to Kxd, proceed to step 215.

[0107] Step 214: When shifting to 1st gear for the second time, in the third sub-stage (such as the 1 / 3-2 / 3 shifting stage), correct the drive duty cycle Cx(2); execute step 216;

[0108] Step 215: When shifting to 1st gear for the second time, in the fourth sub-stage (such as the last 1 / 3 of the shifting stage), correct the drive duty cycle Cx(2); execute step 216;

[0109] Step 216: Based on the correction result, perform the second gear selection operation to shift to 1st gear. Record the actual gear selection position Ex(2) based on Ax(2) and Cx(2). The driver's second gear selection to 1st gear result.

[0110] Similarly, when the driver selects first gear for the third time, refer to... Figure 2 The process is controlled.

[0111] The correction parameter Px is obtained during the gear selection phase in the bench test, and its value is related to Mx(1)-Ex(1). The first, second, third, and fourth sub-phases of the gear selection phase differ, and the overlap of their time periods is not limited to the examples above. The specific settings of the known parameters and thresholds related to the gear selection phase are mainly obtained through preliminary vehicle tests; the setting process of each known parameter will not be detailed here.

[0112] When the driver selects gear (n+1) and engages 1st gear, the target position Ax(n), the drive duty cycle Cx(n), and the actual position Ex(n) when the drive stops are obtained. It is then determined whether the drive is in place. Specifically, the target position is adaptively corrected or the drive duty cycle is segmented adaptively corrected based on whether the deviation Mx(1)-Ex(n) is greater than Kxe.

[0113] If the deviation Mx(1)-Ex(n) is less than or equal to Kxe, the target position Ax(n+1) will not be adaptively corrected, nor will the drive duty cycle Cx(n+1) be piecewise adaptively corrected.

[0114] If Mx(1)-Ex(n) is greater than Kxa, the target position Ax(n+1) is adaptively corrected, but the driving duty cycle Cx(n+1) is not piecewise adaptively corrected. Ax(n+1)=Ax(n)+Mx(1)-Ex(n).

[0115] If Mx(1)-Ex(n) is less than or equal to Kxa, the drive duty cycle Cx(n+1) is adaptively corrected, but the target position Ax(n+1) is not adaptively corrected. Cx(n+1) = Px*Cx(n), where Px is the correction parameter obtained in the bench test, and its value is related to Mx(1)-Ex(n).

[0116] The adaptive correction of the drive duty cycle Cx(n+1) is performed in segments:

[0117] When Mx(1)-Ex(n) is less than or equal to Kxa and greater than Kxb, the duty cycle in the entire gear selection stage is corrected.

[0118] When Mx(1)-Ex(n) is less than or equal to Kxb and greater than Kxc, the duty cycle is only corrected for the first 1 / 3 of the time period (which can be calibrated and selected) in the gear selection stage, and is not limited to this.

[0119] When Mx(1)-Ex(n) is less than or equal to Kxc and greater than Kxd, the duty cycle is only corrected in the 1 / 3 to 2 / 3 segment of the gear selection process (which can be calibrated and selected), and is not limited to this.

[0120] When Mx(1)-Ex(n) is less than or equal to Kxd, the duty cycle in the last 1 / 3 of the gear selection process (which can be calibrated) is corrected.

[0121] Finally, based on the correction results, and using the corrected Ax(n+1) and Cx(n+1), record Ex(n+1).

[0122] In this embodiment, during the gear selection phase, the target position and drive duty cycle can be adaptively corrected. This effectively ensures the accuracy of the gear selection motor control during gear selection, preventing gear selection failures that could lead to motor stalling, damage to the gear selection motor, and overall vehicle gear shifting failures. This improves the success rate and accuracy of gear shifting, enhancing the driver's driving experience.

[0123] It should be noted that the duty cycle is adjusted in each sub-stage, and the degree of adjustment or the duty cycle adjustment parameters may vary between different vehicle models. For the same vehicle model, the optimal duty cycle adjustment parameters for each sub-stage are determined through testing before leaving the factory, and the pre-designed duty cycle adjustment data is used for adjustment in actual application.

