A shift control method, device, controller and storage medium of a gearbox

Abstract

The application discloses a gear shifting control method and device of a gearbox, a controller and a storage medium. The method comprises the following steps: according to a target gear shifting requirement from a first gear to a second gear, performing a single solenoid valve gear pulling control on the gearbox to obtain a target change delay of a solenoid valve opening to a gear position change, a first target change rate of a gear position during the gear pulling control, and a target overshoot of the gear position after the gear pulling is completed; based on the target change delay, the first target change rate, the target overshoot, a corresponding relationship between a change delay time and a gear pulling correction time, a corresponding relationship between a gear pulling position change rate and the gear pulling correction time, and a corresponding relationship between a gear pulling position overshoot and the gear pulling correction time, determining a total correction delay of the single solenoid valve gear pulling; and performing a delay control on the gearbox based on the single solenoid valve gear pulling according to the total correction delay. The gear pulling failure risk of the single solenoid valve gear pulling is greatly reduced, and the gear shifting failure risk of the gearbox is greatly reduced.

Description

TECHNICAL FIELD

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

[0002] An automated mechanical transmission (AMT) is a type of mechanical automatic transmission with automatic gear shifting, which is obtained by adding an electronic control system to the basic structure of a manual gearbox and changing the manual gear shifting mechanism into an automatic gear shifting mechanism.

[0003] In the related art, a gear shifting control method of an AMT includes: according to a target gear shifting requirement from a first gear to a second gear, performing a single solenoid gear shifting control on the AMT, that is, according to a default gear shifting time of the single solenoid gear shifting, closing a solenoid valve corresponding to the first gear, and opening a solenoid valve corresponding to an opposite gear of the first gear.

[0004] However, the inventors have found through research that, according to the default gear shifting time of the single solenoid gear shifting, the single solenoid gear shifting control on the AMT is prone to gear shifting failure, thereby causing the AMT to have a gear shifting failure risk. SUMMARY

[0005] Therefore, the embodiments of the present application provide a gear shifting control method and device of a gearbox, a controller and a storage medium, which greatly reduce the gear shifting failure risk of the single solenoid gear shifting, thereby greatly reducing the gear shifting failure risk of the gearbox.

[0006] In one aspect, the embodiments of the present application provide a gear shifting control method of a gearbox, which includes:

[0007] According to a target gear shifting requirement from a first gear to a second gear, performing a single solenoid gear shifting control on the gearbox to obtain a target change delay of a solenoid valve opening to a gear position change, a first target change rate of a gear position during the gear shifting control, and a target overshoot of the gear position after the gear shifting is completed;

[0008] According to the target change delay, the first target change rate, the target overshoot, a corresponding relationship between a change delay time and a gear shifting correction time, a corresponding relationship between a gear shifting position change rate and the gear shifting correction time, and a corresponding relationship between a gear shifting position overshoot and the gear shifting correction time, determining a total correction delay of the single solenoid gear shifting;

[0009] According to the total correction delay, performing a delay control on the gearbox based on the single solenoid gear shifting.

[0010] Optionally, the total correction delay of the single solenoid valve is determined according to the target change delay, the first target change rate, the target overshoot, the corresponding relationship between the change delay time and the gear shifting correction time, the corresponding relationship between the gear shifting position change rate and the gear shifting correction time, and the corresponding relationship between the gear shifting position overshoot and the gear shifting correction time.

[0011] The first correction delay of the single solenoid valve is determined according to the target change delay and the corresponding relationship between the gear shifting position overshoot and the gear shifting correction time.

[0012] The second correction delay of the single solenoid valve is determined according to the first target change rate and the corresponding relationship between the gear shifting position change rate and the gear shifting correction time.

[0013] The third correction delay of the single solenoid valve is determined according to the target overshoot and the corresponding relationship between the gear shifting position overshoot and the gear shifting correction time.

[0014] The total correction delay is determined according to the first correction delay, the second correction delay, and the third correction delay.

[0015] Optionally, the total correction delay is determined according to the first correction delay, the second correction delay, and the third correction delay, including:

[0016] The second correction delay is corrected in time according to the third correction delay, to obtain a corrected second correction delay.

[0017] If the corrected second correction delay is greater than or equal to 0, the total correction delay is determined according to the corrected second correction delay and the first correction delay.

[0018] If the corrected second correction delay is less than 0, the first correction delay is corrected in time according to the corrected second correction delay, to obtain the total correction delay.

[0019] Optionally, the method further includes:

[0020] After the gear shifting control of the gearbox is completed, the solenoid valve corresponding to the opposite gear of the first gear is closed, the solenoid valve corresponding to the first gear is closed after a preset default delay, and the gearbox is controlled in speed.

[0021] Optionally, the method further includes:

[0022] When the gear shifting control of the gearbox is started, the solenoid valve corresponding to the second gear is opened to control the gear shifting of the gearbox.

[0023] If a distance between the gear position and the in-gear position of the second gear is less than a preset distance, the gear shifting control of the gearbox is performed by closing an electromagnetic valve corresponding to the second gear and opening an electromagnetic valve corresponding to an opposite gear of the second gear.

[0024] Optionally, the gear shifting control of the gearbox by closing the electromagnetic valve corresponding to the second gear and opening the electromagnetic valve corresponding to the opposite gear of the second gear comprises:

[0025] determining a target opening delay;

[0026] the gear shifting control of the gearbox is performed by closing the electromagnetic valve corresponding to the second gear and opening the electromagnetic valve corresponding to the opposite gear of the second gear after the target opening delay.

[0027] Optionally, the determination of the target opening delay comprises:

[0028] acquiring a preset default delay;

[0029] determining a fourth correction delay according to a second target change rate of the gear position during the gear shifting control and a corresponding relationship between the gear position change rate and the delay correction time;

[0030] the target opening delay is determined according to the preset default delay and the fourth correction delay.

[0031] In another aspect, an embodiment of the present application provides a gear shifting control device of a gearbox, the device comprising: a first control unit, a determination unit and a second control unit.

[0032] the first control unit is configured to perform the gear shifting control of the gearbox based on single electromagnetic valve gear shifting according to a target gear shifting requirement from a first gear to a second gear, to obtain a target change delay of electromagnetic valve opening to gear position change, a first target change rate of the gear position during the gear shifting control, and a target overshoot of the gear position after the gear shifting is completed;

[0033] the determination unit is configured to determine a total correction delay of the single electromagnetic valve gear shifting according to the target change delay, the first target change rate, the target overshoot, a corresponding relationship between the change delay time and the gear shifting correction time, a corresponding relationship between the gear position change rate and the gear shifting correction time, and a corresponding relationship between the gear position overshoot and the gear shifting correction time;

[0034] the second control unit is configured to perform the delay control of the gearbox based on the single electromagnetic valve gear shifting according to the total correction delay.

