Shift control method, device, equipment and vehicle

Abstract

The application discloses a gear shifting control method, device, equipment and vehicle, and the method comprises the following steps: if it is detected that the vehicle has a gear shifting request, the torque of the driving motor is controlled to be 0; if it is detected that the AMT gear shifting execution mechanism is an electric execution mechanism, the corresponding relationship between the gear shifting position and the gear shifting conversion coefficient in the gear shifting process is determined according to the gear shifting request, and the duty cycle and the steering of the gear shifting motor are controlled, so that the vehicle completes the gear shifting; the rotating speed of the driving motor is adjusted to be matched with the rotating speed of the required gear position of the gear shifting request, meanwhile, the corresponding relationship between the gear selection position and the gear selection conversion coefficient in the gear selection process is determined according to the gear shifting request, and the duty cycle and the steering of the gear selection motor are controlled, so that the vehicle completes the speed adjustment; the duty cycle and the direction of the gear shifting motor are controlled according to the gear shifting request and the corresponding relationship between the gear shifting position and the gear shifting conversion coefficient, so that the vehicle completes the gear shifting. The application realizes the compatibility of the pneumatic execution mechanism control strategy and the electric execution mechanism control strategy, and enhances the software coverage and flexibility.

Description

Technical Field

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

[0002] An automated mechanical transmission (AMT) is an automatic control mechanism with an electronic unit added, while keeping the basic structure of the original mechanical manual transmission unchanged. It replaces the manual operation of clutch engagement and disengagement, gear shifting, and adjustment of engine and motor speed and torque, thus automating the gear shifting process.

[0003] AMT actuators can be driven by either electric or pneumatic methods. Electric actuators typically use a small electric motor as the driving actuator, while pneumatic actuators typically use air hoses as the driving actuator.

[0004] Existing electric actuators and pneumatic actuators generally use different control schemes due to the different physical characteristics of the motor and the solenoid valve, resulting in poor compatibility. Summary of the Invention

[0005] This invention provides a shift control method, device, equipment, and vehicle. Addressing the current situation where existing shift control methods are difficult to cover both pneumatic and electric actuators, this invention achieves compatibility between pneumatic actuator control strategies and electric actuator control strategies, reduces software maintenance costs, and enhances software coverage and flexibility.

[0006] In a first aspect, embodiments of the present invention provide a gear shifting control method applicable to vehicles including an AMT gear shifting actuator and a drive motor; the AMT gear shifting actuator includes a pneumatic actuator or an electric actuator;

[0007] The pneumatic actuator includes a first cylinder piston rod, a first shift solenoid valve, a second shift solenoid valve, a second cylinder piston rod, a first gear selection solenoid valve, and a second gear selection solenoid valve;

[0008] The electric actuator includes a shift motor and a selector motor;

[0009] The shift control method includes:

[0010] Detect whether the vehicle has a gear shift request;

[0011] If a gear shift request is detected in the vehicle, the torque of the drive motor is controlled to be 0.

[0012] Detect the type of the AMT shift actuator;

[0013] If the AMT shift actuator is detected to be an electric actuator, the corresponding relationship between the shift position and the shift conversion coefficient during the disengagement process is determined according to the shift request, and the duty cycle and direction of the shift motor are controlled so that the vehicle completes the disengagement; the shift position is the position where the piston rod of the first cylinder moves to the shift band corresponding to the shift request;

[0014] The speed of the drive motor is adjusted to match the required gear in the shift request. At the same time, the correspondence between the gear selection position and the gear selection conversion coefficient is determined according to the shift request. The duty cycle and direction of the gear selection motor are controlled so that the vehicle can complete the speed adjustment. The gear selection position is the position where the piston rod of the second cylinder moves to the gear band corresponding to the shift request.

[0015] The duty cycle and direction of the shift motor are controlled according to the shift request and the correspondence between the shift position and the shift conversion coefficient, so that the vehicle can complete the shift.

[0016] Secondly, embodiments of the present invention provide a gear shifting control device, comprising:

[0017] The shift request detection module is used to detect whether the vehicle has a shift request.

[0018] The drive motor control module is used to control the torque of the drive motor to be 0 if the shift request detection module detects that the vehicle has a shift request.