[0124] The first execution stage can be selected as the gear shifting stage. Taking gear 1 as an example, the control device pre-stores the preset optimal position Mh(1) and initial drive duty cycle Ch(1) corresponding to gear 1, the preset optimal position Mh(2) and initial drive duty cycle Ch(2) corresponding to gear 2, the preset optimal position Mh(3) and initial drive duty cycle Ch(3) corresponding to gear 3, and so on.

[0125] Figure 3 This is a schematic diagram of a gear shifting stage provided by an embodiment of the present invention, such as... Figure 3 As shown, the first target gear in this class can be selected as the driver's second gear shift to 1st gear.

[0126] Based on this, the vehicle's driving process is as follows:

[0127] When the driver shifts to 1st gear for the first time, the target shift position Ah(1) in the current shift execution information is Mh(1), and the drive duty cycle is Ch(1). Based on this, the shift operation is performed, and the actual shift position Eh(1) is recorded when the drive stops shifting.

[0128] When the driver shifts into first gear for the second time, the steps are as follows:

[0129] Step 301: Obtain the preset optimal position Mh(1) corresponding to the gear 1 shift position;

[0130] Step 302: Obtain the shift execution information when shifting to 1st gear for the first time, including the shift target position Ah(1), the drive duty cycle Ch(1), and the actual shift position Eh(1), where Ah(1) = Mh(1);

[0131] Step 303: Calculate the first position difference, Mh(1)-Eh(1), and check whether the first position difference is less than or equal to the first execution threshold Khe; if Mh(1)-Eh(1) is less than or equal to Khe, proceed to step 304; if Mh(1)-Eh(1) is greater than Khe, proceed to step 305.

[0132] Step 304: If Mh(1)-Eh(1) is less than or equal to Khe, do not correct the shift target position and drive duty cycle when shifting to 1st gear for the second time. That is, the shift target position Ah(2) = Ah(1) when shifting to 1st gear for the second time, and the drive duty cycle Ch(2) = Ch(1) when shifting to 1st gear for the second time; proceed to step 316.

[0133] Step 305: If Mh(1)-Eh(1) is greater than Khe, determine the relationship between the first position difference (Mh(1)-Eh(1)) and the second execution threshold Kha, and execute step 306.

[0134] Step 306: Determine whether the first position difference (Mh(1)-Eh(1)) is greater than the second execution threshold Kha; if Mh(1)-Eh(1) is greater than Kha, proceed to step 307; if Mh(1)-Eh(1) is less than or equal to Kha, proceed to step 308.

[0135] Step 307: When shifting to 1st gear for the second time, correct the shift target position Ah(2), and keep the drive duty cycle Ch(2) unchanged, where Ah(2) = Ah(1) + Mh(1) - Eh(1); execute step 316;

[0136] Step 308: When shifting to 1st gear for the second time, the drive duty cycle Ch(2) is corrected, and the shift target position Ah(2) remains unchanged. Here, Ch(2) = Ph * Ch(1); Ph is the correction parameter for shifting to 1st gear.

[0137] Step 309: Determine whether the first position difference (Mh(1)-Eh(1)) is greater than Khb; if Mh(1)-Eh(1) is greater than Khb, proceed to step 310; if Mh(1)-Eh(1) is less than or equal to Khb, proceed to step 311.

[0138] Step 310: When shifting to 1st gear for the second time, adjust the drive duty cycle Ch(2) in the first sub-stage (such as the full shift stage); execute step 316.

[0139] Step 311: Determine whether the first position difference (Mh(1)-Eh(1)) is greater than Khc; if Mh(1)-Eh(1) is greater than Khc, proceed to step 312; if Mh(1)-Eh(1) is less than or equal to Khc, proceed to step 313.