[0035] Optionally, the determination unit is configured to:

[0036] determining a third correction delay of the single electromagnetic valve according to the target overshoot, the overshoot of the shift position and the corresponding relationship between the shift position and the shift correction time;

[0037] determining a second correction delay of the single electromagnetic valve according to the first target change rate, the change rate of the shift position and the corresponding relationship between the shift position and the shift correction time;

[0038] determining a third correction delay of the single electromagnetic valve according to the target overshoot, the overshoot of the shift position and the corresponding relationship between the shift position and the shift correction time;

[0039] determining the total correction delay according to the first correction delay, the second correction delay and the third correction delay.

[0040] Optionally, the determining unit is configured to:

[0041] correcting the second correction delay according to the third correction delay to obtain a corrected second correction delay;

[0042] if the corrected second correction delay is greater than or equal to 0, determining the total correction delay according to the corrected second correction delay and the first correction delay;

[0043] if the corrected second correction delay is less than 0, correcting the first correction delay according to the corrected second correction delay to obtain the total correction delay.

[0044] Optionally, the device further comprises a third control unit.

[0045] The third control unit is configured to, after the shift control of the gearbox is completed, close the electromagnetic valve corresponding to the opposite gear of the first gear, close the electromagnetic valve corresponding to the first gear after a preset default delay, and perform speed control on the gearbox.

[0046] Optionally, the device further comprises a fourth control unit.

[0047] The fourth control unit is configured to:

[0048] when the gear control of the gearbox is started, the fourth control unit is configured to open the electromagnetic valve corresponding to the second gear to control the gear of the gearbox.

[0049] if the distance between the gear position and the in-gear position of the second gear is less than a preset distance, the fourth control unit is configured to close the electromagnetic valve corresponding to the second gear, open the electromagnetic valve corresponding to the opposite gear of the second gear, and control the gear of the gearbox.

[0050] Optionally, the fourth control unit is configured to:

[0051] determining a target opening delay;

[0052] controlling the gear shifting of the gearbox by closing the electromagnetic valve corresponding to the second gear and opening the electromagnetic valve corresponding to the opposite gear of the second gear after the target opening delay.

[0053] Optionally, the fourth control unit is configured to:

[0054] acquire a preset default delay;

[0055] determining a fourth correction delay according to the second target change rate of the gear position during the gear shifting control and the corresponding relationship between the gear position change rate and the delay correction time;

[0056] determining the target opening delay according to the preset default delay and the fourth correction delay.

[0057] In another aspect, an embodiment of the present application provides a controller of a gearbox, the controller comprising a processor and a memory:

[0058] the memory is configured to store a computer program and transmit the computer program to the processor;

[0059] the processor is configured to execute the method according to the instructions in the computer program.

[0060] In another aspect, an embodiment of the present application provides a computer readable storage medium for storing a computer program, the computer program being executed by a processor to implement the method according to the above aspect.

[0061] According to the technical scheme of the embodiment of the present application, firstly, the gearshift control based on the single electromagnetic valve gear shifting is performed on the gearbox according to the target gear shifting requirement from the first gear to the second gear, so as to obtain the target change delay of the electromagnetic valve opening to the gear position change, the first target change rate of the gear position during the gear shifting control, and the target overshoot of the gear position after the gear shifting is completed; then, based on the target change delay, the corresponding relationship between the change delay time and the gear shifting correction time, the corresponding relationship between the gear shifting position change rate and the gear shifting correction time, and the corresponding relationship between the gear shifting position overshoot and the gear shifting correction time, the total correction delay of the single electromagnetic valve gear shifting is determined; finally, the delay control based on the single electromagnetic valve gear shifting is performed on the gearbox according to the total correction delay. Based on the gearshift control based on the single electromagnetic valve gear shifting on the gearbox according to the default gear shifting time of the single electromagnetic valve gear shifting, the influence of the target change delay of the electromagnetic valve opening to the gear position change, the first target change rate of the gear position during the gear shifting control, and the target overshoot of the gear position after the gear shifting is completed on the default gear shifting time of the single electromagnetic valve gear shifting is considered, the total correction delay of the single electromagnetic valve gear shifting is obtained by querying the corresponding relationship between the change delay time and the gear shifting correction time, the corresponding relationship between the gear shifting position change rate and the gear shifting correction time, and the corresponding relationship between the gear shifting position overshoot and the gear shifting correction time, so as to perform the delay control based on the single electromagnetic valve gear shifting on the gearbox, greatly reducing the gear shifting failure risk of the single electromagnetic valve gear shifting, thereby greatly reducing the gear shifting failure risk of the gearbox. BRIEF DESCRIPTION OF DRAWINGS

[0062] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings required in the description of the embodiments of the present application will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art without creating labor.

[0063] Figure 1 The system framework schematic diagram involved in one application scenario in the embodiments of the present application;

[0064] Figure 2 The flowchart schematic diagram of the gearshift control method of the gearbox provided by the embodiments of the present application;

[0065] Figure 3 The schematic diagram of the top tooth position of the 2nd gear provided by the embodiments of the present application;

[0066] Figure 4 The specific flowchart of the gearshift control based on the single electromagnetic valve gear shifting on the gearbox provided by the embodiments of the present application;

[0067] Figure 5A schematic diagram of a gear shifting process curve of a gearbox is provided for an embodiment of the present application.

[0068] Figure 6 A structural schematic diagram of a gear shifting control device of a gearbox is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0069] In order for those skilled in the art to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0070] At present, the gear shifting control method of the AMT includes: according to the target gear shifting demand from the first gear to the second gear, performing the notch control of the AMT based on the single electromagnetic valve notch, that is, closing the electromagnetic valve corresponding to the first gear and opening the electromagnetic valve corresponding to the opposite gear of the first gear according to the default notch time of the single electromagnetic valve notch. However, the inventors have found through research that, according to the default notch time of the single electromagnetic valve notch which is fixed and unchanged, performing the gear shifting control of the AMT based on the single electromagnetic valve notch is likely to cause the single electromagnetic valve notch to have a notch failure risk, thereby causing the AMT to have a gear shifting failure risk.

[0071] In order to solve this problem, in the embodiments of the present application, on the basis of performing the gear shifting control of the gearbox based on the single electromagnetic valve notch according to the default notch time of the single electromagnetic valve notch, the influence of the target change delay of the electromagnetic valve opening to the gear position change, the first target change rate of the gear position during the notch control, and the target overshoot amount of the gear position after the completion of the notch on the default notch time of the single electromagnetic valve notch is considered, the total correction delay of the single electromagnetic valve notch is obtained by querying the corresponding relationship of the change delay time and the notch correction time, the corresponding relationship of the notch position change rate and the notch correction time, and the corresponding relationship of the notch position overshoot amount and the notch correction time, so as to perform the delay control of the gearbox based on the single electromagnetic valve notch, greatly reducing the notch failure risk of the single electromagnetic valve notch, thereby greatly reducing the gear shifting failure risk of the gearbox.