[0019] AMT shift actuator type detection module, used to detect the type of AMT shift actuator;

[0020] The shift motor control module is used to determine the correspondence between the shift position and the shift conversion coefficient during the disengagement process according to the shift request if the AMT shift actuator type detection module detects that the AMT shift actuator is an electric actuator, and to control the duty cycle and direction of the shift motor so that the vehicle completes disengagement; the shift position is the position where the piston rod of the first cylinder moves to the shift band corresponding to the shift request;

[0021] The gear selection motor control module is used to, while the drive motor control module controls the speed of the drive motor to be adjusted to match the required gear in the gear shift request, determine the correspondence between the gear selection position and the gear selection conversion coefficient during the gear selection process according to the gear shift request, and control the duty cycle and direction of the gear selection motor so that the vehicle completes speed adjustment; the gear selection position is the position where the piston rod of the second cylinder moves to the gear band corresponding to the gear shift request;

[0022] The shift motor control module is also used to control the duty cycle and direction of the shift motor according to the shift request and the correspondence between the shift position and the shift conversion coefficient, so that the vehicle can complete the shift.

[0023] Thirdly, embodiments of the present invention also provide a gear shifting control device, the gear shifting control device comprising:

[0024] At least one processor; and a memory communicatively connected to said at least one processor; wherein,

[0025] The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the shift control method as described in the first aspect.

[0026] Fourthly, embodiments of the present invention also provide a vehicle, including an AMT shift actuator, a drive motor, and a shift control device as described in the third aspect, wherein the AMT shift actuator includes a pneumatic actuator or an electric actuator.

[0027] This invention provides a gear shifting control method, apparatus, device, and vehicle. The method includes detecting whether a gear shifting request exists in the vehicle; if a gear shifting request is detected, controlling the torque of the drive motor to be 0; detecting the type of the AMT gear shifting actuator; if the AMT gear shifting actuator is detected to be an electric actuator, determining the correspondence between the gear shifting position and the gear shift conversion coefficient during the disengagement process based on the gear shifting request, and controlling the duty cycle and direction of the gear shifting motor to enable the vehicle to disengage; the gear shifting position is the position where the piston rod of the first cylinder moves to the gear band corresponding to the gear shifting request; controlling the speed of the drive motor to adjust to a speed matching the gear required by the gear shifting request, and simultaneously determining the correspondence between the gear selection position and the gear selection conversion coefficient during the gear selection process based on the gear shifting request, and controlling the duty cycle and direction of the gear selection motor to enable the vehicle to adjust its speed; the gear selection position is the position where the piston rod of the second cylinder moves to the gear band corresponding to the gear shifting request; controlling the duty cycle and direction of the gear shifting motor based on the gear shifting request and the correspondence between the gear shifting position and the gear shift conversion coefficient to enable the vehicle to shift gears. This invention addresses the limitation of existing shift control methods in covering both pneumatic and electric actuators. By using a shift conversion coefficient, the solenoid valve commands for the shift positions are converted into the duty cycle and direction of the control motor. This achieves compatibility between the pneumatic actuator control strategy and the electric actuator control strategy, reduces software maintenance costs, and enhances software coverage and flexibility.

[0028] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A gear distribution diagram provided for an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of a pneumatic actuator provided in an embodiment of the present invention;

[0032] Figure 3 This is a partial structural schematic diagram of an electric actuator provided in an embodiment of the present invention;

[0033] Figure 4 This is a partial structural schematic diagram of another electric actuator provided in an embodiment of the present invention;

[0034] Figure 5 A flowchart of a shift control method provided in an embodiment of the present invention;

[0035] Figure 6 A flowchart of another shift control method provided in an embodiment of the present invention;

[0036] Figure 7 A flowchart of another shift control method provided in an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the structure of a shift control device provided in an embodiment of the present invention;

[0038] Figure 9 This is a schematic diagram of another shift control device provided in an embodiment of the present invention;

[0039] Figure 10 This is a schematic diagram of a gear shifting control device provided in an embodiment of the present invention. Detailed Implementation

[0040] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0041] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0042] Figure 1 A gear distribution diagram provided in an embodiment of the present invention, with reference to Figure 1 The gear positions in this embodiment of the invention include: neutral (0), gear 1 (1), gear 2 (2), gear 3 (3), gear 4 (4), gear 5 (5), and reverse (R).

[0043] Figure 2 This is a schematic diagram of a pneumatic actuator provided in an embodiment of the present invention, with reference to... Figure 2 The pneumatic actuator includes a first cylinder piston rod 210, a first shift solenoid valve E, a second shift solenoid valve F, a second cylinder piston rod 240, a first gear selection solenoid valve A, and a second gear selection solenoid valve B.

[0044] Continue to refer to Figure 1-2 In this embodiment of the invention, the on / off states of the first shift solenoid valve E and the second shift solenoid valve F can drive the first cylinder piston rod 210 to move in the shift direction y, thereby changing the shift position of the first cylinder piston rod 210. The on / off states of the first selection solenoid valve A and the second selection solenoid valve B can drive the second cylinder piston rod 240 to move in the selection direction x, thereby changing the selection position of the second cylinder piston rod 240.