[0140] Step 312: When shifting to 1st gear for the second time, in the second sub-stage (such as the first 1 / 3 shift stage), correct the drive duty cycle Ch(2); execute step 316.

[0141] Step 313: Determine whether the first position difference (Mh(1)-Eh(1)) is greater than Khd; if Mh(1)-Eh(1) is greater than Khd, proceed to step 314; if Mh(1)-Eh(1) is less than or equal to Khd, proceed to step 315.

[0142] Step 314: When shifting to 1st gear for the second time, in the third sub-stage (such as the shift stage from 1 / 3 to 2 / 3), correct the drive duty cycle Ch(2); execute step 316;

[0143] Step 315: When shifting to 1st gear for the second time, in the fourth sub-stage (such as the last 1 / 3 of the shift stage), correct the drive duty cycle Ch(2); execute step 316.

[0144] Step 316: Based on the correction result, perform the second gear shift to 1st gear operation, where the actual shift position Eh(2) is recorded according to Ah(2) and Ch(2). The result of the driver's second gear shift to 1st gear.

[0145] Similarly, when the driver shifts into first gear for the third time, refer to... Figure 3 The process is controlled.

[0146] The correction parameter Ph is obtained during the shifting phase in the bench test, and its value is related to Mh(1)-Eh(1). The first, second, third, and fourth sub-phases of the shifting phase differ, and the overlap of their time periods is not limited to the examples above. The specific settings of the known parameters and thresholds related to the shifting phase are mainly obtained through prior vehicle testing; the setting process of each known parameter will not be detailed here.

[0147] When the driver shifts to 1st gear for the (n+1)th time, the target position Ah(n) of the shift, the drive duty cycle Ch(n) at the time of shifting, and the actual position Eh(n) of the shift when the drive stops are obtained. It is then determined whether the drive is in place. Specifically, the target position is adaptively corrected or the drive duty cycle is segmented adaptively corrected based on whether the deviation Mh(1)-Eh(n) is greater than Khe.

[0148] If the deviation Mh(1)-Eh(n) is less than or equal to Khe, the target position Ah(n+1) will not be adaptively corrected, nor will the drive duty cycle Ch(n+1) be segmented adaptively corrected.

[0149] If Mh(1)-Eh(n) is greater than Kha, the target position Ah(n+1) is adaptively corrected, but the driving duty cycle Ch(n+1) is not piecewise adaptively corrected. Ah(n+1)=Ah(n)+Mh(1)-Eh(n).

[0150] If Mh(1)-Eh(n) is less than or equal to Kha, the drive duty cycle Ch(n+1) is adaptively corrected, but the target position Ah(n+1) is not adaptively corrected. Ch(n+1) = Ph * Ch(n), where Ph is the correction parameter obtained in the bench test, and its value is related to Mh(1)-Eh(n).

[0151] The adaptive correction of the driving duty cycle Ch(n+1) is performed in segments:

[0152] When Mh(1)-Eh(n) is less than or equal to Kha and greater than Khb, the duty cycle in the entire shifting phase is corrected.

[0153] When Mh(1)-Eh(n) is less than or equal to Khb and greater than Khc, the duty cycle is only corrected for the first 1 / 3 of the shift phase (which can be calibrated and selected), and is not limited to this.

[0154] When Mh(1)-Eh(n) is less than or equal to Khc and greater than Khd, the duty cycle is only corrected in the 1 / 3 to 2 / 3 segment of the shifting phase (which can be calibrated and selected), and is not limited to this.

[0155] When Mh(1)-Eh(n) is less than or equal to Khd, the duty cycle in the last 1 / 3 of the shifting process (which can be calibrated and selected) is corrected.

[0156] Finally, based on the correction results, Eh(n+1) is recorded based on the corrected Ah(n+1) and Ch(n+1).

