Shift control method, device, equipment and vehicle

Abstract

The application discloses a gear shifting control method, device, equipment and vehicle. If it is detected that an AMT gear shifting actuator is a pneumatic actuator, a corresponding relationship between a duty cycle of a gear shifting motor in a gear shifting process and gear shifting instructions of first and second gear shifting solenoids is determined according to a gear shifting request, the states of the first and second gear shifting solenoids are controlled, and the vehicle is made to complete gear shifting; the rotating speed of a driving motor is adjusted to be matched with the rotating speed of a required gear of the gear shifting request, the states of first and second gear selecting solenoids are controlled according to the gear shifting instructions of the first and second gear selecting solenoids, and the vehicle is made to complete speed adjustment; the states of the first and second gear shifting solenoids are controlled according to the gear shifting request and the gear shifting instructions of the first and second gear shifting solenoids, and the vehicle is made to complete gear shifting. The electric actuator control strategy is compatible with the pneumatic actuator control strategy, and the software coverage and flexibility are enhanced.

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 of electric actuator control strategies with pneumatic 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 a pneumatic actuator, then the correspondence between the duty cycle of the shift motor and the engagement commands of the first and second shift solenoid valves during the disengagement process is determined according to the shift request. The states of the first and second shift solenoid valves are controlled according to their engagement commands, so that the vehicle completes disengagement. The duty cycle of the shift motor corresponds to the direction of the shift motor.

[0014] The speed of the drive motor is adjusted to match the required gear in the gear shift request. Simultaneously, based on the gear shift request, the correspondence between the duty cycle of the gear selection motor and the engagement commands of the first and second gear selection solenoid valves is determined. The states of the first and second gear selection solenoid valves are controlled according to their engagement commands, enabling the vehicle to complete speed adjustment. The duty cycle of the gear selection motor corresponds to the direction of the gear selection motor.

[0015] The state of the first and second shift solenoid valves is controlled according to the shift request and the shift command of the first and second shift solenoid valves, so that the vehicle can complete the shift.

[0016] Secondly, embodiments of the present invention provide a shift control device, including: a shift request detection module, used to detect whether the vehicle has a shift request;

[0017] 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.

[0018] AMT shift actuator type detection module, used to detect the type of AMT shift actuator;

[0019] The shift solenoid valve control module is used to determine the correspondence between the duty cycle of the shift motor and the engagement commands of the first and second shift solenoid valves during the disengagement process, based on the shift request, if the AMT shift actuator type detection module detects that the AMT shift actuator is a pneumatic actuator. It then controls the states of the first and second shift solenoid valves according to the engagement commands, thereby enabling the vehicle to disengage. The duty cycle of the shift motor corresponds to the steering of the shift motor.

[0020] The gear selection solenoid valve control module is used to control the speed of the drive motor to match the required gear in the gear shift request. Simultaneously, it determines the correspondence between the duty cycle of the gear selection motor and the engagement commands of the first and second gear selection solenoid valves based on the gear shift request. Furthermore, it controls the states of the first and second gear selection solenoid valves according to their engagement commands, thereby enabling the vehicle to complete speed adjustment. The duty cycle of the gear selection motor corresponds to the direction of the gear selection motor.

[0021] The shift solenoid valve control module is also used to control the state of the first shift solenoid valve and the second shift solenoid valve according to the shift request and the shift command of the first shift solenoid valve and the second shift solenoid valve, so that the vehicle completes the shift.

[0022] Thirdly, embodiments of the present invention also provide a gear shifting control device, the gear shifting control device comprising:

[0023] At least one processor; and a memory communicatively connected to said at least one processor; wherein,

[0024] 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.

[0025] 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.