[0045] Continue to refer to Figure 2It should be noted that the pneumatic actuator also includes: a shift cylinder 220, a shift displacement sensor 230, a gear selection cylinder 250, a gear selection displacement sensor 260, a gearbox 270, and a remote information control unit 280. The gear distribution of the gearbox 270 is the same as that in the gear distribution diagram provided in the above embodiment. The remote information control unit 280 determines whether the independent closed chambers inside the shift cylinder 220 are vented to the atmosphere or compressed air by controlling the on / off states of the first shift solenoid valve E and the second shift solenoid valve F, thereby realizing the change of the shift position of the piston rod 210 of the first cylinder. The shift displacement sensor 230 feeds back the detected displacement of the piston rod 210 of the first cylinder to the remote information control unit 280 to obtain the shift position. The remote information control unit 280 determines the on / off state of the gear selection cylinder 250 by controlling the on / off states of the first gear selection solenoid valve A and the second gear selection solenoid valve B. This determines whether the independent enclosed chambers inside the gear selection cylinder 250 are vented to the atmosphere or compressed air, thereby changing the gear selection position of the second cylinder piston rod 240. The gear selection displacement sensor 260 feeds back the detected displacement of the second cylinder piston rod 240 to the remote information control unit 280 to obtain the gear selection position. The remote information control unit 280 engages the corresponding gear by controlling the combination of four solenoid valves. Among them, the first shift solenoid valve E, the second shift solenoid valve F, the first gear selection solenoid valve A, and the second gear selection solenoid valve B can only be controlled by 0 and 1, similar to 0% and 100% duty cycles. The control command when it is open is 1, and the control command when it is closed is 0.

[0046] The electric actuator in this embodiment of the invention includes a shift motor and a selector motor. Figure 3 This is a partial structural schematic diagram of an electric actuator provided in an embodiment of the present invention, with reference to... Figure 3 The electric actuator includes a shift motor 310, a shift finger 320, and a first displacement sensor 330. By controlling the duty cycle (0% to 100%) of the shift motor 310 and the shift position of the steering control shift finger 320 in the shift direction y, different gears can be engaged.

[0047] Figure 4 This is a partial structural schematic diagram of another electric actuator provided in an embodiment of the present invention, with reference to... Figure 4 Based on the above embodiments, the electric actuator also includes a gear selection motor 410, a gear selection finger 420, and a second displacement sensor 430. By controlling the duty cycle (0% to 100%) of the gear selection motor 410 and the gear selection position of the steering control gear selection finger 420 in the gear selection direction x, different gears can be engaged.

[0048] Figure 5This is a flowchart illustrating a gear shifting control method provided in an embodiment of the present invention. This embodiment is applicable to controlling vehicle gear shifting, specifically to vehicles including an AMT gear shifting actuator and a drive motor. The AMT gear shifting actuator includes the pneumatic actuator or electric actuator provided in the above embodiment. This method can be executed by a gear shifting control device, which can be implemented in hardware and / or software and can be configured in a gear shifting control equipment.

[0049] The gear shifting process in vehicles using AMT (Automated Manual Transmission) shift actuators mainly consists of four steps: clearing torque, disengaging the gear, adjusting speed, and engaging the gear. (Reference) Figure 5 The shift control method provided in this embodiment of the invention includes the following steps:

[0050] S510, Detect whether the vehicle has a gear shift request.

[0051] For example, a shift request could be to shift from 2nd to 3rd gear, or a shift request could be to shift from 3rd to 2nd gear.

[0052] S520: If a gear shift request is detected, the torque of the drive motor is controlled to be 0.

[0053] Understandably, detecting a gear shift request from the vehicle and controlling the drive motor to have zero torque is a torque clearing operation during the gear shift process.

[0054] S530, Detect the type of AMT shift actuator.

[0055] Specifically, in this embodiment of the invention, the type of AMT shifting actuator can be an electric actuator or a pneumatic actuator.

[0056] S540 If the AMT shift actuator is detected to be an electric actuator, the corresponding relationship between the shift position and the shift conversion coefficient during the disengagement process is determined according to the shift request, and the duty cycle and steering of the shift motor are controlled so that the vehicle completes the disengagement.

[0057] The shift position is the position where the piston rod of the first cylinder moves to the gear band corresponding to the shift request.

