A shift hub and its adaptive correction method and self-testing method

Abstract

This invention relates to the field of vehicle control technology, specifically to a shift hub and its adaptive correction and self-testing methods. The method includes triggering a bottom dead center (BDC) adaptive request if the target gear position of the VCU and the actual gear position of the shift hub are the same, and the shift hub is in its lowest gear position. When either condition one (speed V < calibrated stationary speed V1) or condition two (shift hub position S - BDC self-learning value < calibrated threshold) is met, the shift hub is controlled to move towards the BDC with a duty cycle P, and the shift hub speed V is monitored. When speed V < calibrated stationary speed V2 and exceeds time t1, the current shift hub position is recorded as the BDC reference value. Based on position closed-loop control, the shift hub returns to the theoretical actual position of the current target gear and then waits for the next shift command. This method can actively identify small deviations in the shift hub and proactively correct them without self-learning, ensuring the accuracy of the shift hub position.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, specifically to a shift hub and its adaptive correction method and self-testing method. Background Technology

[0002] To meet the needs of vehicles in deceleration and torque increase, power interruption, and reversing driving conditions, a gear shifting system is usually required, and the gear shift hub is one such shifting actuator. The gear shift hub has a cylindrical structure and can be driven to rotate by an external motor and gear reduction mechanism. Its surface has spiral-shaped grooves that connect to the ends of the shift forks. When the gear shift hub rotates, the spiral grooves contact the shift forks, converting the rotational torque into radial force, causing the shift forks to move radially. This, in turn, moves the synchronizer sleeve, realizing the engagement and disengagement of gears. Since the gear shift hub converts rotational motion into radial motion, each position of the gear shift hub corresponds one-to-one with the synchronizer position. To achieve stable and effective shifting, the position of the gear shift hub relative to the shift forks must be known. To determine the position of the gear shift hub, a limit block is incorporated into the hardware. After installation, the gear shift hub can only rotate within a limited range. This allows the corresponding positional relationship between the gear shift hub and the synchronizer to be determined based on the two extreme positions (upper and lower dead centers). After determining the correspondence between the shift hub hardware structure and the synchronizer, the upper and lower dead center positions of the shift hub are ultimately identified through software control, thereby achieving the purpose of controlling shifting by controlling the shift hub. Typically, one dead center position is defined as the zero point, and the other positions are arranged sequentially. Since the accuracy of the zero point not only affects shifting quality but also hardware lifespan, the software control must find the precise zero point position.

[0003] Existing methods for shift hub self-learning typically involve self-learning after power-on. Upon receiving a self-learning request command, the shift hub is driven to rotate. When a stall is detected, it is determined to be at one of the dead points. The shift hub is then driven to rotate in the opposite direction to detect the other dead point position. The actual travel of the shift hub is calculated based on the two dead point positions and compared with the theoretical travel of the hardware. If it is within a reasonable range, the self-learning is considered successful. There are two existing self-learning triggering methods: one is to trigger self-learning every time power-on, and the other is to monitor and diagnose the shifting process during operation. If an abnormality in the shift hub position is detected, a fault is triggered, and self-learning is triggered during the next power-on self-test.

[0004] While existing technologies employ a self-learning method triggered upon each power-on, which does ensure accurate zero-point positioning, the increased number of self-learning cycles affects the lifespan of the shift knob, places higher demands on hardware strength, and increases operating costs. Furthermore, each power-on self-learning cycle adds vehicle preparation time, negatively impacting customer experience. Conversely, using diagnostics combined with power-on self-testing cannot provide advance intervention and correction; self-learning can only occur after a fault, which also negatively impacts customer experience and carries the risk of hardware damage.

[0005] In summary, the shift drum experiences wear during continuous operation, leading to variations in its travel. Furthermore, prolonged shifting can cause slight misalignments in its relative position. These subtle changes affect shift quality, but are insufficient to cause shift failure or other malfunctions in the short term. Current technology cannot proactively intervene in this situation; it can only react passively after a malfunction occurs. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing a shift hub and its adaptive correction and self-testing methods. These methods can proactively identify minor deviations in the shift hub and perform timely proactive corrections without self-learning, thereby ensuring the accuracy of the shift hub position, improving shifting quality and stability, and reducing the failure rate.