[0072] For example, one of the scenarios of the embodiments of the present application can be applied to the scenario as shown in FIG. 1. Figure 1 The scenario includes a controller 101 and a transmission 102, and the controller 101 performs the embodiments provided by the present application to achieve the gear shifting control of the transmission 102.

[0073] First, in the above application scenarios, although the action description of the implementation method provided in this application is executed by the controller 101, the implementation method of this application is not limited in terms of the execution subject, as long as the action disclosed in the implementation method provided in this application is executed.

[0074] Secondly, the above scenario is only one example provided by the embodiments of this application, and the embodiments of this application are not limited to this scenario.

[0075] The following detailed description, in conjunction with the accompanying drawings, illustrates the specific implementation of the gearbox shift control method, apparatus, controller, and storage medium in the embodiments of this application.

[0076] Next, the specific implementation of the gear shift control method of the gearbox in the embodiments of this application will be described in detail through examples.

[0077] See Figure 2 The diagram illustrates a flow chart of a gearbox shift control method according to an embodiment of this application. In this embodiment, the method may include, for example, the following steps:

[0078] S201: Based on the target shift requirement from the first gear to the second gear, perform shift disengagement control on the transmission based on a single solenoid valve, and obtain the target change delay from the opening of the solenoid valve to the change of the gear position, the first target change rate of the gear position during shift disengagement control, and the target overshoot of the gear position after shift disengagement is completed.

[0079] In related technologies, the shift control method for transmissions involves performing shift control based on a single solenoid valve, according to the target shift demand from the first gear to the second gear. This means closing the solenoid valve corresponding to the first gear and opening the solenoid valve corresponding to the opposite gear, according to the default shift time of the single solenoid valve. However, research has found that using a fixed default shift time for single solenoid valve shift control in AMT (Automated Manual Transmission) can easily lead to shift failure due to the risk of single solenoid valve shift failure, thus causing shift failure in the AMT.

[0080] Therefore, in the embodiments of the present application, in order to solve the above problems, in the process of performing the gear disengagement control of the transmission based on single solenoid disengagement, the change delay of the solenoid opening to the gear position change, the gear position change rate during the disengagement control, and the overshoot amount of the gear position after the disengagement is completed, which affect the default disengagement time of the single solenoid disengagement; in the process of performing the gear disengagement control of the transmission based on single solenoid disengagement according to the target gear shifting requirement from the first gear to the second gear, the target change delay of the solenoid opening to the gear position change, the first target change rate of the gear position during the disengagement control, and the target overshoot amount of the gear position after the disengagement are first obtained, so as to subsequently correct the default disengagement time of the single solenoid disengagement based on the target change delay, the first target change rate, and the target overshoot amount, reduce the disengagement failure risk of the single solenoid disengagement, and thus greatly reduce the gear shifting failure risk of the transmission.

[0081] The first gear and the second gear are different gears of the transmission; performing the gear disengagement control of the transmission based on single solenoid disengagement according to the target gear shifting requirement from the first gear to the second gear means that the solenoid corresponding to the first gear is first closed, the solenoid corresponding to the opposite gear of the first gear is opened, and then the solenoids corresponding to the first gear and the opposite gear of the first gear are opened; the target change delay of the solenoid opening to the gear position change means the time between opening the solenoid corresponding to the opposite gear of the first gear and the change of the gear position; the first target change rate of the gear position during the disengagement control means the change rate of the gear position after the change of the gear position during the disengagement control; and the target overshoot amount of the gear position after the disengagement is completed means the position amount of the gear position after the disengagement is completed exceeding the top tooth position of the first gear.

[0082] The S201 provides influence data for subsequent correction of the default disengagement time of the single solenoid disengagement and reduction of the disengagement failure risk of the single solenoid disengagement, thereby greatly reducing the gear shifting failure risk of the transmission, based on the influence of the target change delay of the solenoid opening to the gear position change, the first target change rate of the gear position during the disengagement control, and the target overshoot amount of the gear position after the disengagement on the default disengagement time of the single solenoid disengagement, on the basis of performing the gear disengagement control of the transmission based on single solenoid disengagement according to the default disengagement time of the single solenoid disengagement.

[0083] As an example, the first gear is 2nd gear, the second gear is 3rd gear, and the default shift-out time is 20ms; when shifting out, first open the electromagnetic valve 1 corresponding to 1st gear according to 20ms, close the electromagnetic valve 2 corresponding to 2nd gear, close the electromagnetic valve 3 corresponding to 3rd gear, and close the electromagnetic valve 4 corresponding to 4th gear, then open the electromagnetic valve 1 corresponding to 1st gear, open the electromagnetic valve 2 corresponding to 2nd gear, close the electromagnetic valve 3 corresponding to 3rd gear, and close the electromagnetic valve 4 corresponding to 4th gear, to obtain the target change delay of the electromagnetic valve 1 corresponding to 1st gear from opening to the change of gear position, the first target change rate of the gear position during shift-out control, and the target overshoot of the gear position after shift-out is completed.

[0084] The target overshoot of the gear position after shift-out is completed refers to the position amount of the gear position after shift-out is completed exceeding the top tooth position of 2nd gear; see Figure 3 , which shows a schematic diagram of the top tooth position of 2nd gear in the embodiment of the application. The top tooth position of 2nd gear is determined by the limit position of 2nd gear 34mm, the preset gear value 2mm, and the preset distance value 4mm, i.e. the top tooth position of 2nd gear is 28mm. In addition, the opposite gear of the first gear is 1st gear, and the top tooth position of 1st gear is determined by the limit position of 1st gear 11mm, the preset gear value 2mm, and the preset distance value 4mm, i.e. the top tooth position of 1st gear is 17mm.

[0085] S202: Determine the total correction delay of single electromagnetic valve shift-out according to the corresponding relationship between the target change delay, the first target change rate, the target overshoot, the change delay time, the shift-out position change rate, and the shift-out position overshoot.