[0058] Specifically, Table 1 shows the correspondence between pneumatic control and electric control provided in an embodiment of the present invention. Referring to Table 1, the gear shifting stroke can be 10mm-30mm, and the neutral position can be 20mm. In this embodiment of the present invention, when shifting from 2nd to 3rd gear, the gear is first disengaged, and the duty cycle of the shift motor changes from 100% at 10mm when disengaging to 10% at 18mm. When shifting gears, the duty cycle of the shift motor changes from 100% at 22mm to 40% at 28mm. It should be noted that the contents of the table can be adjusted according to the actual situation.

[0059] Table 1

[0060]

[0061] For example, taking the shift from 2nd to 3rd gear in Table 1 as an example, other gears can be divided according to different gear rules. When shifting from 2nd to 3rd gear, gear selection is not involved. When disengaging, both shift solenoid valves operate simultaneously. At this time, the shift position is from 10mm to 20mm. The duty cycle of the shift motor is a1*t1*100%*max(cmd1, cmd2), where a1 is the shift conversion coefficient, t1 is the direction of rotation of the shift motor, cmd1 is the engagement command of the first shift solenoid valve, and cmd2 is the engagement command of the second shift solenoid valve. If the shift position is at the 12mm position in Table 1, and both shift solenoid valves are opened simultaneously, then max(cmd1, cmd2) = 1, the shift conversion coefficient is 0.8, and the motor direction is -1. Therefore, the duty cycle of the shift motor of the electric actuator is -80%. If the gear is downshifted from 3rd to 2nd, the motor rotation direction is 1. At the shift position 28mm, max(cmd1,cmd2)=1, the shift conversion coefficient is 0.8, and the motor rotation direction is 1. Then, the duty cycle of the shift motor of the electric actuator is 80%.

[0062] S550 controls the speed of the drive motor to match the required gear in the shift request. At the same time, it determines the correspondence between the gear selection position and the gear selection conversion coefficient during the gear selection process based on the shift request, and controls the duty cycle and direction of the gear selection motor to enable the vehicle to complete the speed adjustment.

[0063] The gear selection position is the position where the piston rod of the second cylinder moves to the gear band corresponding to the gear shift request.

[0064] Understandably, determining the correspondence between the gear selection position and the gear selection conversion coefficient based on the gear shift request, and controlling the duty cycle and direction of the gear selection motor, are all for the purpose of performing the gear selection operation. For example, when the gear shift request is from 2nd to 3rd gear, or from 3rd to 2nd gear, no gear selection operation is required. In this case, the gear selection conversion coefficient is 0, and the duty cycle of the gear selection motor is 0.

[0065] It should be noted that when the vehicle performs a gear selection operation, the correspondence between the gear selection position and the gear selection conversion coefficient is determined according to the gear shift request, and the duty cycle and steering of the gear selection motor are controlled in the same way as when the vehicle performs a gear shift operation. A correspondence table for pneumatic control to electric control can be calibrated according to the actual situation.

[0066] S560 controls the duty cycle and direction of the shift motor according to the shift request and the correspondence between the shift position and the shift conversion coefficient, so that the vehicle can complete the shift.

[0067] Specifically, refer to Table 1. The change in shift position is obtained according to the shift request, thereby controlling the duty cycle of the shift motor to be a1*t1*100%*max(cmd1,cmd2), where a1 is the shift conversion coefficient, t1 is the direction of the shift motor, cmd1 is the shift command of the first shift solenoid valve, and cmd2 is the shift command of the second shift solenoid valve.

[0068] This invention addresses the limitation of existing shift control methods in covering both pneumatic and electric actuators. By using a shift conversion coefficient, the solenoid valve commands for the shift positions are converted into the duty cycle and direction of the control motor. This achieves compatibility between the pneumatic actuator control strategy and the electric actuator control strategy, reduces software maintenance costs, and enhances software coverage and flexibility.

[0069] Figure 6 A flowchart of a shift control method provided in an embodiment of the present invention is shown below. Figure 6 The method includes the following steps:

[0070] S610, Detect whether the vehicle has a gear shift request.

[0071] S620: If a gear shift request is detected, the torque of the drive motor is controlled to be 0.

[0072] S630, detect the type of AMT shift actuator.

[0073] Optionally, based on the above embodiments, after step S630, the method further includes:

[0074] S640. If the AMT shift actuator is detected to be a pneumatic actuator, the first shift solenoid valve and the second shift solenoid valve are both opened, and the piston rod of the first cylinder is moved to the neutral position, and the vehicle is disengaged.

[0075] S650 controls the speed of the drive motor to match the required gear, and at the same time controls the state of the first and second gear selection solenoid valves according to the gear shift request, moves the piston rod of the second cylinder to the gear selection position, so that the vehicle completes the speed adjustment.

