Gear shifting drum position zero point self-checking method, device and equipment and storage medium

Abstract

The invention discloses a gear shifting drum position zero-point self-checking method, device and equipment and a storage medium, and relates to the technical field of automobile transmission system control, and the gear shifting drum position zero-point self-checking method comprises the steps that under the condition that triggering information of gear shifting drum position zero-point self-checking is obtained, whether gear shifting drum position zero-point storage is effective or not is judged; under the condition that the zero point storage of the position of the gear shifting drum is determined to be effective, judging whether a self-inspection permission condition is met or not; under the condition that the self-inspection permission condition is met, gear shifting drum position closed-loop control operation is executed, and a top dead center of the gear shifting drum is found; under the condition that the top dead center of the gear shifting drum is determined, whether the position zero point of the gear shifting drum is effective or not is determined; and under the condition that the zero point of the position of the gear shifting drum is determined to be effective, the gear shifting drum is controlled to be switched to the current target gear, so that the position zero point self-checking of the gear shifting drum is completed. The zero point of the position of the gear shifting drum is self-detected, so that the accuracy of the position of the gear shifting drum is ensured when the vehicle is powered on every time.

Description

Technical Field

[0001] The present application relates to the field of automobile transmission system control technology, and in particular to a shift drum position zero point self-check method, device, equipment and storage medium. Background Art

[0002] With the continuous development of the automotive industry, especially with the popularization of hybrid and electric vehicles, the transmission system of vehicles has become more and more complex. In a multi-speed hybrid transmission, the accuracy of gear shifting directly affects the driving experience and safety of the entire vehicle. In order to ensure that the vehicle can shift gears smoothly and accurately under different working conditions, the position of the shift drum, a key component of the shift actuator, must be strictly controlled. The zero point position of the shift drum, as the benchmark for shifting, is crucial to the accuracy of the shifting process. Therefore, how to ensure the accuracy of the zero point of the shift drum position when the vehicle is powered on has become an important technical requirement.

[0003] Currently, many multi-speed hybrid transmissions use a shift drum position sensor to monitor and adjust the angular position of the shift drum. When powered on, the system usually relies on the last recorded zero position of the shift drum as the shift reference and performs shift control based on this stored position. In addition, in order to compensate for possible errors, some systems will trigger the self-learning function of the shift drum position under certain circumstances to recalibrate the zero point of the shift drum position.

[0004] However, existing shift drum position control methods have some limitations. First, the stored shift drum zero position may deviate due to long-term use or external interference, resulting in inaccurate shifting and even gear confusion. Secondly, the system may not be strict enough in judging the validity of the zero position and cannot fully detect abnormalities in the stored data, causing the vehicle to malfunction during operation. In addition, the existing methods may fail to consider all influencing factors, such as the state of the power source, when performing zero-point calibration, resulting in unreliable self-test results. These problems may not only cause damage to the gearbox, but may even pose a risk to driving safety. Therefore, how to accurately perform a self-check of the shift drum position zero point when the vehicle is powered on has become an urgent problem to be solved. Summary of the invention

[0005] The present application aims to provide a shift drum position zero point self-check method, device, equipment and storage medium, aiming to solve the technical problem of accurately performing a shift drum position zero point self-check when the vehicle is powered on.

[0006] To achieve the above purpose, the present application proposes a shift drum position zero point self-check method, the method comprising:

[0007] When the trigger information of the shift drum position zero point self-check is obtained, determining whether the shift drum position zero point storage is valid;

[0008] In the case where it is determined that the shift drum position zero point storage is valid, determining whether a self-checking permission condition is met;

[0009] When the self-check permission condition is met, a shift drum position closed-loop control operation is performed to find the top dead center of the shift drum;

[0010] In the case of determining the top dead center of the shift drum, determining whether the shift drum position zero point is valid;

[0011] When it is determined that the shift drum position zero point is valid, the shift drum is controlled to switch to the current target gear position to complete the shift drum position zero point self-check.

[0012] In one embodiment, before determining whether the zero-point storage of the shift drum position is valid, the method further includes:

[0013] When it is detected that the key status signal fed back by the underlying software is an on signal and the application layer recognizes that the vehicle key status changes from an off state to an on rising edge, it is determined that the trigger information of the shift drum position zero point self-check is obtained.

[0014] In one embodiment, determining whether the shift drum position zero point storage is valid includes:

[0015] Acquire a storage location and a corresponding storage check value, wherein the storage location is obtained based on a zero storage location during the last power-off hibernation, and the storage check value is generated based on the storage location by a preset algorithm;

[0016] Based on the storage location and according to the preset algorithm, obtaining a current check value;

[0017] If the current check value is consistent with the stored check value, determining whether the self-check permission condition is met;

[0018] If the current verification value is inconsistent with the stored verification value, a warning message is sent to the vehicle terminal to enable the vehicle to learn the zero point of the shift drum position, and then adjust the shift drum to the current target gear position to complete the zero point self-check of the shift drum position of the vehicle.

[0019] In one embodiment, the situation where the self-check permission condition is met includes:

[0020] If the transmission is in the parking gear, the driving speed is less than the preset vehicle speed threshold, the engine speed is less than the preset engine speed threshold, the generator speed is less than the preset generator speed threshold, the drive motor speed is less than the preset drive motor speed threshold, the generator torque is less than the preset torque, the shift motor is within the preset threshold range, and the shift drum has not performed all items in the position zero point self-learning, it is determined that the shift drum meets the self-check permission condition;

[0021] If the self-check permission condition is not met, the shift drum is adjusted to the current target gear position and the self-check is exited.