[0026] This invention provides a shift control method, apparatus, device, and vehicle. The method includes detecting whether a shift request exists in the vehicle; if a shift request is detected, controlling the torque of the drive motor to be 0; detecting the type of the AMT shift actuator; if the AMT shift actuator is detected to be a pneumatic actuator, determining the correspondence between the duty cycle of the shift motor during disengagement and the engagement commands of the first and second shift solenoid valves based on the shift request, and controlling the states of the first and second shift solenoid valves according to the engagement commands of the first and second shift solenoid valves, so that the vehicle completes disengagement; the duty cycle of the shift motor corresponds to... The system adjusts the direction of the shift motor according to the shift request; controls the speed of the drive motor to match the required gear; simultaneously determines the correspondence between the duty cycle of the shift motor and the engagement commands of the first and second shift solenoid valves based on the shift request; and controls the states of the first and second shift solenoid valves according to their engagement commands to enable vehicle speed adjustment. The duty cycle of the shift motor corresponds to its direction of rotation; and the states of the first and second shift solenoid valves are controlled according to the shift request and their engagement commands to enable vehicle gear shifting. This invention addresses the limitation of existing shift control methods in covering both pneumatic and electric actuators. By utilizing the conversion relationship between duty cycle and solenoid valve commands, the duty cycle output of the electric control mechanism is converted into the solenoid valve commands of the pneumatic actuator, achieving compatibility between the electric actuator control strategy and the pneumatic actuator control strategy. This reduces software maintenance costs and enhances software coverage and flexibility.

[0027] 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

[0028] 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.

[0029] Figure 1 A gear distribution diagram provided for an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the structure of a pneumatic actuator provided in an embodiment of the present invention;

[0031] Figure 3This is a partial structural schematic diagram of an electric actuator provided in an embodiment of the present invention;

[0032] Figure 4 This is a partial structural schematic diagram of another electric actuator provided in an embodiment of the present invention;

[0033] Figure 5 A flowchart of a shift control method provided in an embodiment of the present invention;

[0034] Figure 6 A flowchart of another shift control method provided in an embodiment of the present invention;

[0035] Figure 7 A flowchart of another shift control method provided in an embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of the structure of a shift control device provided in an embodiment of the present invention;

[0037] Figure 9 This is a schematic diagram of another shift control device provided in an embodiment of the present invention;

[0038] Figure 10 This is a schematic diagram of a gear shifting control device provided in an embodiment of the present invention. Detailed Implementation

[0039] 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.

[0040] 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.

[0041] Figure 1A 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).

[0042] 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.

[0043] 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.

[0044] Continue to refer to Figure 2 It 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.

[0045] 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.

[0046] 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.

[0047] Figure 5 This 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.

[0048] 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:

[0049] S510, Detect whether the vehicle has a gear shift request.

[0050] 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.

[0051] S520: If a gear shift request is detected, the torque of the drive motor is controlled to be 0.

[0052] 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.

[0053] S530, Detect the type of AMT shift actuator.

[0054] Specifically, in this embodiment of the invention, the type of AMT shifting actuator can be an electric actuator or a pneumatic actuator.

[0055] S540. If the AMT shift actuator is detected to be a pneumatic actuator, the duty cycle of the shift motor during the disengagement process is determined according to the shift request, and the corresponding relationship between the shift motor duty cycle and the shift command of the first shift solenoid valve and the second shift solenoid valve is determined according to the shift command of the first shift solenoid valve and the second shift solenoid valve, so that the vehicle completes the disengagement.

[0056] The duty cycle of the shift motor corresponds to the direction of rotation of the shift motor.

[0057] For example, if the duty cycle of the shift motor is -80% in an embodiment of the present invention, it means that the shift motor is reversing, and the actual duty cycle of the shift motor is 80%.

[0058] Specifically, Table 1 shows the correspondence between electric control and pneumatic control provided in an embodiment of the present invention. Referring to Table 1, the gear shift 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. The duty cycle of the shift motor in the electric actuator changes from -100% at 10mm when disengaging to -10% at 18mm. When shifting gear, it changes from -100% at 22mm to -40% at 28mm. It should be noted that the table content can be adjusted according to actual conditions.