[0007] The present invention provides a shift hub, wherein the profile of the shift hub between the lower dead center and the first gear is a straight line, and the profile of the shift hub between the upper dead center and the highest gear is a straight line.

[0008] This invention also provides an adaptive correction method for the zero-point position of the shift hub based on the above-mentioned shift hub. After the shift hub completes its self-test, if the adaptive correction function triggering condition is met, the adaptive correction stage is entered. The adaptive correction stage includes the following steps:

[0009] If the target gear position of the VCU is the same as the actual gear position of the shift hub, and the shift hub is in the lowest gear position, a bottom dead center adaptive request is triggered. The shift hub is moved to the bottom dead center with speed v, and the shift hub speed v and shift hub position S are monitored in real time.

[0010] If the target gear position of the VCU is the same as the actual gear position of the shift hub, and the shift hub is in the highest gear position, then the top dead center adaptive request is triggered, and the shift hub is moved to the top dead center with speed v, and the shift hub speed v and shift hub position S are monitored in real time.

[0011] When the bottom dead center adaptive request is triggered, if either condition 1 (speed V < calibrated stationary speed V1 and exceeds time t) or condition 2 (shift hub position S - bottom dead center self-learning value < calibrated threshold) is met, the shift hub is controlled to be close to the bottom dead center with the duty cycle P and the shift hub speed V is monitored. When the speed V < calibrated stationary speed V2 and exceeds time t1, the current shift hub position is recorded as the bottom dead center reference value.

[0012] When the top dead center adaptive request is triggered, if either condition 1 (speed V < calibrated stationary speed V1 and exceeds time t) or condition 2 (shift hub position S - bottom dead center self-learning value < calibrated threshold) is met, the shift hub is controlled to be close to the top dead center with the duty cycle P and the shift hub speed V is monitored. When the speed V < calibrated stationary speed V2 and exceeds time t1, the current shift hub position is recorded as the top dead center reference value.

[0013] The shift hub returns to the theoretical actual position of the current target gear based on position closed-loop control, and then waits for the next shift command.

[0014] The more preferred options also include:

[0015] When a power-down hibernation request is detected, the self-learned values ​​of the upper and lower dead centers, the reference values ​​of the upper and lower dead centers, the position of the shift hub, and the fault information are sent to the memory for storage, and are read and used during the next power-on self-test.

[0016] The more preferred options also include:

[0017] After triggering the bottom dead center adaptive request or the top dead center adaptive request, if an update to the target gear is detected, the current process is immediately terminated, and the shift hub is returned to the theoretical actual position of the current target gear based on the position closed-loop control, and then waits for the next shift command.

[0018] The present invention also provides a shift hub self-testing method based on the above-mentioned shift hub, the shift hub self-testing method comprising:

[0019] After the controller is powered on, it reads the shift hub fault information from the memory and determines whether to trigger a self-learning request.

[0020] If there is a self-learning request, the self-learning process will begin.

[0021] If there is no self-learning request, the system reads the self-learning values ​​of the upper and lower dead centers, the reference values ​​of the upper and lower dead centers, and the shift hub position information stored at the last power-down from the memory, and performs a reasonableness judgment on all positions. If the position is deemed unreasonable, a self-learning request is triggered, and the self-learning process is entered; if the position is deemed reasonable, the shift hub position is corrected.

[0022] Preferably, the reasonableness judgment includes:

[0023] It is considered reasonable when the position of the shift hub is within the nominal value range and the travel calculated based on the positions of the upper and lower dead centers is within the theoretical travel range of the hardware.

[0024] Conversely, it is judged as unreasonable.

[0025] A more preferred method for correcting the shift hub position is as follows:

[0026] Calculate the bottom dead center position deviation LoEndErr = (bottom dead center reference value - bottom dead center self-learning value) / 2;

[0027] Calculate the top dead center position deviation HiEndErr = (top dead center reference value - top dead center self-learning value) / 2;

[0028] Determine whether to make corrections:

[0029] Correction calculation is allowed when |LoEndErr| > allowed correction threshold A or |HiEndErr| > allowed correction threshold A, and |LoEndErr - HiEndErr| < allowed correction threshold B; otherwise, no correction is performed, and the shift hub correction value SDPosnCorr = shift hub position.