[0022] In one embodiment, performing a shift drum position closed-loop control operation to find the top dead center of the shift drum includes:

[0023] Get the current shift drum angle, the preset shift drum self-test angle and the preset shift drum retraction angle;

[0024] Based on the current shift drum angle and the preset self-check shift drum angle, a first reference shift drum angle is obtained to rotate the shift drum toward the top dead center to achieve shift drum blocking;

[0025] Based on the first reference shift drum angle and the preset shift drum retraction angle, a second reference shift drum angle is obtained to make the shift drum retract a certain angle in the opposite direction of the top dead center;

[0026] Based on the second reference shift drum angle and the preset self-check shift drum angle, a target shift drum angle is obtained, so that the shift drum rotates toward the top dead center by increasing the torsional dynamic coefficient, thereby achieving the shift drum blocking, wherein the blocking point is the top dead center of the shift drum;

[0027] If the shift drum is not blocked, the engine is shut down and the vehicle is prohibited from starting.

[0028] In one embodiment, determining that the shift drum is blocked includes:

[0029] When it is determined that the shift drum is stalled, the shift drum is identified as having a position angle difference exceeding a preset angle difference, the shift drum rotational angular velocity is lower than a preset angular velocity, and the shift drum does not continue to rotate within a preset time.

[0030] In one embodiment, determining whether the shift drum position zero point is valid includes:

[0031] If the position difference between the shift drum position zero point and the top dead center of the shift drum is less than the preset difference, the shift drum position zero point is valid, the shift drum is adjusted to the current target gear position, and the vehicle's shift drum position zero point self-check is completed;

[0032] If the position difference between the shift drum position zero point and the top dead center of the shift drum is greater than or equal to the preset difference, the shift drum position zero point is invalid, and a warning message is sent to the vehicle terminal to enable the vehicle to learn the shift drum position zero point, and then adjust the shift drum to the current target gear to complete the vehicle's shift drum position zero point self-check.

[0033] In addition, to achieve the above purpose, the present application also proposes a shift drum position zero point self-checking device, the device comprising:

[0034] An acquisition module, used to determine whether the shift drum position zero point storage is valid when the trigger information of the shift drum position zero point self-check is acquired;

[0035] A judgment module, used to judge whether a self-checking permission condition is met when it is determined that the zero-point storage of the shift drum position is valid;

[0036] A search module, when the self-check permission condition is met, performs a shift drum position closed-loop control operation to search for the top dead center of the shift drum;

[0037] a determination module, which determines whether the shift drum position zero point is valid when the top dead center of the shift drum is determined;

[0038] The completion module controls the shift drum to switch to the current target gear position to complete the shift drum position zero point self-check when determining that the shift drum position zero point is valid.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a shift drum position zero-point self-check device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the shift drum position zero-point self-check method as described above.

[0040] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the shift drum position zero point self-check method as described above are implemented.

[0041] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the shift drum position zero point self-checking method as described above are implemented.

[0042] One or more technical solutions proposed in this application have at least the following technical effects:

[0043] When trigger information for the shift drum position zero point self-check is obtained, determine whether the shift drum position zero point storage is valid; when it is determined that the shift drum position zero point storage is valid, determine whether the self-check permission conditions are met; when the self-check permission conditions are met, perform a shift drum position closed-loop control operation to find the top dead center of the shift drum; when the top dead center of the shift drum is determined, determine whether the shift drum position zero point is valid; when it is determined that the shift drum position zero point is valid, control the shift drum to switch to the current target gear to complete the shift drum position zero point self-check. This application firstly automatically triggers the self-check process to reduce human intervention and ensure that the self-check is executed in time; secondly, by verifying the stored zero point data, it ensures that the self-check is based on reliable data to prevent subsequent errors; then confirms that the self-check process will not be interfered by external factors, and is carried out under the self-check conditions to avoid external factors to improve the reliability of the self-check; then through closed-loop control operation, the top dead center of the shift drum is accurately located to ensure the accuracy of the shift reference point; then verify the validity of the zero point, and the system will compare it with the previously stored zero point position to determine whether the two are consistent. Through this comparison process, the system can verify whether the currently stored zero point data is still valid, improve the fault tolerance of the system, and ensure that the shift drum position is still accurate even after multiple cycles; finally, after completing the zero point verification, the system can ensure that the shift drum moves accurately to the current target gear. This means that the entire self-check process is successfully completed, the shift drum is in the correct position, and the vehicle can work normally. This application ensures the accuracy and reliability of the zero point of the shift drum position through automation, precise control and verification, ensures that each shift operation is correctly executed, prevents damage to the gearbox, and improves the safety and stability of vehicle operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0046] Figure 1 A schematic diagram of a process flow provided for the first embodiment of the shift drum position zero point self-check method of the present application;

[0047] Figure 2 A flow chart of the second embodiment of the shift drum position zero point self-check method provided in the present application;

[0048] Figure 3A schematic diagram of a brief process of a zero-point self-check method for a shift drum position according to an embodiment of the present application;

[0049] Figure 4 This is a schematic diagram of the module structure of the zero-point self-checking device for the shift drum position according to an embodiment of the present application;

[0050] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the zero-point self-check method for the shift drum position in the embodiment of the present application;

[0051] Figure 6 It is a judgment logic block diagram of the self-check permission condition in the shift drum position zero point self-check method of the embodiment of the present application;

[0052] Figure 7 This is a control logic block diagram for finding the top dead center position in the shift drum position zero point self-checking method according to an embodiment of the present application;

[0053] Figure 8 This is a control logic block diagram for top dead center judgment and position validity judgment in the shift drum position zero point self-checking method in an embodiment of the present application.