[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. Referring to Table 1, in both the disengagement and engagement phases, the actual duty cycle of the shift motor is greater than 10% (the minimum duty cycle that can drive the electric actuator). At this time, according to Table 1, the duty cycle output of the electric control mechanism is converted into the solenoid valve command output of the pneumatic actuator. When disengaging, the first and second shift solenoid valves open simultaneously, that is, the engagement command of both the first and second shift solenoid valves is 1. In the engagement phase, only one side of the shift solenoid valve is open, that is, the engagement command of the first and second shift solenoid valves is different.

[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 duty cycle of the shift motor and the gear engagement command of the first and second shift solenoid valves during the gear selection process according to the shift request. It then controls the state of the first and second shift solenoid valves according to the gear engagement command of the first and second shift solenoid valves, so that the vehicle can complete the speed adjustment.

[0063] The duty cycle of the gear selector motor corresponds to the direction of rotation of the gear selector motor.

[0064] Understandably, determining the correspondence between the duty cycle of the gear selection motor and the engagement commands of the first and second gear selection solenoid valves during the gear selection process based on the gear shift request, and controlling the states of the first and second gear selection solenoid valves according to their engagement commands, is 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 engagement commands of both the first and second gear selection solenoid valves are 0.

[0065] It should be noted that when the vehicle performs a gear selection operation, the duty cycle of the gear selection motor and the gear engagement command of the first and second gear selection solenoid valves are determined according to the gear shift request. The state of the first and second gear selection solenoid valves is controlled according to the gear engagement command of the first and second gear selection solenoid valves. Similarly, a correspondence table for electric control to pneumatic control can be calibrated according to the actual situation.

[0066] S560 controls the state of the first and second shift solenoid valves according to the shift request and the shift command of the first and second shift solenoid valves, so that the vehicle can complete the shift.

[0067] Specifically, as shown in Table 1, the change in the duty cycle of the shift motor is obtained based on the shift request, thereby obtaining the gear engagement command for the first shift solenoid valve and the second shift solenoid valve. The state of the first shift solenoid valve and the second shift solenoid valve is controlled according to the gear engagement command of the first shift solenoid valve and the second shift solenoid valve, so that the vehicle can complete the gear shift.

[0068] This invention addresses the limitation of existing shift control methods in covering both pneumatic and electric actuators. By utilizing the conversion relationship between duty cycle and solenoid valve commands, the duty cycle output of the electric control mechanism is converted into solenoid valve commands for the pneumatic actuator. This achieves compatibility between the electric actuator control strategy and the pneumatic 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 an electric actuator, the duty cycle of the shift motor is controlled to be 0, so that the vehicle completes the disengagement.

[0075] S650 controls the speed of the drive motor to match the required gear, and at the same time controls the duty cycle of the gear selection motor according to the gear shift request, so that the vehicle can complete the speed adjustment.

[0076] S660 controls the duty cycle of the shift motor according to the shift request, so that the vehicle can complete the shift.

[0077] In this embodiment of the invention, when the AMT shift actuator is detected to be an electric actuator, an electric actuator control strategy is used to control the vehicle's shifting. When the AMT shift actuator is detected to be a pneumatic actuator, a minor modification is made to the existing electric actuator control strategy. By utilizing the duty cycle and solenoid valve command conversion relationship, the duty cycle output of the electric control mechanism is converted into the solenoid valve command of the pneumatic actuator. This achieves compatibility between the electric actuator control strategy and the pneumatic actuator control strategy, 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 a pneumatic actuator, the duty cycle of the shift motor during the disengagement process is determined according to the shift request, and the corresponding relationship between the shift motor duty cycle and the shift command of the first shift solenoid valve and the second shift solenoid valve is determined according to the shift command of the first shift solenoid valve and the second shift solenoid valve, 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 duty cycle of the shift motor and the gear engagement command of the first and second shift solenoid valves during the gear selection process based on the shift request. It then controls the state of the first and second shift solenoid valves according to their gear engagement commands, thereby enabling the vehicle to complete the speed adjustment.

[0084] S760 controls the state of the first and second shift solenoid valves according to the shift request and the shift command of the first and second shift solenoid valves, 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 a pneumatic actuator.