[0030] Preferably, when correction calculations are permitted, the calculation method for the shift hub correction value SDPosnCorr includes:

[0031] When |LoEndErr|≤|HiEndErr|

[0032] If LoEndErr < 0, then SDPosnCorr = shift hub position + |LoEndErr|;

[0033] If LoEndErr≥0, then SDPosnCorr=shift hub position-|LoEndErr|;

[0034] When |LoEndErr| > |HiEndErr|

[0035] If HiEndErr < 0, then SDPosnCorr = shift hub position + |HiEndErr|;

[0036] If HiEndErr≥0, then SDPosnCorr = shift hub position - |HiEndErr|.

[0037] Preferably, the adaptive correction function is triggered under the following conditions:

[0038] The shift hub has completed self-learning, and the upper and lower dead center positions are within a reasonable range;

[0039] The gear shifting system is functioning correctly;

[0040] Both the target gear and the actual gear are at the lowest or highest gear.

[0041] The battery voltage is within a reasonable range;

[0042] The software calibration parameters are configured to allow for adaptive correction.

[0043] The beneficial effects of this invention are as follows:

[0044] This invention provides a shift hub structure and corresponding adaptive correction and self-testing methods. These methods can proactively correct even minor deviations in the shift hub position, ensuring accuracy, improving shift quality and stability, and reducing the failure rate. By reducing the frequency of self-learning, it ensures the shift hub remains in the correct position over a long period, minimizing the impact of self-learning on the hardware limit blocks. Real-time correction also reduces wear on the synchronizer caused by the gradual accumulation of shift hub position errors, thus enhancing hardware protection and extending hardware lifespan. Attached Figure Description

[0045] Figure 1 This is a schematic line drawing of the shift hub of the present invention;

[0046] Figure 2 This is a flowchart illustrating the adaptive correction method for the zero-point position of the shift hub according to the present invention.

[0047] Figure 3 This is a flowchart illustrating the shift hub self-inspection method of the present invention. Detailed Implementation

[0048] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0049] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0050] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0051] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0052] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0053] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. "A plurality" means "two or more."

[0054] Example 1

[0055] Figure 1 A schematic line drawing of a shift hub according to a preferred embodiment of this application is shown. For ease of explanation, only the parts relevant to this embodiment are shown, and are described in detail below:

[0056] To achieve the adaptive correction of the shift hub position as described in this invention, the shift hub profile must meet certain requirements. This invention provides a profile design scheme that satisfies the adaptive correction method, such as... Figure 1 The shift hub profile represents the direction of the gear teeth on the shift hub hardware, and the gear teeth determine the position of the shift fork when the shift hub rotates, ultimately reflecting the synchronizer state. This invention requires that when the shift hub rotates between the bottom dead center and the gear closest to the bottom dead center, the synchronizer must remain stationary; that is, the shift fork does not move when the shift hub rotates, which is reflected in the profile as a straight line between points A and B. Similarly, it requires that when the shift hub rotates between the top dead center and the gear closest to the top dead center, the synchronizer must remain stationary; that is, the shift fork does not move when the shift hub rotates, which is reflected in the profile as a straight line between points A and B. As long as there is sufficient free travel at both ends of the shift hub, one or more gears can be arbitrarily configured on the middle gear profile (between B and D).

[0057] Example 2

[0058] Figure 2 The diagram illustrates a preferred embodiment of the adaptive correction method for the zero-point position of the shift hub provided in this application. For ease of explanation, only the parts relevant to this embodiment are shown, and are detailed below:

[0059] Adaptive correction of the shift hub position requires normal self-learning. After the shift hub self-test is completed upon power-on, the adaptive correction function is implemented during normal vehicle shifting, retrieving the upper and lower dead center reference values ​​of the shift hub and sending them to the memory for storage upon power-off. During the next power-on self-test, without shift hub self-learning, the shift hub position is corrected based on the stored shift hub position and upper and lower dead center information, and the final shift hub position is output.