[0054] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0056] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0057] With the development of the automotive industry, especially the popularity of hybrid and electric vehicles, vehicle transmission systems have become more complex. In multi-speed hybrid transmissions, shift accuracy is crucial to driving experience and safety, so ensuring the accuracy of the zero point position of the shift drum when power is turned on becomes the key. At present, many transmissions rely on shift drum position sensors and zero point position storage for shift control, but there are problems such as storage position deviation and lax judgment of zero point validity. These problems may lead to inaccurate shifting, transmission damage, and even safety risks.

[0058] The main solutions of the embodiments of the present application are: first, by automatically triggering the self-check process, human intervention is reduced to ensure that the self-check is executed in a timely manner; second, the stored zero-point data is verified to ensure that the self-check is based on reliable data to prevent subsequent errors; then, the self-check is performed without external interference to ensure reliability; then, the top dead center of the shift drum is accurately located through closed-loop control to verify the validity of the zero point and compare it with the previously stored data to ensure its accuracy; finally, the system confirms that the shift drum is accurately moved to the target gear position to ensure that the shift operation is correctly performed, thereby improving vehicle safety and stability.

[0059] It should be noted that the execution subject of the embodiment of the present application may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, etc. The following takes a terminal with a zero-point self-checking system for the position of a shift drum as an example to illustrate this embodiment and the following embodiments.

[0060] Based on this, the embodiment of the present application provides a shift drum position zero point self-check method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the shift drum position zero point self-check method of the present application.

[0061] In this embodiment, the shift drum position zero point self-check method includes steps S10 to S50:

[0062] Step S10, when the trigger information of the shift drum position zero point self-check is obtained, determining whether the shift drum position zero point storage is valid;

[0063] It should be noted that the zero point of the shift drum position refers to a reference point on the mechanical position of the shift drum, that is, the initial position or reference position of the shift drum. This position is defined as the "zero point" and is the basis of the entire shift operation. When the vehicle shifts gears, the system will judge and control the rotation angle of the shift drum based on this zero point to ensure that each shift is executed accurately. Zero point storage refers to the process in which the system stores the zero point data of the shift drum position determined at that time in the system after the last self-test or calibration. This data will be saved in the vehicle's control unit for subsequent shift operations. The data stored at the zero point is used as a reference for shift control when the vehicle is powered on or started again.

[0064] It is understandable that when the system is ready to perform a gear shift operation, it will first check the previously saved zero point data, that is, the reference position data of the gear shift drum. This data may have been recorded during the last self-test or calibration process. The system will determine whether the stored data is accurate and reliable by comparing the stored zero point data with the current actual mechanical state. If the stored zero point data is found to be deviated or invalid, the system may need to re-test or recalibrate to ensure that the gear shift operation is based on the accurate zero point position to avoid gear shift errors or safety risks caused by inaccurate data.

[0065] As an example, before determining whether the shift drum position zero point storage is valid, it also includes: when it is detected that the key status signal fed back by the underlying software is an on signal, and the application layer recognizes that the vehicle key status changes from the off state to the on rising edge, it is determined to obtain the trigger information for the shift drum position zero point self-check.

[0066] Among them, the bottom layer software refers to the software part of the vehicle control system that directly interacts with the hardware, and is usually responsible for low-level tasks such as reading sensor signals and executing basic control logic. Specifically in this scenario, the bottom layer software is responsible for detecting and feedback changes in the vehicle key status signal. For example, when the key is inserted and rotated to the open position, the bottom layer software captures this hardware-level state change and passes it to the higher-level software module. The application layer refers to the higher-level software part of the vehicle control system, which is responsible for handling more complex logic and decision-making. It performs corresponding operations based on the data and signals provided by the bottom layer software. In this scenario, the application layer is responsible for identifying changes in the vehicle key status (for example, from off to on) and deciding whether to trigger the shift drum position zero point self-test function based on these changes. The key status signal refers to the signal generated by the vehicle's ignition key or smart key system, indicating the current state of the key. Common states include "off", "on", "start", etc. This signal is used to determine the operating status of the vehicle, such as whether the vehicle is started or shut down. In this step, the system decides whether to trigger the shift drum zero point position self-test by monitoring the changes in the key status signal.

[0067] Specifically, this is to ensure that the system is at the right time to trigger the self-check of the zero point of the shift drum position. When the vehicle ignition key is turned from the off state to the on state, the underlying software will detect the change in the key state signal and feedback a "turn on" signal. At the same time, the application layer software will recognize the state change of the key state from "off" to "on" (i.e., "rising edge"), and use this change as a signal to trigger the self-check of the zero point of the shift drum position. In other words, only when it is confirmed that the key state has changed from off to on, will the system consider it to be the right time to start the self-check process of the zero point of the shift drum position to ensure the accuracy and safety of subsequent shift operations.

[0068] Step S20, when it is determined that the shift drum position zero point storage is valid, judging whether the self-checking permission condition is met;

[0069] It should be noted that the self-check permission condition refers to the system determining that the shift drum position zero point storage is valid and the environmental conditions for performing the self-check are met.

[0070] It is understandable that the system then needs to determine whether the self-test permission conditions are met. This step is mainly to ensure that the self-test is performed in a suitable state, avoid external factors interfering with the self-test process, and ensure the accuracy of the self-test results. Specifically, the system will detect a series of conditions, such as the power state of the vehicle. Only when all these conditions are met will the system allow the self-test process to continue. If the conditions are not met, the system will not perform the self-test and directly return to the current target gear to avoid possible erroneous operations and potential risks.