[0076] S660: Controls the state of the first shift solenoid valve and the second shift solenoid valve according to the shift request, moves the piston rod of the first cylinder to the shift position, so that the vehicle completes the shift.

[0077] In this embodiment of the invention, when the AMT shift actuator is detected to be a pneumatic actuator, a pneumatic actuator control strategy is used to control the vehicle's shifting. When the AMT shift actuator is detected to be an electric actuator, a minor modification is made to the existing pneumatic actuator control strategy. By using the selection and shifting conversion coefficient, the solenoid valve commands for the selection and shifting positions are converted into the duty cycle and direction of the control motor. This addresses the current situation where existing shifting control methods cannot cover both pneumatic and electric actuators, achieving compatibility between the pneumatic actuator control strategy and the electric actuator control strategy. This reduces software maintenance costs and enhances software coverage and flexibility.

[0078] Figure 7 A flowchart of a shift control method provided in an embodiment of the present invention is shown below. Figure 7 The method includes the following steps:

[0079] S710, Detect whether the vehicle has a gear shift request.

[0080] S720: If a gear shift request is detected in the vehicle, the torque of the drive motor is controlled to be 0.

[0081] S730, detects the type of AMT shift actuator.

[0082] S740 If the AMT shift actuator is detected to be an electric actuator, the corresponding relationship between the shift position and the shift conversion coefficient during the disengagement process is determined according to the shift request, and the duty cycle and steering of the shift motor are controlled so that the vehicle completes the disengagement.

[0083] S750 controls the speed of the drive motor to match the required gear in the shift request. At the same time, it determines the correspondence between the gear selection position and the gear selection conversion coefficient during the gear selection process based on the shift request, and controls the duty cycle and direction of the gear selection motor to enable the vehicle to complete the speed adjustment.

[0084] S760 controls the duty cycle and direction of the shift motor according to the shift request and the correspondence between the shift position and the shift conversion coefficient, so that the vehicle can complete the shift.

[0085] Optionally, based on the above embodiments, continue to refer to... Figure 7 Step S740 includes:

[0086] S741, The AMT shift actuator is detected to be an electric actuator.

[0087] S742. Determine the correspondence between the shift position and the shift conversion coefficient, the direction of the shift motor, and the engagement commands of the first and second shift solenoid valves during the shift process based on the shift request.

[0088] S743. Based on the shift conversion coefficient corresponding to the shift position during the disengagement process, the direction of the shift motor, and the engagement commands of the first and second shift solenoid valves, the duty cycle and direction of the shift motor are controlled to enable the vehicle to disengage.

[0089] In this embodiment of the invention, the correspondence between the shift position and the shift conversion coefficient, the direction of the shift motor, and the engagement commands of the first and second shift solenoid valves are determined according to the shift request. The duty cycle and direction of the shift motor can be controlled according to the shift conversion coefficient corresponding to the shift position, the direction of the shift motor, and the engagement commands of the first and second shift solenoid valves, so that the vehicle can complete the disengagement.

[0090] Optionally, based on the above embodiments, step S743 includes:

[0091] Based on the shift conversion coefficient corresponding to the shift position during the disengagement process, the direction of the shift motor, and the engagement commands from the first and second shift solenoid valves, the duty cycle of the shift motor is controlled to be a1*t1*100%*max(cmd1, cmd2), and the direction of the shift motor is controlled to be t1, so that the vehicle completes the disengagement.

[0092] Where a1 is the shift conversion coefficient, t1 is the direction of the shift motor, cmd1 is the shift command of the first shift solenoid valve, and cmd2 is the shift command of the second shift solenoid valve.

[0093] Optionally, based on the above embodiments, continue to refer to... Figure 7 Step S750 includes:

[0094] S751. Determine the correspondence between the gear selection position and the gear selection conversion coefficient, the direction of the gear selection motor, and the gear engagement command of the first gear selection solenoid valve and the second gear selection solenoid valve according to the gear shift request.

[0095] S752, control the speed of the drive motor to match the required gear in the shift request, and at the same time control the duty cycle and direction of the shift motor according to the shift conversion coefficient corresponding to the shift position during the shift process, the direction of the shift motor, and the shift command of the first shift solenoid valve and the second shift solenoid valve, so that the vehicle can complete the speed adjustment.

[0096] In this embodiment of the invention, the correspondence between the gear selection position and the gear selection conversion coefficient, the direction of the gear selection motor, and the gear engagement commands of the first and second gear selection solenoid valves are determined according to the gear shift request. This allows the drive motor speed to be adjusted to match the required gear in the gear shift request. Simultaneously, the duty cycle and direction of the gear selection motor are controlled according to the gear selection conversion coefficient corresponding to the gear selection position, the direction of the gear selection motor, and the gear engagement commands of the first and second gear selection solenoid valves, thereby enabling the vehicle to complete speed adjustment.