[0087] S742. Determine the correspondence between the duty cycle of the shift motor and the gear engagement command of the first and second shift solenoid valves during the gear disengagement process based on the gear shift request.

[0088] S743. Determine the gear engagement commands of the first and second shift solenoid valves based on the correspondence between the duty cycle of the shift motor during the gear disengagement process and the gear engagement commands of the first and second shift solenoid valves.

[0089] S744. Control the state of the first shift solenoid valve and the second shift solenoid valve according to the shift command of the first shift solenoid valve and the second shift solenoid valve, so that the vehicle completes the disengagement.

[0090] Optionally, based on the above embodiments, if the gear shift command is 0, the shift solenoid valve is controlled to be closed. If the gear shift command is 1, the shift solenoid valve is controlled to be open. The shift solenoid valve includes a first shift solenoid valve and a second shift solenoid valve.

[0091] In this embodiment of the invention, by determining the correspondence between the duty cycle of the shift motor during the disengagement process and the engagement command of the first and second shift solenoid valves based on the shift request, the engagement command of the first and second shift solenoid valves can be determined. Thus, the state of the first and second shift solenoid valves can be controlled according to the engagement command of the first and second shift solenoid valves, so that the vehicle completes disengagement.

[0092] Optionally, based on the above embodiments, continue to refer to... Figure 7 Step S750 includes:

[0093] S751. Determine the correspondence between the duty cycle of the gear selection motor and the gear engagement command of the first and second gear selection solenoid valves during the gear selection process based on the gear shift request.

[0094] S752. Determine the gear engagement commands of the first and second gear selection solenoid valves based on the correspondence between the duty cycle of the gear selection motor and the gear engagement commands of the first and second gear selection solenoid valves.

[0095] S753 controls the speed of the drive motor to match the required gear in the shift request, and controls the state of the first and second gear selection solenoid valves according to the gear engagement command of the first and second gear selection solenoid valves, so that the vehicle completes the speed adjustment.

[0096] Optionally, based on the above embodiments, if the gear engagement command is 0, the gear selection solenoid valve is controlled to be closed. If the gear engagement command is 1, the gear selection solenoid valve is controlled to be open. The gear selection solenoid valve includes a first gear selection solenoid valve and a second gear selection solenoid valve.

[0097] In this embodiment of the invention, the correspondence between the duty cycle of the gear selection motor and the gear engagement command of the first and second gear selection solenoid valves is determined according to the gear shift request. This allows the gear engagement command of the first and second gear selection solenoid valves to be determined, thereby controlling the speed of the drive motor to be adjusted to match the required gear in the gear shift request. At the same time, the state of the first and second gear selection solenoid valves is controlled according to the gear engagement command of the first and second gear selection solenoid valves, so that the vehicle completes the speed adjustment.

[0098] Optionally, based on the above embodiments, continue to refer to... Figure 7 Step S760 includes:

[0099] S761. Determine the correspondence between the duty cycle of the shift motor and the gear engagement command of the first and second shift solenoid valves during the shift process based on the shift request.

[0100] S762. Determine the gear engagement commands of the first and second shift solenoid valves based on the correspondence between the gear engagement commands of the first and second shift solenoid valves during the gear shifting process.

[0101] S763. Control the state of the first shift solenoid valve and the second shift solenoid valve according to the shift command of the first shift solenoid valve and the second shift solenoid valve, so that the vehicle completes the shift.

[0102] In this embodiment of the invention, when the AMT shift actuator is detected to be an electric actuator, an electric actuator control strategy is used to control the vehicle's shifting. When the AMT shift actuator is detected to be a pneumatic actuator, a minor modification is made to the existing electric actuator control strategy. By utilizing the duty cycle and solenoid valve command conversion relationship, the duty cycle output of the electric control mechanism is converted into the solenoid valve command of the pneumatic actuator. This achieves compatibility between the electric actuator control strategy and the pneumatic actuator control strategy, reduces software maintenance costs, and enhances software coverage and flexibility.