[0071] As an example, determining whether the zero-point storage of the shift drum position is valid includes: obtaining a storage position and a corresponding storage verification value, wherein the storage position is obtained based on the zero-point storage position during the last power-off sleep state, and the storage verification value is generated based on the storage position through a preset algorithm; based on the storage position, according to the preset algorithm, obtaining a current verification value; if the current verification value is consistent with the storage verification value, determining whether a self-test permission condition is satisfied; if the current verification value is inconsistent with the storage verification value, sending a warning message to a terminal of the vehicle so that the vehicle can learn the zero-point of the shift drum position, and then adjust the shift drum to the current target gear position to complete the zero-point self-test of the shift drum position of the vehicle.

[0072] The stored check value is a specific check data generated based on the zero point of the shift drum position. This data is usually stored by the system when the vehicle is powered off and dormant last time, and the position data is processed by a preset algorithm to generate a check code or hash value. This check value is used to verify whether the stored data has been tampered with or lost when the power is turned on next time, thereby ensuring the integrity and accuracy of the shift drum position data. The preset algorithm is a calculation method used by the system to generate and verify the stored check value. Generally, this algorithm can be a hash algorithm, a checksum algorithm, or other mathematical formula for data integrity verification. The preset algorithm generates a unique check value (such as a hash code) by processing the stored shift drum position data, and calculates the check value again when the power is turned on next time to compare and verify whether the stored data is correct. The check value is the result of the system recalculating the currently stored shift drum position data through the preset algorithm after power is turned on. This check value will be compared with the stored check value generated before the last power off. If the two are consistent, it means that the stored data has not been tampered with and the position data is still valid; if they are inconsistent, it means that the stored data may be incorrect or damaged, and the position learning needs to be re-performed. The warning message is a notification or error message sent by the system to the vehicle's terminal (such as the driver display or the on-board diagnostic system) when the system finds that the current verification value is inconsistent with the stored verification value. This warning message usually prompts the driver or technician that the system detects that the zero point data of the shift drum position is invalid and the vehicle needs to re-learn the position of the shift drum. This information can prevent continued operation when the position data is incorrect, thereby protecting the transmission from damage. The target gear refers to the gear position that the current system expects the shift drum to move to. During the self-test process, the system controls the shift drum to switch to the preset gear after completing the zero point verification or re-learning. This target gear is usually the initial gear after the vehicle is started (such as P gear or N gear), ensuring that the vehicle can correctly enter the gear for normal operation after the self-test is completed.

[0073] Specifically, the system will first read the shift drum position data (i.e., storage position) and its corresponding check value stored when the vehicle was powered off and dormant last time. This check value is calculated based on the storage position using a preset algorithm to verify the integrity of the data. Next, the system will use the same algorithm again to calculate a new check value (current check value) based on the currently read storage position. Then, this current check value is compared with the previously stored check value. If the two are consistent, it means that the storage position data has not changed, and the system will continue to determine whether other conditions for self-test are met. If the two are inconsistent, it means that the stored position data may have expired or been tampered with, and the system will send a warning message to the vehicle's terminal, requiring re-learning and calibration of the shift drum position. After that, the system will adjust the shift drum to the current target gear position to complete the entire zero-point self-test process. This step ensures the accuracy and reliability of the shift drum position data and avoids inaccurate shifting or gearbox damage due to data errors.

[0074] As an example, the situations in which the self-test permission conditions are met include: if the transmission is in the parking gear, the driving speed is less than the preset vehicle speed threshold, the engine speed is less than the preset engine speed threshold, the generator speed is less than the preset generator speed threshold, the drive motor speed is less than the preset drive motor speed threshold, the generator torque is less than the preset torque, the shift motor is within the preset threshold range, and the shift drum has not performed all items in the position zero point self-learning, it is determined that the shift drum meets the self-test permission conditions; if the self-test permission conditions are not met, the shift drum is adjusted to the current target gear and the self-test is exited.

[0075] Among them, the transmission refers to the transmission device in the vehicle's transmission system, which can change the transmission ratio between the engine and the drive wheels according to the driving conditions, so as to achieve the normal operation of the vehicle at different speeds and loads. The parking gear is a gear in an automatic transmission, usually marked as "P" (Parking). When the transmission is in the parking gear, the mechanical connection between the vehicle's drive system and the wheels is locked to prevent the vehicle from moving accidentally when it is parked. This is a must-meet condition because the self-test process can only be carried out safely in the parking gear to avoid the vehicle from moving accidentally during the self-test. The vehicle speed threshold refers to a preset upper limit of the vehicle speed. During the self-test process, the vehicle speed must be less than this threshold to ensure that the vehicle is stationary or almost stationary, reducing inaccurate or dangerous self-tests caused by high vehicle speeds. Usually, this threshold is very close to zero to ensure that the vehicle is completely stopped. The preset engine speed threshold refers to a predetermined upper limit of the engine speed. In order to ensure that the self-test process is not disturbed by the engine running, the engine speed must be lower than this set value, usually close to the engine idling or stopped state. This can prevent the engine from performing self-tests at high speeds, affecting the position detection of the shift drum. The preset torque refers to the torque limit value of the vehicle's generator or motor. During the self-test process, the output torque of the generator must be less than this preset value to ensure that the system is in a low-load or no-load state and prevent the power system from interfering with the position detection of the shift drum under high torque. The preset threshold range means that the state of the shift motor must be within the normal range, especially the voltage, load and working state must be within the pre-set safety range. For example, the motor voltage must be within the specified range (such as 9-16 volts) and the load cannot be too large to ensure that the shift motor can normally drive the shift drum for self-test operation. The shift drum is not performing position zero point self-learning: This means that the shift drum cannot perform zero point self-learning at the same time during the self-test process. The position zero point self-learning of the shift drum is an independent process used to recalibrate the zero point when the position information is lost or the data is invalid. In order to avoid interference between the self-test and self-learning processes, self-test is allowed only when zero point self-learning is not in progress or has been completed. If self-learning is in progress, the self-test is paused to ensure that each process is completed independently.