[0097] Optionally, based on the above embodiments, step S752 includes:

[0098] The speed of the drive motor is adjusted to match the required gear in the shift request. At the same time, based on the shift conversion coefficient corresponding to the shift position during the shift process, the direction of the shift motor, and the shift command of the first and second shift solenoid valves, the duty cycle of the shift motor is controlled to be a2*t2*100%*max(cmd3, cmd4), and the direction of the shift motor is controlled to be t2, so that the vehicle completes the speed adjustment.

[0099] Where a2 is the gear selection conversion coefficient, t2 is the direction of rotation of the gear selection motor, cmd3 is the gear engagement command of the first gear selection solenoid valve, and cmd4 is the gear engagement command of the second gear selection solenoid valve.

[0100] Optionally, based on the above embodiments, continue to refer to... Figure 7 Step S760 includes:

[0101] S761. Determine the correspondence between the shift position and the shift conversion coefficient, the direction of the shift motor, and the gear engagement command of the first and second shift solenoid valves according to the shift request.

[0102] S762. Based on the shift conversion coefficient corresponding to the shift position during the shift process, the direction of the shift motor, and the gear engagement commands of the first and second shift solenoid valves, the duty cycle and direction of the shift motor are controlled to enable the vehicle to complete the shift.

[0103] In this embodiment of the invention, when the AMT shift actuator is detected to be a pneumatic actuator, a pneumatic actuator control strategy is used to control the vehicle's shifting. When the AMT shift actuator is detected to be an electric actuator, a minor modification is made to the existing pneumatic actuator control strategy. By using the selection and shifting conversion coefficient, the solenoid valve commands for the selection and shifting positions are converted into the duty cycle and direction of the control motor. This addresses the current situation where existing shifting control methods cannot cover both pneumatic and electric actuators, achieving compatibility between the pneumatic actuator control strategy and the electric actuator control strategy. This reduces software maintenance costs and enhances software coverage and flexibility.

[0104] Figure 8 This is a schematic diagram of a shift control device provided in an embodiment of the present invention, with reference to... Figure 8 The device includes: a shift request detection module 810, a drive motor control module 820, an AMT shift actuator type detection module 830, a shift motor control module 840, and a gear selection motor control module 850.

[0105] In this embodiment of the invention, the shift request detection module 810 is used to detect whether the vehicle has a shift request. The drive motor control module 820 is used to control the torque of the drive motor to 0 if the shift request detection module 810 detects a shift request. The AMT shift actuator type detection module 830 is used to detect the type of AMT shift actuator. The shift motor control module 840 is used to determine the correspondence between the shift position and the shift conversion coefficient during the disengagement process according to the shift request if the AMT shift actuator type detection module 830 detects that the AMT shift actuator is an electric actuator, and control the duty cycle and direction of the shift motor so that the vehicle completes disengagement. The shift position is the position where the piston rod of the first cylinder moves to the gear band corresponding to the shift request. The gear selection motor control module 850 is used to adjust the speed of the drive motor to match the required gear in the shift request while the drive motor control module controls the speed of the drive motor to match the speed of the shift request, and determines the correspondence between the gear selection position and the gear selection conversion coefficient during the gear selection process according to the shift request, and controls the duty cycle and direction of the gear selection motor so that the vehicle completes speed adjustment. The gear selection position is the position where the piston rod of the second cylinder moves to the gear band corresponding to the gear shift request. The gear shift motor control module 840 is also used to control the duty cycle and direction of the gear shift motor according to the gear shift request and the correspondence between the gear shift position and the gear shift conversion coefficient, so that the vehicle can complete the gear shift.

[0106] Figure 9 This is a schematic diagram of another shift control device provided in an embodiment of the present invention. Optionally, based on the above embodiments, refer to... Figure 9 The device also includes a shift solenoid valve control module 910 and a gear selection solenoid valve control module 920.

[0107] In this embodiment of the invention, the shift solenoid valve control module 910 is used to control both the first and second shift solenoid valves to open if the AMT shift actuator type detection module 830 detects that the AMT shift actuator is a pneumatic actuator, thereby moving the piston rod of the first cylinder to the neutral position and disengaging the gear. The gear selection solenoid valve control module 920 is used to control the state of the first and second gear selection solenoid valves according to the shift request, while the drive motor control module 820 controls the speed of the drive motor to match the required gear, so that the piston rod of the second cylinder moves to the gear selection position, thereby adjusting the vehicle speed. The shift solenoid valve control module 910 is also used to control the state of the first and second shift solenoid valves according to the shift request, moving the piston rod of the first cylinder to the shift position, thereby shifting the vehicle gear.