[0060] The following is combined with Figure 2 The specific implementation process of this invention is described below:

[0061] After the shift hub completes its self-check, if the adaptive correction function trigger conditions are met, the following process will be executed:

[0062] Step 1: When the target gear position of the VCU is the same as the actual gear position of the shift hub, and it is in the lowest gear position of the shift hub (1st gear (point B)), the bottom dead center adaptive request is triggered; when the target gear position of the VCU is the same as the actual gear position of the shift hub, and it is in the highest gear position of the shift hub (2nd gear (point D)), the top dead center adaptive request is triggered.

[0063] Step 2: When the bottom dead center adaptive request is triggered, the shift hub is controlled to move to the bottom dead center at a speed v, and the shift hub speed v and shift hub position S are monitored in real time.

[0064] Condition 1: When the speed V < the calibrated stationary speed (used to determine the stopping state of the shift hub, obtained from actual testing) and exceeds time t, condition 1 is true;

[0065] Condition 2: When the self-learned value of the shift hub position S-bottom dead center is less than the calibration threshold, condition 2 is true;

[0066] If either condition one or condition two is true, proceed to step 3;

[0067] When the top dead center adaptive request is triggered, the shift hub is controlled to move to the bottom dead center at a speed v, and the shift hub speed v and shift hub position S are monitored in real time.

[0068] Condition 1: When the velocity V < the calibrated stationary velocity and exceeds time t, condition 1 is true;

[0069] Condition 2: When the self-learned value of the shift hub position S-top dead center is less than the calibration threshold, condition 2 is true;

[0070] If either condition one or condition two is true, proceed to step 3;

[0071] If an update to the target gear is detected during step 2, the current process will immediately terminate and proceed directly to step 4.

[0072] Step 3: Entering this step indicates that the shift hub has reached or is close to the shift hub dead center position. When the bottom dead center adaptive request is triggered, the shift hub is controlled to close to the bottom dead center with a duty cycle P (which is a relatively large duty cycle calibrated) and the shift hub speed V is monitored. When the speed V < the calibrated stationary speed V2 and exceeds time t1, the current shift hub position is recorded as the bottom dead center reference value, and then the process proceeds to step 4.

[0073] When the top dead center adaptive request is triggered, the shift hub is controlled to be close to the top dead center with the duty cycle P and the shift hub speed V is monitored. When the speed V is less than the calibrated stationary speed V2 and exceeds time t1, the current shift hub position is recorded as the top dead center reference value, and the process proceeds to step 4.

[0074] If an update to the target gear is detected during step 3, the current process will immediately end and proceed directly to step 4.

[0075] Step 4: Based on the position closed-loop control, the shift hub returns to the theoretical position of the current target gear and then waits for the next shift command. Since the tooth grooves between the highest and lowest gears and their corresponding upper and lower dead centers are always straight lines, all movements of the shift hub during the adaptive process will not cause the synchronizer to operate and will not affect the actual gear engagement state. During steps 1 to 3, if the target gear changes, the current process and actions will immediately end, the shift hub will prioritize executing the new gear request, and the adaptive correction process will begin again after the conditions are met.

[0076] Step 5: When a power-down hibernation request is detected, the self-learned values ​​of the upper and lower dead centers, the reference values ​​of the upper and lower dead centers, the position of the shift hub, and fault information are sent to the memory for storage, and then read and used during the next power-on self-test.

[0077] The adaptive correction function is triggered under the following conditions:

[0078] a. The shift hub has completed self-learning, and the upper and lower dead center positions are within a reasonable range;

[0079] b. The shifting system is functioning correctly;

[0080] c. Both the target gear and the actual gear are at the lowest or highest gear.

[0081] d. The battery voltage is within a reasonable range;

[0082] e. The software calibration parameters are configured to be adaptively corrected (configurable to trigger each time the conditions are met, or once per driving cycle, or after a certain mileage is reached).