[0076] Specifically, the system checks a series of conditions: whether the transmission is in the parking gear (P gear), whether the driving speed is lower than the preset threshold, whether the speed of the engine, generator, and drive motor are all lower than their respective preset speed thresholds, and whether the torque of the generator is within the predetermined range. In addition, it is necessary to confirm that the shift motor is in normal working condition and that the shift drum is not self-learning at the execution position zero point. Only when all these conditions are met will the system determine that the shift drum can perform self-test to ensure that the self-test process is not interfered with by external factors. If any of the conditions are not met, the system will stop the self-test and adjust the shift drum to the current target gear to ensure that the vehicle can operate normally and avoid potential errors or dangers caused by performing self-test under inappropriate conditions.

[0077] Step S30, when the self-check permission condition is met, executing the shift drum position closed-loop control operation to find the top dead center of the shift drum;

[0078] It should be noted that the position closed-loop control operation is a control system technology that aims to adjust the output of the system in real time through feedback control to achieve a predetermined target position. In this step, the position closed-loop control operation refers to the system detecting the current position of the shift drum and continuously adjusting the action of the shift motor according to the predetermined target position (i.e., the top dead center) to accurately move the shift drum to the target position. The top dead center refers to one of the extreme positions of the shift drum within its mechanical range of motion. Specifically, it is the farthest position that the shift drum can rotate to, and usually a physical limit is set in the mechanical design to prevent the shift drum from continuing to rotate beyond this point. In this step, finding the top dead center means finding the end position of the shift drum's rotation, which is considered to be the "zero point" or reference point of the shift drum.

[0079] It is understood that the purpose of executing the closed-loop control operation of the shift drum position is to accurately find the top dead center (i.e., mechanical limit position) of the shift drum when the self-checking permission conditions are met. The closed-loop control operation continuously monitors and adjusts the position of the shift drum to ensure that it moves accurately to the top dead center position. After finding the top dead center, the system will use it as the zero point reference of the shift drum to provide an accurate position reference for subsequent shifting operations. This operation ensures that the zero point position of the shift drum is accurate and correct, thereby ensuring the smooth shifting process of the entire transmission.

[0080] As an example, a shift drum position closed-loop control operation is performed to find the top dead center of the shift drum, including: obtaining a current shift drum angle, a preset shift drum self-check angle and a preset shift drum retraction angle; obtaining a first reference shift drum angle based on the current shift drum angle and the preset self-check shift drum angle, so that the shift drum rotates toward the top dead center to achieve shift drum stalling; obtaining a second reference shift drum angle based on the first reference shift drum angle and the preset shift drum retraction angle, so that the shift drum retracts a certain angle in the opposite direction of the top dead center; obtaining a target shift drum angle based on the second reference shift drum angle and the preset self-check shift drum angle, so that the shift drum rotates toward the top dead center by increasing the torsional dynamic coefficient to achieve shift drum stalling, at which time the stalling point is the top dead center of the shift drum; if the shift drum stalling is not achieved, shutting down the engine and prohibiting the vehicle from starting.

[0081] Among them, the current shift drum angle refers to the actual angular position of the shift drum at the current moment. This angle is read by the system in real time and represents the position of the shift drum relative to a certain reference point, usually the position of the shift drum at the beginning of the self-test operation. Preset shift drum self-test angle: This is the angle value preset by the system for the self-test process, which is used to guide the shift drum to move in the direction of the top dead center. This angle determines the range of rotation of the shift drum during the self-test process in an attempt to find the mechanical top dead center (i.e., the limit position of the shift drum). Preset shift drum retraction angle: After detecting a stall, the system will make the shift drum reverse back a certain angle, which is called the preset retraction angle. This angle value is used to ensure the accuracy of the stall position, that is, by retracting and then moving forward to confirm whether the true top dead center has been reached. First reference shift drum angle: Based on the current shift drum angle and the preset self-test angle, the system calculates the target angle that the shift drum needs to rotate, which is called the first reference shift drum angle. It guides the shift drum to rotate in the direction of the top dead center until a stall occurs. Second reference shift drum angle: This is a new reference angle calculated in combination with the preset retraction angle after the shift drum reaches the first reference angle and becomes stuck. This angle is used to guide the shift drum to retract a certain angle, and then try to approach the top dead center again to confirm the exact position of the stall. Target shift drum angle: After retraction, the system calculates the target angle based on the second reference angle and the preset self-test angle, which is called the target shift drum angle. This angle guides the shift drum to move toward the top dead center again, and finally achieves stalling by increasing torque, determining the mechanical top dead center position.