[0086] In the embodiment of the application, the delay time of the electromagnetic valve from opening to the change of gear position, the change rate of the gear position during shift-out control, and the overshoot of the gear position after shift-out is completed have an impact on the default shift-out time of single electromagnetic valve shift-out; therefore, the corresponding relationship between the change delay time and the shift-out correction time, the corresponding relationship between the shift-out position change rate and the shift-out correction time, and the corresponding relationship between the shift-out position overshoot and the shift-out correction time are pre-configured. Based on this, after obtaining the target change delay of the electromagnetic valve from opening to the change of gear position, the first target change rate of the gear position during shift-out control, and the target overshoot of the gear position after shift-out is completed, the corresponding relationship between the target change delay, the first target change rate, and the target overshoot is queried based on the target change delay, the first target change rate, and the target overshoot, i.e. the total correction delay of single electromagnetic valve shift-out can be determined, so as to correct the default shift-out time of single electromagnetic valve shift-out based on the total correction delay in the future, reduce the risk of shift-out failure of single electromagnetic valve shift-out, and thus greatly reduce the risk of shift failure of the gearbox.

[0087] The corresponding relationship between the change delay time and the notch correction time refers to a plurality of change delay times of the electromagnetic valve opening to the gear position change and a plurality of corresponding notch correction times; the corresponding relationship between the notch position change rate and the notch correction time refers to a plurality of notch position change rates of the gear position during the notch control and a plurality of corresponding notch correction times; the corresponding relationship between the notch position overshoot and the notch correction time refers to a plurality of notch position overshoots of the gear position after the completion of the notch and a plurality of corresponding notch correction times; and the total correction delay of the single electromagnetic valve notch refers to the correction time determined by the target change delay, the corresponding relationship between the change delay time and the notch correction time, the first target change rate, the corresponding relationship between the notch position change rate and the notch correction time, and the target overshoot, the corresponding relationship between the notch position overshoot and the notch correction time.

[0088] The S202 obtains the total correction delay of the single electromagnetic valve notch by querying the corresponding relationship between the change delay time and the notch correction time, the corresponding relationship between the notch position change rate and the notch correction time, and the corresponding relationship between the notch position overshoot and the notch correction time on the basis of the target change delay of the electromagnetic valve opening to the gear position change, the first target change rate of the gear position during the notch control, and the target overshoot of the gear position after the completion of the notch, which is the default notch time for subsequent correction of the single electromagnetic valve notch, reduces the risk of notch failure of the single electromagnetic valve notch, and thus greatly reduces the risk of gear shifting failure of the gearbox to provide correction data.

[0089] In the embodiment of the present application, when the total correction delay of the single solenoid valve is determined based on the target change delay, the first target change rate, and the target overshoot, the corresponding relationship between the change delay time and the notch correction time, the corresponding relationship between the notch position change rate and the notch correction time, and the corresponding relationship between the notch position overshoot and the notch correction time are queried in S202, and the target change delay, the corresponding relationship between the change delay time and the notch correction time, the first target change rate, the corresponding relationship between the notch position change rate and the notch correction time, and the corresponding relationship between the target overshoot and the notch position overshoot and the notch correction time are associated. Therefore, the first correction delay of the single solenoid valve is determined based on the target change delay and the corresponding relationship between the change delay time and the notch correction time, the second correction delay of the single solenoid valve is determined based on the first target change rate and the corresponding relationship between the notch position change rate and the notch correction time, and the third correction delay of the single solenoid valve is determined based on the target overshoot and the corresponding relationship between the notch position overshoot and the notch correction time. Therefore, in an optional implementation of the embodiment of the present application, S202 may, for example, include S2021-S2024 (not shown in the figure).

[0090] S2021: determining the first correction delay of the single solenoid valve according to the corresponding relationship between the target change delay, the notch position overshoot, and the notch correction time.

[0091] S2022: determining the second correction delay of the single solenoid valve according to the corresponding relationship between the first target change rate, the notch position change rate, and the notch correction time.

[0092] S2023: determining the third correction delay of the single solenoid valve according to the corresponding relationship between the target overshoot, the notch position overshoot, and the notch correction time.

[0093] S2024: determining the total correction delay according to the first correction delay, the second correction delay, and the third correction delay.

[0094] In the embodiment of the present application, when the total correction delay of the single solenoid valve is determined based on the target change delay, the first target change rate, and the target overshoot, the corresponding relationship between the change delay time and the notch correction time, the corresponding relationship between the notch position change rate and the notch correction time, and the corresponding relationship between the notch position overshoot and the notch correction time are queried in S202, and the target change delay, the corresponding relationship between the change delay time and the notch correction time, the first target change rate, the corresponding relationship between the notch position change rate and the notch correction time, and the corresponding relationship between the target overshoot and the notch position overshoot and the notch correction time are associated. Therefore, the first correction delay of the single solenoid valve is determined based on the target change delay and the corresponding relationship between the change delay time and the notch correction time, the second correction delay of the single solenoid valve is determined based on the first target change rate and the corresponding relationship between the notch position change rate and the notch correction time, and the third correction delay of the single solenoid valve is determined based on the target overshoot and the corresponding relationship between the notch position overshoot and the notch correction time. Therefore, in an optional implementation of the embodiment of the present application, S202 may, for example, include S2021-S2024 (not shown in the figure).

[0095] In practical applications, the corresponding relationship between the change delay time and the shift correction time is shown in Table 1, the corresponding relationship between the shift position change rate and the shift correction time is shown in Table 2, and the corresponding relationship between the shift position overshoot and the shift correction time is shown in Table 3.

[0096] Table 1: Corresponding relationship between change delay time and shift correction time

[0097] Change in delay time (ms) 10 20 30 40 50 60 Shift-out correction time (10 ms) 0 1 2 3 4 5

[0098] Table 2: Corresponding relationship between shift position change rate and shift correction time

[0099] Shift-out position change rate (mm / 10 ms) 0.2 0.3 0.4 0.5 0.6 0.7 0.8 Shift-out correction time (10 ms) 20 16 14 12 8 6 4

[0100] Table 3: Corresponding relationship between shift position overshoot and shift correction time

[0101] Shift-out position overshoot (mm) 0 0.4 0.8 1.2 1.6 2 Shift-out correction time (10 ms) 0 -1 -2 -3 -4 -5

[0102] In the embodiment, when the total correction delay time is determined by the first correction delay time, the second correction delay time and the third correction delay time, the third correction delay time is the shift correction time corresponding to the target overshoot in the corresponding relationship between the shift position overshoot and the shift correction time, that is, the third correction delay time is less than or equal to 0, the first correction delay time is the shift correction time corresponding to the target change delay time in the corresponding relationship between the change delay time and the shift correction time, that is, the first correction delay time is greater than or equal to 0, and the second correction delay time of the single solenoid shift is the shift correction time corresponding to the first target change rate in the corresponding relationship between the shift position change rate and the shift correction time, that is, the second correction delay time is greater than 0. Therefore, the second correction delay time needs to be corrected by the third correction delay time to obtain the corrected second correction delay time, and it is determined whether the corrected second correction delay time is greater than or equal to 0. If yes, it indicates that the corrected second correction delay time and the first correction delay time are both greater than or equal to 0, and the total correction delay time can be directly determined by the corrected second correction delay time and the first correction delay time. If no, it indicates that the corrected second correction delay time is less than 0, and the first correction delay time needs to be further corrected by the corrected second correction delay time, so as to obtain the corrected first correction delay time as the total correction delay time. Based on this, in an optional embodiment of the embodiment, S2024 may, for example, include S2024a-S2024b or S2024a, S2024c (not shown in the figure).