[0103] 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 solenoid valve control module 840, and a gear selection solenoid valve control module 850.

[0104] The shift request detection module 810 detects whether a shift request exists in the vehicle. The drive motor control module 820 controls the drive motor to have zero torque if the shift request detection module detects a shift request. The AMT shift actuator type detection module 830 detects the type of the AMT shift actuator. The shift solenoid valve control module 840, if the AMT shift actuator type detection module detects that the AMT shift actuator is a pneumatic actuator, determines the correspondence between the shift motor's duty cycle and the engagement commands of the first and second shift solenoid valves during the disengagement process based on the shift request, and controls the states of the first and second shift solenoid valves according to their engagement commands, thus enabling the vehicle to disengage. The shift motor's duty cycle corresponds to the shift motor's direction of rotation. The gear selection solenoid valve control module 850 controls the speed of the drive motor to match the required gear in the gear shift request. Simultaneously, it determines the correspondence between the duty cycle of the gear selection motor and the engagement commands of the first and second gear selection solenoid valves based on the gear shift request. It then controls the states of the first and second gear selection solenoid valves according to their engagement commands, enabling the vehicle to complete speed adjustment. The duty cycle of the gear selection motor corresponds to its direction of rotation. The gear shift solenoid valve control module 840 further controls the states of the first and second gear shift solenoid valves based on the gear shift request and their engagement commands, enabling the vehicle to complete gear shifting.

[0105] 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 motor control module 910 and a gear selection motor control module 920.

[0106] In this embodiment of the invention, the shift motor control module 910 is used to control the duty cycle of the shift motor to 0 if the AMT shift actuator type detection module 830 detects that the AMT shift actuator is an electric actuator, thereby enabling the vehicle to disengage the gear. The gear selection motor control module 920 is used to control the duty cycle of the gear selection motor according to the shift request while the drive motor control module 820 controls the speed of the drive motor to match the required gear, thereby enabling the vehicle to adjust its speed. The shift motor control module 910 is also used to control the duty cycle of the shift motor according to the shift request, thereby enabling the vehicle to shift gears.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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 electric actuator is compatible with the control strategy of the pneumatic 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 a pneumatic actuator, then the correspondence between the duty cycle of the shift motor and the engagement commands of the first and second shift solenoid valves during the disengagement process is determined according to the shift request. The states of the first and second shift solenoid valves are controlled according to their engagement commands, so that the vehicle completes disengagement. The duty cycle of the shift motor corresponds to the direction of the shift motor. The speed of the drive motor is adjusted to match the required gear in the gear shift request. Simultaneously, based on the gear shift request, the correspondence between the duty cycle of the gear selection motor and the engagement commands of the first and second gear selection solenoid valves is determined. The states of the first and second gear selection solenoid valves are controlled according to their engagement commands, enabling the vehicle to complete speed adjustment. The duty cycle of the gear selection motor corresponds to the direction of the gear selection motor. The state of the first shift solenoid valve and the second shift solenoid valve is controlled according to the shift request and the shift command of the first shift solenoid valve and the second shift solenoid valve, 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 an electric actuator, the duty cycle of the shift motor is controlled to be 0, so that the vehicle completes disengagement; The speed of the drive motor is adjusted to match the required gear, and the duty cycle of the gear selection motor is controlled according to the gear shift request, so that the vehicle can complete the speed adjustment. The duty cycle of the shift motor is controlled according to the shift request, so that the vehicle can complete the shift.