[0082] Specifically, first, obtain the current shift drum angle and the preset shift drum self-test angle and retraction angle. Then, calculate the first reference shift drum angle based on the current shift drum angle and the preset self-test angle, and rotate the shift drum toward the top dead center to trigger the shift drum's stalling action. Next, calculate the second reference shift drum angle based on the first reference shift drum angle and the preset retraction angle, and let the shift drum retract a certain angle in the opposite direction. Then calculate the target shift drum angle based on the second reference shift drum angle and the preset self-test angle, and increase the torsional dynamic coefficient to push the shift drum to rotate toward the top dead center to achieve the shift drum's stalling operation, and prevent stalling before reaching the top dead center due to factors such as insufficient torque. If the shift drum's stalling action is not successfully triggered, the shift drum may be idling all the time. At this time, the engine is damaged, so the engine is turned off and the vehicle is prohibited from starting.

[0083] As an example, determining that the shift drum is stuck includes: when it is identified that a position angle difference of the shift drum exceeds a preset angle difference, an angular velocity of rotation of the shift drum is lower than a preset angular velocity, and the shift drum does not continue to rotate within a preset time, determining that the shift drum is stuck.

[0084] The position angle difference refers to the difference between the current shift drum angle and the target shift drum angle. The preset angle difference refers to the angle difference threshold set when determining a stall. The rotation angular velocity refers to the speed of the shift drum angle change, that is, the rate at which the shift drum angle changes per unit time. The preset angular velocity is the minimum angular velocity threshold for the shift drum rotation. The preset time refers to the time that the shift drum does not continue to rotate per unit time.

[0085] Specifically, by monitoring the difference between the current shift drum angle and the target shift drum angle, and at the same time, monitoring the angular velocity of the shift drum, if the angular velocity is lower than a preset angular velocity threshold and the shift drum is observed to not continue to rotate within a preset time, it is determined that the shift drum has actually reached a stalled state.

[0086] Step S40, determining whether the shift drum position zero point is valid when the top dead center of the shift drum is determined;

[0087] It is understandable that the top dead center usually refers to a specific position or angle reached by the shift drum during the movement, which marks the completion of a certain operation step or the achievement of a specific state. Secondly, the step mentions "determining whether the shift drum position zero point is valid", which involves how the system determines and calibrates the zero position of the shift drum. The position zero point of the shift drum refers to a reference point used as a benchmark when performing position measurement and control. A valid position zero point means that this point can be accurately identified and used to ensure the accuracy and reliability of the system during operation. After confirming the top dead center position of the shift drum, further verify and confirm whether the position zero point of the shift drum is appropriate and valid. This ensures that the system can accurately measure and adjust according to the preset position reference point when operating and controlling the shift drum, thereby improving the stability and reliability of the method.

[0088] Step S50, when it is determined that the shift drum position zero point is valid, the shift drum is controlled to switch to the current target gear position to complete the shift drum position zero point self-check.

[0089] It should be noted that the current target gear position is a preset specific position or angle, and the set target position can be accurately adjusted as needed. In this embodiment, the parking gear (ie, P gear) is used.

[0090] It can be understood that when it is determined that the zero point of the shift drum position is valid, the shift stock self-check is determined to be completed, the shift drum is switched to the current target gear, and the subsequent vehicle power system start-up and other instructions are waited for input. This self-check mechanism helps to improve the convenience of the system. After completing the shift drum self-check operation, it directly enters the standby state, and the gearbox is adjusted to the parking gear (ie P gear) when the self-check conditions were confirmed before, to prevent the user from accidentally stepping on the pedal at this time and causing a vehicle safety accident, and to ensure accurate and safe operation in daily operation.

[0091] The present embodiment provides a method for self-checking the zero point of the shift drum position. First, by automatically triggering the self-checking process, human intervention is reduced to ensure that the self-checking is performed in a timely manner. Secondly, the stored zero point data is verified to ensure that the self-checking is based on reliable data to prevent subsequent errors. Then, the self-checking is performed without external interference to ensure reliability. Next, the shift drum top dead center is accurately located through closed-loop control to verify the validity of the zero point and compare it with the previously stored data to ensure its accuracy. Finally, the system confirms that the shift drum is accurately moved to the target gear position to ensure that the shifting operation is correctly performed, thereby improving the safety and stability of the vehicle.

[0092] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 2 , Figure 2 This is a flow chart of the second embodiment of the shift drum position zero point self-checking method of the present application. Step S50 of the shift drum position zero point self-checking method includes steps S51 to S52:

[0093] Step S51, if the position difference between the shift drum position zero point and the top dead center of the shift drum is less than a preset difference, the shift drum position zero point is valid, and the shift drum is adjusted to the current target gear position, completing the vehicle's shift drum position zero point self-check;

[0094] It should be noted that the preset difference refers to a preset position difference threshold, which is a standard for judging the validity of the zero point of the shift drum position. If the position difference between the zero point of the shift drum position and its top dead center is less than the preset difference, the system will consider the zero point position to be valid and continue to perform subsequent shifting operations and self-checking processes.

[0095] It is understandable that if the difference between the position zero point and the top dead center is less than the preset difference, the system determines that the position zero point is valid. This means that the initial position of the shift drum meets the system requirements and subsequent operations can continue. After confirming that the position zero point is valid, the system will further adjust the shift drum to reach the current target gear. This process is designed to ensure the accuracy and reliability of the shift operation. After completing this self-check process, the vehicle's shift drum position zero point self-check task is completed, and the system can continue to perform subsequent work or feedback relevant information.

[0096] Step S52, if the position difference between the shift drum position zero point and the top dead center of the shift drum is greater than or equal to the preset difference, the shift drum position zero point is invalid, and a warning message is sent to the vehicle terminal to enable the vehicle to learn the shift drum position zero point, and then adjust the shift drum to the current target gear position to complete the vehicle's shift drum position zero point self-check.