[0157] In this embodiment, during the gear shifting phase, the target position and drive duty cycle can be adaptively corrected. This effectively ensures the accuracy of the gear shifting motor control during gear shifting, avoiding problems such as gear shifting motor stalling, damage to the gear shifting motor, and overall vehicle gear shifting failure due to incomplete gear shifting in the next shift. This improves the success rate and accuracy of gear shifting, ensuring a better driving experience for the driver.

[0158] It should be noted that the duty cycle is adjusted in each sub-stage, and the degree of adjustment or the duty cycle adjustment parameters may vary between different vehicle models. For the same vehicle model, the optimal duty cycle adjustment parameters for each sub-stage are determined through testing before leaving the factory, and the pre-designed duty cycle adjustment data is used for adjustment in actual application.

[0159] Based on the same inventive concept, this invention also provides a control device applied during vehicle operation. This embodiment is applicable to motor control during gear shifting. The control device can execute the control methods described in any of the above embodiments. The control device can be implemented in hardware and / or software and can be configured in a vehicle.

[0160] Figure 4 This is a schematic diagram of a control device provided in an embodiment of the present invention. Figure 4As shown, the control device includes: a gear determination module 410, an information acquisition module 420, and a judgment correction module 430; the gear determination module 410 is used to enter the first execution gear stage and determine the first target gear of this stage; the information acquisition module 420 is used to acquire the execution information of the previous first target gear, which includes the target position, drive duty cycle, and actual position; the judgment correction module 430 is used to correct the target position or drive duty cycle of the current first target gear if the first position difference between the preset optimal position of the first target gear in the first execution gear stage and the actual position of the previous first target gear exceeds the first execution gear threshold; the previous first target gear and the current first target gear are in different first execution gear stages.

[0161] In this invention, if the detected first position difference exceeds the first execution gear threshold, it indicates that the error between the preset optimal position of the first target gear in the first execution gear stage and the actual position of the previous first target gear is large, and the gear shifting control accuracy of the previous gear shifting operation is low. At this time, the control accuracy of the current gear shifting operation can be improved by correcting the target position or drive duty cycle of the current first target gear. This avoids gear shifting failure due to incomplete gear shifting, which can cause the gear shifting motor to stall, damage the gear shifting motor, and cause the entire vehicle to fail to shift gears. It can also reduce the difficulty of PID calibration for the vehicle, improve the robustness of the vehicle software, increase the success rate and accuracy of gear shifting, and ensure the driver's driving experience.

[0162] The detection device provided in the embodiments of the present invention can execute the detection method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0163] Figure 5 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. Electronic device 510 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device 510 may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0164] like Figure 5As shown, the electronic device 510 includes at least one processor 511 and a memory, such as a read-only memory (ROM) 512 or a random access memory (RAM) 513, communicatively connected to the at least one processor 511. The memory stores computer programs executable by the at least one processor 511. The processor 511 can perform various appropriate actions and processes based on the computer program stored in the ROM 512 or loaded from storage unit 518 into the RAM 513. The RAM 513 may also store various programs and data required for the operation of the electronic device 510. The processor 511, ROM 512, and RAM 513 are interconnected via a bus 514. An input / output (I / O) interface 515 is also connected to the bus 514.

[0165] Multiple components in electronic device 510 are connected to I / O interface 515, including: input unit 516, such as keyboard, mouse, etc.; output unit 517, such as various types of displays, speakers, etc.; storage unit 518, such as disk, optical disk, etc.; and communication unit 519, such as network card, modem, wireless transceiver, etc. Communication unit 519 allows electronic device 510 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0166] Processor 511 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 511 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 511 performs the various methods and processes described above, such as control methods.

[0167] In some embodiments, the control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 518. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 510 via ROM 512 and / or communication unit 519. When the computer program is loaded into RAM 513 and executed by processor 511, one or more steps of the control method described above may be performed. Alternatively, in other embodiments, processor 511 may be configured to execute the control method by any other suitable means (e.g., by means of firmware).

[0168] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0169] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0170] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0171] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0172] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0173] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0174] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and no limitation is imposed herein.