3. The shift control method according to claim 1, characterized in that, If the AMT shift actuator is detected to be a pneumatic actuator, then the duty cycle of the shift motor during the disengagement process is determined according to the shift request, and the correspondence between the shift motor duty cycle and the engagement commands of the first and second shift solenoid valves is determined. The states of the first and second shift solenoid valves are controlled according to the engagement commands of the first and second shift solenoid valves, so that the vehicle completes the disengagement process. The AMT shift actuator was detected to be a pneumatic actuator; The duty cycle of the shift motor during the disengagement process is determined according to the shift request, and the correspondence between the shift solenoid valve and the engagement command of the first shift solenoid valve and the second shift solenoid valve is determined accordingly. The gear engagement commands of the first and second shift solenoid valves are determined based on the correspondence between the duty cycle of the shift motor during the gear disengagement process and the gear engagement commands of the first and second shift solenoid valves. The state of the first and second shift solenoid valves is controlled according to the shift command of the first and second shift solenoid valves, so that the vehicle completes the disengagement of the gear.

4. The shift control method according to claim 3, characterized in that, If the gear shift command is 0, the shift solenoid valve is controlled to be closed; if the gear shift command is 1, the shift solenoid valve is controlled to be open; wherein the shift solenoid valve includes the first shift solenoid valve and the second shift solenoid valve.

5. The shift control method according to claim 1, characterized in that, The process involves adjusting the speed of the drive motor to match the required gear in the gear shift request, determining the correspondence between the duty cycle of the gear selection motor and the engagement commands of the first and second gear selection solenoid valves based on the gear shift request, and controlling the states of the first and second gear selection solenoid valves according to their engagement commands, thereby enabling the vehicle to complete speed adjustment. This includes: The duty cycle of the gear selection motor and the gear engagement command of the first gear selection solenoid valve and the second gear selection solenoid valve are determined according to the gear shift request. The gear engagement commands of the first gear selection solenoid valve and the second gear selection solenoid valve are determined based on the correspondence between the duty cycle of the gear selection motor and the gear engagement commands of the first gear selection solenoid valve and the second gear selection solenoid valve. The speed of the drive motor is adjusted to match the required gear in the gear shift request. At the same time, the states of the first and second gear selection solenoid valves are controlled according to the gear shifting 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, If the gear shift command is 0, the gear selection solenoid valve is closed; if the gear shift command is 1, the gear selection solenoid valve is open; wherein the gear selection solenoid valve includes the first gear selection solenoid valve and the second gear selection solenoid valve.

7. The shift control method according to claim 1, characterized in that, The step of controlling the states of the first and second shift solenoid valves according to the shift request and the shift command of the first and second shift solenoid valves, so that the vehicle completes the shift, includes: The duty cycle of the shift motor during the shift process is determined according to the shift request, and the correspondence between the shift solenoid valve and the shift command of the first shift solenoid valve and the second shift solenoid valve is determined. The gear engagement commands of the first and second shift solenoid valves are determined based on the correspondence between the gear engagement commands of the first and second shift solenoid valves during the gear shifting process. The state of the first shift solenoid valve and the second shift solenoid valve is controlled according to the shift command of the first shift solenoid valve and the second shift solenoid valve, so that the vehicle can complete the shift.

8. A gear shifting control device, characterized in that, For performing the shift control method according to any one of claims 1-7, the shift control device comprises: 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 solenoid valve control module is used to determine the correspondence between the duty cycle of the shift motor and the engagement commands of the first and second shift solenoid valves during the disengagement process, based on the shift request, if the AMT shift actuator type detection module detects that the AMT shift actuator is a pneumatic actuator. It then controls the states of the first and second shift solenoid valves according to the engagement commands, so that the vehicle completes disengagement. The duty cycle of the shift motor corresponds to the steering of the shift motor. The gear selection solenoid valve control module is used to control the speed of the drive motor to match the required gear in the gear shift request. Simultaneously, it determines the correspondence between the duty cycle of the gear selection motor and the engagement commands of the first and second gear selection solenoid valves based on the gear shift request. Furthermore, it controls the states of the first and second gear selection solenoid valves according to their engagement commands, thereby enabling the vehicle to complete speed adjustment. The duty cycle of the gear selection motor corresponds to the direction of the gear selection motor. The shift solenoid valve control module is also used to control the state of the first shift solenoid valve and the second shift solenoid valve according to the shift request and the shift command of the first shift solenoid valve and the second shift solenoid valve, so that the vehicle completes 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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