[0097] It is understandable that when the system detects that the position difference between the zero point of the shift drum and the top dead center is greater than or equal to the preset difference, the system determines that the zero point of the shift drum is invalid. To solve this problem, the system will send a warning message to the terminal of the vehicle to notify the vehicle that it needs to learn the zero point of the shift drum position. This learning process is intended to recalibrate or adjust the initial position of the shift drum to ensure its accuracy and reliability. After completing the learning, the system will readjust the shift drum to the current target gear position to complete the entire self-checking process.

[0098] In this embodiment, the zero point validity is first determined. If the position difference between the shift drum position zero point and the top dead center is less than the preset difference, the position zero point is valid. If the difference is greater than or equal to the preset difference, the position zero point is invalid. Different operations are then performed on different determination results. If the position zero point is valid, the system adjusts the shift drum to the current target gear position and completes the position zero point self-check. If the position zero point is invalid, the system sends a warning message to the vehicle terminal, prompting the vehicle to learn the shift drum position zero point. After the learning is completed, the system readjusts the shift drum to reach the current target gear position and completes the position zero point self-check again. These steps ensure the accuracy and reliability of the shift drum position zero point, and improve the stability and efficiency of the vehicle shifting system through the system's automatic determination and feedback mechanism.

[0099] For example, in order to help understand the implementation process of the shift drum position zero point self-check method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 3 , Figure 3 A brief flow chart of a shift drum position zero point self-check method is provided, specifically:

[0100] First, when the vehicle key status is detected to change from off to on, a self-check is triggered to confirm the validity of the zero-point storage, and the self-check permission conditions are determined by comparing the check values. After the conditions are met, a closed-loop control operation is performed to find the top dead center of the shift drum and ensure that the position zero point is valid. If the position zero point is valid, the shift drum is adjusted to the target gear to complete the self-check; if it is invalid, a warning message is sent to the vehicle terminal for learning, and then adjusted to the target gear. The overall process ensures the accuracy of the shift drum position zero point and system stability through multiple conditions and feedback mechanisms.

[0101] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the shift drum position zero-point self-checking method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0102] This application also provides a shift drum position zero point self-check device, please refer to Figure 4 , the shift drum position zero point self-checking device comprises:

[0103] The acquisition module 10 is used to determine whether the shift drum position zero point storage is valid when the trigger information of the shift drum position zero point self-check is acquired;

[0104] A judgment module 20, for judging whether a self-checking permission condition is met when it is determined that the zero-point storage of the shift drum position is valid;

[0105] A search module 30, when the self-check permission condition is met, performs a shift drum position closed-loop control operation to find the top dead center of the shift drum;

[0106] A determination module 40, which determines whether the shift drum position zero point is valid when the top dead center of the shift drum is determined;

[0107] The completion module 50 controls the shift drum to switch to the current target gear position to complete the shift drum position zero point self-check when it is determined that the shift drum position zero point is valid.

[0108] The shift drum position zero point self-checking device provided by the present application adopts the shift drum position zero point self-checking method in the above embodiment, which can solve the technical problem of accurately performing a self-check of the shift drum position zero point when the vehicle is powered on. Compared with the prior art, the shift drum position zero point self-checking device provided by the present application has the same beneficial effects as the shift drum position zero point self-checking method provided by the above embodiment, and other technical features in the shift drum position zero point self-checking device are the same as the features disclosed in the above embodiment method, which will not be described in detail here.

[0109] The present application provides a shift drum position zero-point self-checking device, the shift drum position zero-point self-checking device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the shift drum position zero-point self-checking method in the above-mentioned embodiment one.

[0110] Reference below Figure 5 , which shows a schematic diagram of the structure of a zero-point self-check device for the shift drum position suitable for implementing the embodiment of the present application. The zero-point self-check device for the shift drum position in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The shift drum position zero point self-checking device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0111] like Figure 5As shown, the shift drum position zero point self-checking device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the shift drum position zero point self-checking device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the shift drum position zero point self-test device to communicate wirelessly or wired with other devices to exchange data. Although the shift drum position zero point self-test device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0112] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0113] The shift drum position zero point self-checking device provided by the present application adopts the shift drum position zero point self-checking method in the above embodiment, which can solve the technical problem of accurately performing the self-checking of the shift drum position zero point when the vehicle is powered on. Compared with the prior art, the shift drum position zero point self-checking device provided by the present application has the same beneficial effects as the shift drum position zero point self-checking method provided by the above embodiment, and the other technical features in the shift drum position zero point self-checking device are the same as the features disclosed in the method of the previous embodiment, which will not be described in detail here.

[0114] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0115] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0116] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, the computer-readable program instructions being used to execute the shift drum position zero-point self-detection method in the above-mentioned embodiment.

[0117] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0118] The computer-readable storage medium may be included in the shift drum position zero point self-checking device; or may exist independently without being assembled into the shift drum position zero point self-checking device.

[0119] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the shift drum position zero-point self-checking device, the shift drum position zero-point self-checking device: when the trigger information of the shift drum position zero-point self-checking is obtained, determines whether the shift drum position zero-point storage is valid; when it is determined that the shift drum position zero-point storage is valid, determines whether the self-checking permission condition is met; when the self-checking permission condition is met, performs the shift drum position closed-loop control operation to find the top dead center of the shift drum; when the top dead center of the shift drum is determined, determines whether the shift drum position zero point is valid; when it is determined that the shift drum position zero point is valid, controls the shift drum to switch to the current target gear to complete the shift drum position zero-point self-checking.