[0103] S2024a: correcting the second correction delay time according to the third correction delay time to obtain the corrected second correction delay time.

[0104] S2024b: if the corrected second correction delay time is greater than or equal to 0, determining the total correction delay time according to the corrected second correction delay time and the first correction delay time.

[0105] S2024c: if the second modified delay time after modification is less than 0, performing delay modification on the first modified delay time according to the second modified delay time after modification to obtain a total modified delay time.

[0106] The second modified delay time after modification refers to the sum of the second modified delay time and the third modified delay time.

[0107] The S2024a-S2024c considers the modification relationship among the first modified delay time, the second modified delay time, and the third modified delay time, and logically determines the total modified delay time by modifying the second modified delay time and then modifying the first modified delay time through the third modified delay time.

[0108] As an example of the S2021-S2023 and the S2024a-S2024c, on the basis of the example of the S201, the first modified delay time t1 of single-magnetic-valve gear selection is obtained based on a target change delay query table 1 corresponding to the opening of the electromagnetic valve 1 of the first gear to the change of the gear position; the second modified delay time t2 of single-magnetic-valve gear selection is obtained based on a first target change rate query table 2 of the gear position during the control of gear selection; the third modified delay time t3 of single-magnetic-valve gear selection is obtained based on a target overshoot query table 3 of the gear position after the completion of gear selection; the second modified delay time after modification is obtained based on the modification of t2 by t3; if the second modified delay time after modification is greater than or equal to 0, the total modified delay time t is determined by the second modified delay time after modification and t1; if the second modified delay time after modification is less than 0, the total modified delay time t is obtained based on the modification of t1 by the second modified delay time after modification, that is, t = t1 + t2 + t3.

[0109] S203: performing delay control on the gearbox based on single-magnetic-valve gear selection according to the total modified delay time.

[0110] In the embodiments of the present application, after the total modified delay time of single-magnetic-valve gear selection is determined through the above-mentioned S202, the gearbox is controlled based on single-magnetic-valve gear selection according to the total modified delay time, that is, the default gear selection time of single-magnetic-valve gear selection is modified, which greatly reduces the gear selection failure risk of single-magnetic-valve gear selection, thereby greatly reducing the gear selection failure risk of the gearbox.

[0111] The delay control on the gearbox based on single-magnetic-valve gear selection according to the total modified delay time refers to, on the basis of closing the electromagnetic valve corresponding to the first gear and opening the electromagnetic valve corresponding to the opposite gear of the first gear according to the default gear selection time, the electromagnetic valve corresponding to the first gear is continuously closed and the electromagnetic valve corresponding to the opposite gear of the first gear is continuously opened according to the total modified delay time.

[0112] The S203 controls the gearbox based on single-magnetic-valve gear selection according to the total modified delay time of single-magnetic-valve gear selection, which greatly reduces the gear selection failure risk of single-magnetic-valve gear selection, thereby greatly reducing the gear selection failure risk of the gearbox.

[0113] As an example of S203, based on the examples of S2021-S2023, S2024a-S2024c described above, when the gear is pulled out, first, according to the 20ms opening of the electromagnetic valve 1 corresponding to the first gear, the closing of the electromagnetic valve 2 corresponding to the second gear, the closing of the electromagnetic valve 3 corresponding to the third gear, and the closing of the electromagnetic valve 4 corresponding to the fourth gear, continue to open the electromagnetic valve 1 corresponding to the first gear, close the electromagnetic valve 2 corresponding to the second gear, close the electromagnetic valve 3 corresponding to the third gear, and close the electromagnetic valve 4 corresponding to the fourth gear, and then open the electromagnetic valve 1 corresponding to the first gear, open the electromagnetic valve 2 corresponding to the second gear, close the electromagnetic valve 3 corresponding to the third gear, and close the electromagnetic valve 4 corresponding to the fourth gear.

[0114] Through the various embodiments provided by the embodiment, first, according to the target gear shifting requirement from the first gear to the second gear, the gear box is controlled by the single electromagnetic valve gear pulling out, the target change delay of the electromagnetic valve opening to the gear position change, the first target change rate of the gear position during the gear pulling out control, and the target overshoot of the gear position after the gear pulling out is completed; Then, based on the target change delay, the corresponding relationship between the first target change rate, the target overshoot, the change delay time and the gear pulling out correction time, the corresponding relationship between the gear pulling out position change rate and the gear pulling out correction time, and the corresponding relationship between the gear pulling out position overshoot and the gear pulling out correction time, the total correction delay of the single electromagnetic valve gear pulling out is determined; Finally, according to the total correction delay, the gear box is controlled by the single electromagnetic valve gear pulling out. The method is based on the default gear shifting control of the gear box by the single electromagnetic valve gear pulling out according to the single electromagnetic valve gear pulling out time, considering the influence of the target change delay of the electromagnetic valve opening to the gear position change, the first target change rate of the gear position during the gear pulling out control, and the target overshoot of the gear position after the gear pulling out is completed on the default gear pulling out time of the single electromagnetic valve gear pulling out, by querying the corresponding relationship between the change delay time and the gear pulling out correction time, the corresponding relationship between the gear pulling out position change rate and the gear pulling out correction time, and the corresponding relationship between the gear pulling out position overshoot and the gear pulling out correction time, the total correction delay of the single electromagnetic valve gear pulling out is obtained, so as to control the gear box by the single electromagnetic valve gear pulling out. The delay control greatly reduces the gear pulling out failure risk of the single electromagnetic valve gear pulling out, thereby greatly reducing the gear shifting failure risk of the gear box.

[0115] In addition, in the embodiment of the present application, after the gear is disengaged, the electromagnetic valve corresponding to the first gear and the electromagnetic valve corresponding to the opposite gear of the first gear need to be closed during speed regulation; in order to ensure the stability of the gear position, the electromagnetic valve corresponding to the first gear also needs to be closed with a delay during speed regulation, that is, the electromagnetic valve corresponding to the first gear is closed after a preset default delay. Based on this, in an optional implementation manner of the embodiment of the present application, the method may further include S1 (not shown in the figure): after the gear disengagement control of the gearbox is completed, the gearbox is controlled by closing the electromagnetic valve corresponding to the opposite gear of the first gear and closing the electromagnetic valve corresponding to the first gear after a preset default delay.