[0083] Example 3

[0084] Figure 3 A schematic flowchart of the shift hub self-test method provided in a preferred embodiment of this application is shown. For ease of explanation, only the parts relevant to this embodiment are shown, and are described in detail below:

[0085] Step 1: After the controller is powered on, it reads the shift hub fault information from the memory and determines whether a self-learning request has been triggered. If a self-learning request is triggered, it directly enters the self-learning process; otherwise, it proceeds to Step 2.

[0086] Step 2: Continue reading the self-learned values ​​of the top and bottom dead centers (TDs), the reference values ​​of the TDs, and the position of the shift hub from memory, and judge their reasonableness. If the position of the shift hub is within the nominal value range and the travel calculated based on the TD positions is within the theoretical travel range of the hardware, it is judged as reasonable, and proceed to Step 3; if any item exceeds the range, it is judged as unreasonable, triggers a self-learning request, and directly enters the self-learning process.

[0087] Step 3: Adaptive correction calculation for shift hub position;

[0088] Step 301, calculate the bottom dead center position deviation LoEndErr = (bottom dead center reference value - bottom dead center self-learning value) / 2

[0089] Step 302, calculate the top dead center position deviation HiEndErr = (top dead center reference value - top dead center self-learning value) / 2

[0090] Step 303: Determine whether to make corrections.

[0091] When |LoEndErr| > allowed correction threshold A or |HiEndErr| > allowed correction threshold A, and

[0092] If |LoEndErr-HiEndErr| < allowable correction threshold B, correction calculation is allowed; otherwise, no correction is performed, SDPosnCorr = shift hub position;

[0093] Step 304, Calculation of shift hub correction value SDPosnCorr

[0094] When |LoEndErr|≤|HiEndErr|

[0095] If LoEndErr < 0, then SDPosnCorr = shift hub position + |LoEndErr|

[0096] If LoEndErr≥0, then SDPosnCorr = shift hub position - |LoEndErr|

[0097] When |LoEndErr| > |HiEndErr|

[0098] If HiEndErr < 0, then SDPosnCorr = shift hub position + |HiEndErr|

[0099] If HiEndErr≥0, then SDPosnCorr = shift hub position - |HiEndErr|

[0100] At this point, the shift hub position calculation is complete, the self-check is finished, the shift hub can now perform shifting actions normally, and wait to enter the next adaptive correction process.

[0101] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0102] In the above detailed description, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, the invention is presented with fewer features than all of the features of the single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, wherein each claim stands alone as a preferred embodiment of the invention.

[0103] The disclosed embodiments have been described above to enable any person skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments without departing from the spirit and scope of this disclosure. Therefore, this disclosure is not limited to the embodiments given herein, but is consistent with the broadest scope of the principles and novel features disclosed in this application.

[0104] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term "comprising" as used in the specification or claims is interpreted in a manner similar to the term "including," as it is used as a conjunction in the claims. Additionally, the use of any term "or" in the specification of the claims is intended to mean "non-exclusive or."

[0105] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A shift range hub zero position adaptive correction method of a shift range hub, characterized by, The profile of the shift hub between the bottom dead center and the first gear is a straight line, and the profile of the shift hub between the top dead center and the highest gear is a straight line; the method includes: After the shift hub completes its self-check, if the adaptive correction function trigger conditions are met, the adaptive correction phase begins. The adaptive correction phase includes the following steps: If the target gear position of the VCU is the same as the actual gear position of the shift hub, and the shift hub is in the lowest gear position, a bottom dead center adaptive request is triggered. The shift hub is moved to the bottom dead center with speed v, and the shift hub speed v and shift hub position S are monitored in real time. If the target gear position of the VCU is the same as the actual gear position of the shift hub, and the shift hub is in the highest gear position, then the top dead center adaptive request is triggered, and the shift hub is moved to the top dead center with speed v, and the shift hub speed v and shift hub position S are monitored in real time. When the bottom dead center adaptive request is triggered, if either condition 1 (speed V < calibrated stationary speed V1 and exceeds time t) or condition 2 (shift hub position S - bottom dead center self-learning value < calibrated threshold) is met, the shift hub is controlled to be close to the bottom dead center with the duty cycle P and the shift hub speed V is monitored. When the speed V < calibrated stationary speed V2 and exceeds time t1, the current shift hub position is recorded as the bottom dead center reference value. When the top dead center adaptive request is triggered, if either condition 1 (speed V < calibrated stationary speed V1 and exceeds time t) or condition 2 (shift hub position S - bottom dead center self-learning value < calibrated threshold) is met, the shift hub is controlled to be close to the top dead center with the duty cycle P and the shift hub speed V is monitored. When the speed V < calibrated stationary speed V2 and exceeds time t1, the current shift hub position is recorded as the top dead center reference value. The shift hub returns to the theoretical position of the current target gear based on position closed-loop control, and then waits for the next shift command.