[0108] The shift control device provided in the embodiments of the present invention can execute the shift control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For the contents not described in detail in the embodiments of the present invention, please refer to the shift control method provided in the above embodiments.

[0109] Figure 10 This is a schematic diagram of a shift control device provided in an embodiment of the present invention. The shift control device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The shift control device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0110] like Figure 10 As shown, the shift control device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the shift control device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0111] Multiple components in the shift control device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the shift control device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0112] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as shift control methods.

[0113] This invention also provides a vehicle, including an AMT shift actuator, a drive motor, and the shift control device provided in the above embodiments. The AMT shift actuator includes a pneumatic actuator or an electric actuator provided in the above embodiments.

[0114] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0115] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A gear shifting control method, characterized in that, Applicable to vehicles including an AMT shift actuator and a drive motor; the AMT shift actuator may be a pneumatic actuator or an electric actuator; The pneumatic actuator includes a first cylinder piston rod, a first shift solenoid valve, a second shift solenoid valve, a second cylinder piston rod, a first gear selection solenoid valve, and a second gear selection solenoid valve; The electric actuator includes a shift motor and a selector motor; To ensure that the control strategy of the pneumatic actuator is compatible with the control strategy of the electric actuator, the shift control method includes: Detect whether the vehicle has a gear shift request; If a gear shift request is detected in the vehicle, the torque of the drive motor is controlled to be 0. Detect the type of the AMT shift actuator; If the AMT shift actuator is detected to be an electric actuator, the correspondence between the shift position and the shift conversion coefficient during the disengagement process is determined according to the shift request, and the duty cycle and direction of the shift motor are controlled so that the vehicle completes the disengagement; the shift position is the position where the piston rod of the first cylinder moves to the shift band corresponding to the shift request; The speed of the drive motor is adjusted to match the required gear in the shift request. At the same time, the correspondence between the gear selection position and the gear selection conversion coefficient is determined according to the shift request. The duty cycle and direction of the gear selection motor are controlled so that the vehicle can complete the speed adjustment. The gear selection position is the position where the piston rod of the second cylinder moves to the gear band corresponding to the shift request. The duty cycle and direction of the shift motor are controlled according to the shift request and the correspondence between the shift position and the shift conversion coefficient, so that the vehicle can complete the shift.

2. The shift control method according to claim 1, characterized in that, After detecting the type of the AMT shift actuator, the method further includes: If the AMT shift actuator is detected to be a pneumatic actuator, then both the first shift solenoid valve and the second shift solenoid valve are opened, and the piston rod of the first cylinder is moved to the neutral position, and the vehicle completes the disengagement of the gear. The speed of the drive motor is adjusted to match the required gear, and the state of the first gear selection solenoid valve and the second gear selection solenoid valve is controlled according to the gear shift request. The piston rod of the second cylinder is moved to the gear selection position so that the vehicle completes the speed adjustment. According to the shift request, the state of the first shift solenoid valve and the second shift solenoid valve are controlled, and the piston rod of the first cylinder is moved to the shift position, so that the vehicle completes the shift.

3. The shift control method according to claim 1, characterized in that, If the AMT shift actuator is detected to be an electric actuator, then the correspondence between the shift position and the shift conversion coefficient during the disengagement process is determined according to the shift request, and the duty cycle and steering of the shift motor are controlled so that the vehicle completes the disengagement process, including: The AMT shift actuator was detected to be an electric actuator; The shift request determines the correspondence between the shift position and the shift conversion coefficient during the disengagement process, the direction of the shift motor, and the engagement commands of the first shift solenoid valve and the second shift solenoid valve. The shift conversion coefficient corresponding to the shift position during the disengagement process, the direction of the shift motor, and the engagement commands of the first and second shift solenoid valves are used to control the duty cycle and direction of the shift motor, so that the vehicle completes the disengagement process.

4. The shift control method according to claim 3, characterized in that, The step of controlling the duty cycle and direction of the shift motor based on the shift conversion coefficient corresponding to the shift position during the disengagement process, the direction of the shift motor, and the engagement commands of the first and second shift solenoid valves, so that the vehicle completes the disengagement, includes: Based on the shift conversion coefficient corresponding to the shift position during the disengagement process, the direction of the shift motor, and the engagement commands from the first and second shift solenoid valves, the duty cycle of the shift motor is controlled to be... At the same time, the direction of the shift motor is controlled to t1, so that the vehicle completes the disengagement of the gear; Wherein, a1 is the shift conversion coefficient, t1 is the direction of the shift motor, cmd1 is the shift command of the first shift solenoid valve, and cmd2 is the shift command of the second shift solenoid valve.