[0116] After the S1 gear is disengaged, the electromagnetic valve corresponding to the opposite gear of the first gear is closed first during speed regulation, and the electromagnetic valve corresponding to the first gear is closed after a preset default delay, which can avoid the shift of the gear position between the first gear and the opposite gear of the first gear, so as to ensure the stability of the gear position.

[0117] As an example of S1, on the basis of the above example, the preset default delay is 20 ms; after the gear is disengaged, the electromagnetic valve 1 corresponding to the first gear is closed during speed regulation, and the electromagnetic valves 2, 3 and 4 corresponding to the second, third and fourth gears are closed after 20 ms.

[0118] In addition, in the embodiment of the present application, after the speed regulation is completed, the electromagnetic valve corresponding to the second gear needs to be opened during gear engagement, and when the gear position is close to the in-gear position of the second gear, the electromagnetic valve corresponding to the second gear also needs to be closed and the electromagnetic valve corresponding to the opposite gear of the second gear needs to be opened, in order to avoid impacting the second gear. That is, when the gear engagement control of the gearbox is started, the gearbox is controlled by opening the electromagnetic valve corresponding to the second gear, and if the distance between the gear position and the in-gear position of the second gear is less than a preset distance, it indicates that the gear position is close to the in-gear position of the second gear, and the gearbox is controlled by closing the electromagnetic valve corresponding to the second gear and opening the electromagnetic valve corresponding to the opposite gear of the second gear. Based on this, in an optional implementation manner of the embodiment of the present application, the method may further include S2-S3 (not shown in the figure).

[0119] S2: when the gear engagement control of the gearbox is started, the gearbox is controlled by opening the electromagnetic valve corresponding to the second gear.

[0120] S3: if the distance between the gear position and the in-gear position of the second gear is less than a preset distance, the gearbox is controlled by closing the electromagnetic valve corresponding to the second gear and opening the electromagnetic valve corresponding to the opposite gear of the second gear.

[0121] The S2-S3 gear engaging starts to open the electromagnetic valve corresponding to the second gear to control the gear box to engage, when the gear position is close to the second gear, the electromagnetic valve corresponding to the second gear is closed, and the electromagnetic valve corresponding to the opposite gear of the second gear is opened to control the gear box to engage, so that the gear engaging is successfully buffered, the gear engaging comfort is enhanced, and impact on the second gear is avoided.

[0122] In the embodiment of the application, when the S3 closes the electromagnetic valve corresponding to the second gear and opens the electromagnetic valve corresponding to the opposite gear of the second gear to control the gear box to engage, the electromagnetic valve corresponding to the second gear is usually closed first, and then the electromagnetic valve corresponding to the opposite gear of the second gear is opened after a delay; that is, the target opening delay is determined first, then the electromagnetic valve corresponding to the second gear is closed, and the electromagnetic valve corresponding to the opposite gear of the second gear is opened after the target opening delay to control the gear box to engage. Based on this, in an optional implementation manner of the embodiment of the application, the S3 in which the electromagnetic valve corresponding to the second gear is closed and the electromagnetic valve corresponding to the opposite gear of the second gear is opened to control the gear box to engage may include the following S31-S32 (not shown in the figure).

[0123] S31: Determine the target opening delay.

[0124] S32: Control the gear box to engage by closing the electromagnetic valve corresponding to the second gear and opening the electromagnetic valve corresponding to the opposite gear of the second gear after the target opening delay.

[0125] The target opening delay refers to the delay between closing the electromagnetic valve corresponding to the second gear and opening the electromagnetic valve corresponding to the opposite gear of the second gear.

[0126] In the implementation of the S31, first, a preset default delay needs to be obtained; then, considering the influence of the gear position change rate on the preset default delay during the gear engaging control, the fourth correction delay of the preset default delay can be determined by querying the corresponding relationship between the gear position change rate and the delay correction time based on the second target change rate of the gear position during the gear engaging control; finally, the target opening delay can be determined by the preset default delay and the fourth correction delay. Therefore, in an optional implementation manner of the embodiment of the application, the S31 may include the following S31a-S31c (not shown in the figure).

[0127] S31a: Obtain the preset default delay.

[0128] S31b: Determine the fourth correction delay according to the second target change rate of the gear position during the gear engaging control and the corresponding relationship between the gear position change rate and the delay correction time.

[0129] S31c: determining the target opening delay according to the preset default delay and the fourth correction delay.

[0130] The second target change rate of the gear position during the gear control refers to the change rate of the gear position during the gear control. The corresponding relationship between the gear position change rate and the delay correction time refers to the preconfigured multiple gear position change rates of the gear position during the gear control and the corresponding multiple delay correction times. The fourth correction delay refers to the delay correction time corresponding to the second target change rate in the corresponding relationship between the gear position change rate and the delay correction time.

[0131] In actual application, the corresponding relationship between the gear position change rate and the delay correction time is shown in Table 4.

[0132] Table 4: Corresponding relationship between gear position change rate and delay correction time

[0133] Shift-in position change rate (mm / 10 ms) 0.2 0.3 0.4 0.5 0.6 0.7 0.8 Delay correction time (10 ms) 8 7 6 5 4 3 2

[0134] As an example of S2, S31a-S31c, and S32, on the basis of the above example, the preset default delay is 20 ms, and the opposite gear position of the third gear is the fourth gear. The electromagnetic valve 1 corresponding to the first gear is closed, the electromagnetic valve 2 corresponding to the second gear is closed, the electromagnetic valve 3 corresponding to the third gear is opened, and the electromagnetic valve 4 corresponding to the fourth gear is closed at the beginning of the gear control. The fourth correction delay t4 is determined based on the second target change rate of the gear position during the gear control and Table 4. The target opening delay is determined by 20 ms and t4. If the gear position is close to the in-gear position of the third gear, the electromagnetic valve 1 corresponding to the first gear is closed, the electromagnetic valve 2 corresponding to the second gear is closed, the electromagnetic valve 3 corresponding to the third gear is closed, and the electromagnetic valve 4 corresponding to the fourth gear is opened after the target opening delay.