[0120] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0121] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0122] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0123] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned shift drum position zero point self-check method, and can solve the technical problem of accurately performing a self-check of the shift drum position zero point when the vehicle is powered on. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the shift drum position zero point self-check method provided by the above-mentioned embodiment, and will not be elaborated here.

[0124] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned shift drum position zero point self-check method when executed by a processor.

[0125] The computer program product provided by the present application can solve the technical problem of accurately performing a self-check of the zero point of the shift drum position when the vehicle is powered on. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the zero point self-check method of the shift drum position provided by the above embodiment, and will not be described in detail here.

[0126] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A shift drum position zero point self-check method, characterized in that: The method comprises: When the trigger information of the shift drum position zero point self-check is obtained, determining whether the shift drum position zero point storage is valid; In the case where it is determined that the shift drum position zero point storage is valid, determining whether a self-checking permission condition is met; When the self-check permission condition is met, a shift drum position closed-loop control operation is performed to find the top dead center of the shift drum; In the case of determining the top dead center of the shift drum, determining whether the shift drum position zero point is valid; When it is determined that the shift drum position zero point is valid, the shift drum is controlled to switch to the current target gear position to complete the shift drum position zero point self-check.

2. The method according to claim 1, characterized in that Before determining whether the zero-point storage of the shift drum position is valid, the method further includes: When it is detected that the key status signal fed back by the underlying software is an on signal and the application layer recognizes that the vehicle key status changes from an off state to an on rising edge, it is determined that the trigger information of the shift drum position zero point self-check is obtained.

3. The method according to claim 1, characterized in that The step of determining that the zero-point storage of the shift drum position is valid comprises: Acquire a storage location and a corresponding storage check value, wherein the storage location is obtained based on a zero storage location during the last power-off hibernation, and the storage check value is generated based on the storage location by a preset algorithm; Based on the storage location and according to the preset algorithm, obtaining a current check value; If the current check value is consistent with the stored check value, determining whether the self-check permission condition is met; If the current verification value is inconsistent with the stored verification value, a warning message is sent to the vehicle terminal to enable the vehicle to learn the zero point of the shift drum position, and then adjust the shift drum to the current target gear position to complete the zero point self-check of the shift drum position of the vehicle.

4. The method according to claim 1, characterized in that The situations where the self-check permission conditions are met include: If the transmission is in the parking gear, the driving speed is less than the preset vehicle speed threshold, the engine speed is less than the preset engine speed threshold, the generator speed is less than the preset generator speed threshold, the drive motor speed is less than the preset drive motor speed threshold, the generator torque is less than the preset torque, the shift motor is within the preset threshold range, and the shift drum has not performed all items in the position zero point self-learning, it is determined that the shift drum meets the self-check permission condition; If the self-check permission condition is not met, the shift drum is adjusted to the current target gear position and the self-check is exited.

5. The method according to claim 1, characterized in that The step of performing a shift drum position closed-loop control operation to find the top dead center of the shift drum includes: Get the current shift drum angle, the preset shift drum self-test angle and the preset shift drum retraction angle; Based on the current shift drum angle and the preset self-check shift drum angle, a first reference shift drum angle is obtained to rotate the shift drum toward the top dead center to achieve shift drum blocking; Based on the first reference shift drum angle and the preset shift drum retraction angle, a second reference shift drum angle is obtained to make the shift drum retract a certain angle in the opposite direction of the top dead center; Based on the second reference shift drum angle and the preset self-check shift drum angle, a target shift drum angle is obtained, so that the shift drum rotates toward the top dead center by increasing the torsional dynamic coefficient, thereby achieving the shift drum blocking, wherein the blocking point is the top dead center of the shift drum; If the shift drum is not blocked, the engine is shut down and the vehicle is prohibited from starting.

6. The method according to claim 5, characterized in that Determine if the shift drum is stuck, including: When it is determined that the shift drum is stalled, the shift drum is identified as having a position angle difference exceeding a preset angle difference, the shift drum rotational angular velocity is lower than a preset angular velocity, and the shift drum does not continue to rotate within a preset time.

7. The method according to claim 1, characterized in that The determining whether the shift drum position zero point is valid comprises: If the position difference between the shift drum position zero point and the top dead center of the shift drum is less than the preset difference, the shift drum position zero point is valid, the shift drum is adjusted to the current target gear position, and the vehicle's shift drum position zero point self-check is completed; If the position difference between the shift drum position zero point and the top dead center of the shift drum is greater than or equal to the preset difference, the shift drum position zero point is invalid, and a warning message is sent to the vehicle terminal to enable the vehicle to learn the shift drum position zero point, and then adjust the shift drum to the current target gear to complete the vehicle's shift drum position zero point self-check.

8. A shift drum position zero point self-checking device, characterized in that: The device comprises: An acquisition module, used to determine whether the shift drum position zero point storage is valid when the trigger information of the shift drum position zero point self-check is acquired; A judgment module, used to judge whether a self-checking permission condition is met when it is determined that the zero-point storage of the shift drum position is valid; A search module, when the self-check permission condition is met, performs a shift drum position closed-loop control operation to search for the top dead center of the shift drum; a determination module, which determines whether the shift drum position zero point is valid when the top dead center of the shift drum is determined; The completion module controls the shift drum to switch to the current target gear position to complete the shift drum position zero point self-check when determining that the shift drum position zero point is valid.

9. A shift drum position zero point self-checking device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the shift drum position zero point self-detection method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the shift drum position zero point self-detection method according to any one of claims 1 to 7 are implemented.

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