[0175] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A control method, characterized in that, Applied during the vehicle's driving process, the control method includes: Enter the first execution gear stage and determine the first target gear of this stage; Obtain the execution information of the first target gear of the previous stage, and this execution information includes the target position, drive duty ratio, and actual position; If the first position difference between the preset optimal position of the first target gear in the first execution gear stage and the actual position of the first target gear of the previous stage exceeds the first execution gear threshold, correct the target position or drive duty ratio of the first target gear of this stage; The first target gear of the previous stage and the first target gear of this stage are in different first execution gear stages; Correcting the target position or drive duty ratio of the first target gear of this stage includes: If the first position difference is greater than the second execution gear threshold, correct the target position of the first target gear of this stage; if the first position difference is less than or equal to the second execution gear threshold, correct the drive duty ratio of the first target gear of this stage; the first execution gear threshold is less than the second execution gear threshold; Correcting the drive duty ratio of the first target gear of this stage includes: When Kb < Jc ≤ Ka, correct the drive duty ratio of the first target gear of this stage in the first sub-stage of the first execution gear stage; When Kc < Jc ≤ Kb, correct the drive duty ratio of the first target gear of this stage in the second sub-stage of the first execution gear stage; When Kd < Jc ≤ Kc, correct the drive duty ratio of the first target gear of this stage in the third sub-stage of the first execution gear stage; When Jc ≤ Kd, correct the drive duty ratio of the first target gear of this stage in the fourth sub-stage of the first execution gear stage; In the first execution gear stage, the first sub-stage, the second sub-stage, the third sub-stage, and the fourth sub-stage are different; Jc is the first position difference, Ka is the second execution gear threshold, Kd is the third execution gear threshold, and the first execution gear threshold is less than the third execution gear threshold Kd; The first sub-stage coincides with the first execution gear stage; The start time of the second sub-stage is earlier than the start time of the third sub-stage, and the end time of the second sub-stage is earlier than the end time of the third sub-stage; The start time of the third sub-stage is earlier than the start time of the fourth sub-stage, and the end time of the third sub-stage is earlier than the end time of the fourth sub-stage.

2. The control method according to claim 1, characterized in that, The first execution gear stage is the gear selection stage; Alternatively, the first execution gear stage is the gear shifting stage.

3. The control method according to claim 1, characterized in that, Correcting the target position of the first target gear of this stage includes: A(n + 1) = A(n) + M - E(n); Where, A(n + 1) is the target position of the first target gear of this stage, A(n) is the target position of the first target gear of the previous stage, M is the preset optimal position of the first target gear in the first execution gear stage, and E(n) is the actual position of the first target gear of the previous stage.

4. The control method according to claim 1, characterized in that, Correcting the drive duty ratio of the first target gear of this stage includes: C(n + 1) = P * C(n); Wherein, C(n+1) is the drive duty cycle of the first target gear in this stage, P is the correction parameter of the first target gear in the first execution gear stage, and C(n) is the drive duty cycle of the first target gear in the previous stage.

5. The control method according to claim 1, characterized in that, The end time of the second sub-stage is equal to or later than the start time of the third sub-stage; The end time of the third sub-stage is equal to or later than the start time of the fourth sub-stage.

6. The control method according to claim 1, characterized in that, The durations of the second sub-stage, the third sub-stage, and the fourth sub-stage are equal.

7. A control device for performing the control method as described in any one of claims 1-6, characterized in that, The control device, applied during vehicle operation, includes: The gear determination module is used to enter the first execution gear stage and determine the first target gear for this level; The information acquisition module is used to acquire the execution information of the first target gear in the preceding stage. This execution information includes the target position, drive duty cycle, and actual position. The judgment and correction module is used to correct the target position or drive duty cycle of the first target gear in the current stage if the first position difference between the preset optimal position of the first target gear in the first execution gear stage and the actual position of the first target gear in the previous stage exceeds the first execution gear threshold. The preceding first target gear and the current first target gear are in different first execution gear stages.

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