2. The shift hub zero position adaptive correction method of claim 1, wherein, Also includes: When a power-down hibernation request is detected, the self-learned values ​​of the upper and lower dead centers, the reference values ​​of the upper and lower dead centers, the position of the shift hub, and the fault information are sent to the memory for storage, and are read and used during the next power-on self-test.

3. The shift hub zero position adaptive correction method of claim 1, wherein, Also includes: After triggering the bottom dead center adaptive request or the top dead center adaptive request, if an update to the target gear is detected, the current process is immediately terminated, and the shift hub is returned to the theoretical position of the current target gear based on the position closed-loop control, and then waits for the next shift command.

4. A shift hub self-check method, used to be executed before the shift hub zero-point position adaptive correction method as described in claim 1, characterized in that, The shift hub self-inspection method includes: After the controller is powered on, it reads the shift hub fault information from the memory and determines whether to trigger a self-learning request. If there is a self-learning request, the self-learning process will begin. If there is no self-learning request, the system reads the self-learning values ​​of the upper and lower dead centers, the reference values ​​of the upper and lower dead centers, and the shift hub position information stored at the last power-down from the memory, and makes a reasonable judgment on the self-learning values ​​of the upper and lower dead centers, the reference values ​​of the upper and lower dead centers, and the shift hub position. If the judgment is unreasonable, a self-learning request is triggered and the self-learning process is entered; if the judgment is reasonable, the shift hub position is corrected.

5. The shift hub self-inspection method as described in claim 4, characterized in that, The reasonableness judgment includes: It is considered reasonable when the position of the shift hub is within the nominal value range and the travel calculated based on the positions of the upper and lower dead centers is within the theoretical travel range of the hardware. Conversely, it is judged as unreasonable.

6. The shift hub self-inspection method as described in claim 4, characterized in that, The method for correcting the position of the shift hub is as follows: Calculate the bottom dead center position deviation LoEndErr = (bottom dead center reference value - bottom dead center self-learning value) / 2; Calculate the top dead center position deviation HiEndErr = (top dead center reference value - top dead center self-learning value) / 2; Determine whether to make corrections: Correction calculation is allowed when |LoEndErr| > allowed correction threshold A or |HiEndErr| > allowed correction threshold A, and |LoEndErr - HiEndErr| < allowed correction threshold B; otherwise, no correction is performed, and the shift hub correction value SDPosnCorr = shift hub position.

7. The shift hub self-inspection method as described in claim 6, characterized in that, When correction calculations are permitted, the method for calculating the shift hub correction value SDPosnCorr includes: When |LoEndErr|≤|HiEndErr| If LoEndErr < 0, then SDPosnCorr = shift hub position + |LoEndErr|; If LoEndErr≥0, then SDPosnCorr = shift hub position - |LoEndErr|; When |LoEndErr| > |HiEndErr| If HiEndErr < 0, then SDPosnCorr = shift hub position + |HiEndErr|; If HiEndErr≥0, then SDPosnCorr = shift hub position - |HiEndErr|.

8. The shift hub self-inspection method as described in claim 4, characterized in that, The adaptive correction function is triggered by the following conditions: The shift hub has completed self-learning, and the upper and lower dead center positions are within a reasonable range; The gear shifting system is functioning correctly; Both the target gear and the actual gear are at the lowest or highest gear. The battery voltage is within a reasonable range; The software calibration parameters are configured to allow for adaptive correction.

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