[0135] Referring to Figure 4 , a specific flowchart of the gear shift control based on single electromagnetic valve gear shifting of the gearbox in the embodiment of the application is shown. The specific flowchart is as follows: based on the target gear shift demand from the first gear to the second gear, the electromagnetic valve corresponding to the first gear is opened when the twist is cleared. After the twist is cleared, the electromagnetic valve corresponding to the opposite gear of the first gear is opened and the electromagnetic valve corresponding to the first gear is closed according to the default gear shifting time of single electromagnetic valve gear shifting when the gear is removed. The electromagnetic valve corresponding to the opposite gear of the first gear is opened and the electromagnetic valve corresponding to the first gear is closed according to the total correction delay of single electromagnetic valve gear shifting. Then the electromagnetic valve corresponding to the opposite gear of the first gear is opened and the electromagnetic valve corresponding to the first gear is opened. After the gear is removed, the electromagnetic valve corresponding to the opposite gear of the first gear is closed and the electromagnetic valve corresponding to the first gear is closed after a preset default delay when the speed is adjusted. The electromagnetic valve corresponding to the second gear is opened when the gear is controlled to start. If the gear position is close to the in-gear position of the second gear, the electromagnetic valve corresponding to the second gear is closed and the electromagnetic valve corresponding to the opposite gear of the second gear is opened after the target opening delay.

[0136] Referring to Figure 5 , a schematic diagram of a shift process curve of a gearbox in an embodiment of the application is shown. The gearbox is controlled to shift based on single solenoid valve disengagement. Based on the target shift requirement from gear 2 to gear 3 in the above example, the solenoid valve 1 corresponding to gear 1 is closed, the solenoid valve 2 corresponding to gear 2 is opened, the solenoid valve 3 corresponding to gear 3 is closed, and the solenoid valve 4 corresponding to gear 4 is closed when the clutch is disengaged. After the clutch is disengaged, the solenoid valve 1 corresponding to gear 1 is opened, the solenoid valve 2 corresponding to gear 2 is closed, the solenoid valve 3 corresponding to gear 3 is closed, and the solenoid valve 4 corresponding to gear 4 is closed for 20 ms when the gear is disengaged. The solenoid valve 1 corresponding to gear 1 is opened, the solenoid valve 2 corresponding to gear 2 is closed, the solenoid valve 3 corresponding to gear 3 is closed, and the solenoid valve 4 corresponding to gear 4 is closed for a total correction delay t when the gear is disengaged. The solenoid valve 1 corresponding to gear 1 is opened, the solenoid valve 2 corresponding to gear 2 is opened, the solenoid valve 3 corresponding to gear 3 is closed, and the solenoid valve 4 corresponding to gear 4 is closed when the gear is disengaged. After the gear is disengaged, the solenoid valve 1 corresponding to gear 1 is closed, the solenoid valve 2 corresponding to gear 2 is closed, the solenoid valve 3 corresponding to gear 3 is closed, and the solenoid valve 4 corresponding to gear 4 is closed for 20 ms when the speed is adjusted. The solenoid valve 1 corresponding to gear 1 is closed, the solenoid valve 2 corresponding to gear 2 is closed, the solenoid valve 3 corresponding to gear 3 is opened, and the solenoid valve 4 corresponding to gear 4 is closed when the gear is engaged. If the gear position is close to the engaged position of gear 3, the solenoid valve 1 corresponding to gear 1 is closed, the solenoid valve 2 corresponding to gear 2 is closed, the solenoid valve 3 corresponding to gear 3 is closed, and the solenoid valve 4 corresponding to gear 4 is opened after a target opening delay.

[0137] Next, the specific implementation of the shift control device of the gearbox in the embodiment of the application will be described in detail through an embodiment.

[0138] Referring to Figure 6 , a structural schematic diagram of a shift control device of a gearbox in an embodiment of the application is shown. In this embodiment, the device may, for example, specifically include: a first control unit 601, a determination unit 602, and a second control unit 603.

[0139] The first control unit 601 is configured to control the gearbox to disengage based on single solenoid valve disengagement according to the target shift requirement from the first gear to the second gear, and obtain a target change delay from solenoid valve opening to gear position change, a first target change rate of the gear position during disengagement control, and a target overshoot of the gear position after disengagement is completed.

[0140] The determination unit 602 is configured to determine the total correction delay of single solenoid valve disengagement according to the target change delay, the first target change rate, the target overshoot, the corresponding relationship between the change delay time and the disengagement correction time, the corresponding relationship between the disengagement position change rate and the disengagement correction time, and the corresponding relationship between the disengagement position overshoot and the disengagement correction time.

[0141] The second control unit 603 is configured to perform the single-electromagnetic-valve-based delay control on the gearbox according to the total correction delay.

[0142] In an optional embodiment of the present application, the determination unit 602 is configured to:

[0143] determine the first correction delay of the single-electromagnetic-valve-based delay according to the correspondence among the target change delay, the shift position overshoot, and the shift correction time;

[0144] determine the second correction delay of the single-electromagnetic-valve-based delay according to the correspondence among the first target change rate, the shift position change rate, and the shift correction time;

[0145] determine the third correction delay of the single-electromagnetic-valve-based delay according to the correspondence among the target overshoot, the shift position overshoot, and the shift correction time;

[0146] determine the total correction delay according to the first correction delay, the second correction delay, and the third correction delay.

[0147] In an optional embodiment of the present application, the determination unit 602 is configured to:

[0148] perform delay correction on the second correction delay according to the third correction delay to obtain a corrected second correction delay;

[0149] if the corrected second correction delay is greater than or equal to 0, determine the total correction delay according to the corrected second correction delay and the first correction delay;

[0150] if the corrected second correction delay is less than 0, perform delay correction on the first correction delay according to the corrected second correction delay to obtain the total correction delay.

[0151] In an optional embodiment of the present application, the device further includes a third control unit.

[0152] The third control unit is configured to, after the shift control on the gearbox is completed, close the electromagnetic valve corresponding to the opposite gear of the first gear, close the electromagnetic valve corresponding to the first gear after a preset default delay, and perform the speed control on the gearbox.

[0153] In an optional embodiment of the present application, the device further includes a fourth control unit.

[0154] The fourth control unit is configured to:

[0155] perform the gear engagement control on the gearbox by opening the electromagnetic valve corresponding to the second gear when the gear engagement control on the gearbox is started;

[0156] If the distance between the gear position and the in-gear position of the second gear is less than the preset distance, the gear shifting control of the gearbox is performed by closing the electromagnetic valve corresponding to the second gear and opening the electromagnetic valve corresponding to the opposite gear of the second gear.

[0157] In an optional embodiment of the embodiment of the application, the fourth control unit is configured to:

[0158] determine a target opening delay time;

[0159] The gear shifting control of the gearbox is performed by closing the electromagnetic valve corresponding to the second gear and opening the electromagnetic valve corresponding to the opposite gear of the second gear after the target opening delay time.

[0160] In an optional embodiment of the embodiment of the application, the fourth control unit is configured to:

[0161] obtain a preset default delay time;

[0162] determine a fourth correction delay time according to the second target change rate of the gear position during the gear shifting control and a corresponding relationship between the gear position change rate and the delay correction time;

[0163] determine the target opening delay time according to the preset default delay time and the fourth correction delay time.