5. The shift control method according to claim 1, characterized in that, Controlling the speed of the drive motor to match the required gear in the gear shift request, simultaneously determining the correspondence between the gear selection position and the gear selection conversion coefficient during the gear selection process based on the gear shift request, and controlling the duty cycle and direction of the gear selection motor to enable the vehicle to complete speed adjustment includes: The shift request determines the correspondence between the shift position and the shift conversion coefficient, the direction of the shift motor, and the shift command of the first shift solenoid valve and the second shift solenoid valve during the shift process. The speed of the drive motor is adjusted to match the required gear in the gear shift request. At the same time, the duty cycle and direction of the gear selection motor are controlled according to the gear selection conversion coefficient corresponding to the gear selection position, the direction of the gear selection motor, and the gear engagement commands of the first and second gear selection solenoid valves, so that the vehicle can complete the speed adjustment.

6. The shift control method according to claim 5, characterized in that, Controlling the speed of the drive motor to match the required gear in the gear shift request, and simultaneously controlling the duty cycle and direction of the gear selection motor based on the gear selection conversion coefficient corresponding to the gear selection position during the gear selection process, the direction of the gear selection motor, and the gear engagement commands of the first and second gear selection solenoid valves, so that the vehicle completes speed adjustment, including: The speed of the drive motor is adjusted to match the required gear in the gear shift request. Simultaneously, based on the gear selection conversion coefficient corresponding to the gear selection position during the gear selection process, the direction of rotation of the gear selection motor, and the gear engagement commands from the first and second gear selection solenoid valves, the duty cycle of the gear selection motor is controlled to be... At the same time, the direction of the gear selection motor is controlled to t2, so that the vehicle completes the speed adjustment; Wherein, a2 is the gear selection conversion coefficient, t2 is the direction of rotation of the gear selection motor, cmd3 is the gear engagement command of the first gear selection solenoid valve, and cmd4 is the gear engagement command of the second gear selection solenoid valve.

7. The shift control method according to claim 1, characterized in that, The step of controlling the duty cycle and direction of the shift motor according to the shift request and the correspondence between the shift position and the shift conversion coefficient, so that the vehicle completes the shift, includes: The shift request determines the correspondence between the shift position and the shift conversion coefficient, the direction of the shift motor, and the gear engagement commands of the first shift solenoid valve and the second shift solenoid valve. The shift conversion coefficient corresponding to the shift position during the shift process, the direction of the shift motor, and the gear engagement commands of the first and second shift solenoid valves are used to control the duty cycle and direction of the shift motor, so that the vehicle can complete the shift.

8. A gear shifting control device, characterized in that, Used to perform the shift control method according to any one of claims 1-7; The shift control device includes: The shift request detection module is used to detect whether the vehicle has a shift request. The drive motor control module is used to control the torque of the drive motor to be 0 if the shift request detection module detects that the vehicle has a shift request. AMT shift actuator type detection module, used to detect the type of AMT shift actuator; The shift motor control module is used to determine the correspondence between the shift position and the shift conversion coefficient during the disengagement process according to the shift request if the AMT shift actuator type detection module detects that the AMT shift actuator is an electric actuator, and to control the duty cycle and direction of the shift motor so that the vehicle completes disengagement; the shift position is the position where the piston rod of the first cylinder moves to the shift band corresponding to the shift request; The gear selection motor control module is used to, while the drive motor control module controls the speed of the drive motor to be adjusted to match the required gear in the gear shift request, determine the correspondence between the gear selection position and the gear selection conversion coefficient during the gear selection process according to the gear shift request, and control the duty cycle and direction of the gear selection motor so that the vehicle completes speed adjustment; the gear selection position is the position where the piston rod of the second cylinder moves to the gear band corresponding to the gear shift request; The shift motor control module is also used to control the duty cycle and direction of the shift motor according to the shift request and the correspondence between the shift position and the shift conversion coefficient, so that the vehicle can complete the shift.

9. A gear shifting control device, characterized in that, The shift control device includes: At least one processor; and a memory communicatively connected to said at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the shift control method according to any one of claims 1-7.

10. A vehicle, characterized in that, It includes an AMT shift actuator, a drive motor, and a shift control device as described in claim 9, wherein the AMT shift actuator includes a pneumatic actuator or an electric actuator.

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