[0164] According to the various embodiments provided in the embodiment, the gear shifting control device of the gearbox comprises a first control unit, a determination unit and a second control unit. The first control unit performs single solenoid valve gear shifting control on the gearbox according to the target gear shifting requirement of the first gear to the second gear, obtains the target change delay of the solenoid valve opening to the gear position change, the first target change rate of the gear position during the gear shifting control, and the target overshoot of the gear position after the gear shifting is completed; the determination unit determines the total correction delay of the single solenoid valve gear shifting based on the target change delay, the first target change rate, the target overshoot, the corresponding relationship between the change delay time and the gear shifting correction time, the corresponding relationship between the gear shifting position change rate and the gear shifting correction time, and the corresponding relationship between the gear shifting position overshoot and the gear shifting correction time; and the second control unit performs delay control on the gearbox based on the single solenoid valve gear shifting according to the total correction delay. Based on the default gear shifting time of the single solenoid valve gear shifting for performing the gear shifting control on the gearbox based on the single solenoid valve gear shifting, the influence of the target change delay of the solenoid valve opening to the gear position change, the first target change rate of the gear position during the gear shifting control, and the target overshoot of the gear position after the gear shifting is completed on the default gear shifting time of the single solenoid valve gear shifting is considered, the total correction delay of the single solenoid valve gear shifting is obtained by querying the corresponding relationship between the change delay time and the gear shifting correction time, the corresponding relationship between the gear shifting position change rate and the gear shifting correction time, and the corresponding relationship between the gear shifting position overshoot and the gear shifting correction time, so as to perform the delay control on the gearbox based on the single solenoid valve gear shifting, greatly reduce the gear shifting failure risk of the single solenoid valve gear shifting, and thus greatly reduce the gear shifting failure risk of the gearbox.

[0165] In addition, the embodiment of the present application further provides a controller of a gearbox, the controller comprising a processor and a memory:

[0166] The memory is used to store a computer program and transmit the computer program to the processor.

[0167] The processor is used to execute the method of the above-mentioned embodiments according to the instructions in the computer program.

[0168] The embodiment of the present application further provides a computer readable storage medium, which is used to store a computer program, and the computer program is executed by the processor to implement the method of the above-mentioned embodiments.

[0169] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the related parts can be referred to the method part.

[0170] Those skilled in the art will further appreciate that the units and algorithm steps of the examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or any combination thereof. To clearly illustrate this interchangeability of hardware and software, various examples have been described herein in terms of their functionality, which has been described generally and symbolically in flow charts. Having thus described the functionality of the examples in terms of a process, it is appreciated that this functionality can be implemented by one or more types of electrical circuits or computer software, which are collectively referred to herein as a "circuit" that can carry out a variety of operations described herein. One of ordinary skill in the art can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

[0171] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. It is further understood that the use of relational terms such as first and second, and the like are used solely to distinguish one from another entity or action without necessarily implying any actual relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0172] The above description is only preferred embodiments of the present application, and is not intended to limit the present application. Although the present application has been disclosed with reference to the preferred embodiments, the application is not limited to the embodiments disclosed. Any person skilled in the art, without departing from the scope of the present application, can make many possible changes and modifications of the present application, or make equivalent changes and modifications of the equivalent embodiments. Therefore, any simple modification, equivalent change and modification made to the above embodiments, without departing from the scope of the present application, in accordance with the technical spirit of the present application, should be included in the scope of the present application.

Claims

1. A shift control method of a transmission, characterized by, The method comprises the following steps: According to the target change delay, the first target change rate, the target overshoot, the corresponding relationship between the change delay time and the shift correction time, the corresponding relationship between the shift position change rate and the shift correction time, and the corresponding relationship between the shift position overshoot and the shift correction time, the total correction delay of the single solenoid shift is determined. According to the total correction delay, the single solenoid shift delay control is performed on the gearbox. The method further comprises the following steps:

2. The method of claim 1, wherein, After the shift control of the gearbox is completed, the solenoid valve corresponding to the opposite gear of the first gear is closed, the solenoid valve corresponding to the first gear is closed after a preset default delay, and the speed control of the gearbox is performed. The method further comprises the following steps: When the shift control of the gearbox is started, the solenoid valve corresponding to the second gear is opened to perform the shift control of the gearbox. If the distance between the gear position and the in-gear position of the second gear is less than a preset distance, the solenoid valve corresponding to the second gear is closed, and the solenoid valve corresponding to the opposite gear of the second gear is opened to perform the shift control of the gearbox. ​ 3. The method of claim 2, wherein, ​ ​ ​ ​ 4. The method of claim 1, wherein, ​ ​ 5. The method according to any one of claims 1 to 4, characterized in that, ​ ​ ​ 6. The method of claim 5, wherein, The gear engaging control on the gearbox by closing the electromagnetic valve corresponding to the second gear position and opening the electromagnetic valve corresponding to the opposite gear position of the second gear position comprises: Determining a target opening delay; The gear engaging control on the gearbox by closing the electromagnetic valve corresponding to the second gear position and opening the electromagnetic valve corresponding to the opposite gear position of the second gear position after the target opening delay.

7. The method of claim 6, wherein, The determination of the target opening delay comprises: Obtaining a preset default delay; According to the second target change rate of the gear position during the gear engaging control and the corresponding relationship between the gear position change rate and the delay correction time, a fourth correction delay is determined; According to the preset default delay and the fourth correction delay, the target opening delay is determined.

8. A shift control device of a transmission, characterized by comprising: Comprise: A first control unit, a determination unit and a second control unit; The first control unit is configured to perform gear disengaging control on the gearbox based on single electromagnetic valve disengaging according to the target gear shifting demand from the first gear position to the second gear position, to obtain a target change delay of electromagnetic valve opening to gear position change, a first target change rate of gear position during the disengaging control, and a target overshoot of gear position after the disengaging is completed; The determination unit is configured to determine the total correction delay of single electromagnetic valve disengaging according to the target change delay, the first target change rate, the target overshoot, the corresponding relationship between the change delay time and the disengaging correction time, the corresponding relationship between the disengaging position change rate and the disengaging correction time, and the corresponding relationship between the disengaging position overshoot and the disengaging correction time; The second control unit is configured to perform delay control on the gearbox based on single electromagnetic valve disengaging according to the total correction delay.

9. A controller of a gearbox, characterized in that, The controller comprises a processor and a memory: The memory is configured to store a computer program and transmit the computer program to the processor; The processor is configured to execute the method according to the instructions in the computer program.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium is configured to store a computer program, and the computer program is executed by the processor to implement the method according to any one of claims 1-7. The computer readable storage medium is configured to store a computer program, and the computer program is executed by the processor to implement the method according to any one of claims 1-7.

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