A method for determining power transmission direction and related device

Abstract

The present application discloses a method for determining the direction of power transmission and a related device. The first standard clutch combination includes a clutch combination that is a combination of clutches that are coupled to a planetary gear in each gear during normal driving. The current clutch combination is obtained by detecting the coupling state of each clutch and the planetary gear based on the current. If the current clutch combination is consistent with the first standard clutch combination and the gear corresponding to the current clutch combination is the forward gear, the power transmission direction is forward. If the current clutch combination is consistent with the first standard clutch combination and the gear corresponding to the current clutch combination is the reverse gear, the power transmission direction is backward. If the current clutch combination is inconsistent with the first standard clutch combination, the power transmission direction is disengaged. Thus, even without a clutch position sensor or a clutch hydraulic sensor, the clutch coupled to the planetary gear is determined based on the current and compared with the first standard clutch combination to determine the power transmission direction.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method for determining a power transmission direction and a related device. Background Art

[0002] Preventing a vehicle's power transmission direction from mismatching with the driver's intended direction is a key safety objective for powertrain control systems. If the automatic transmission's power transmission direction doesn't match the driver's intended direction, for example, the driver wants the vehicle to move forward but the power transmission direction is set to reverse, the vehicle will actually move backward. This mismatch between the power transmission direction and the driver's intended direction is particularly likely to cause a safety accident during vehicle launch. Therefore, automatic transmission power transmission direction identification is crucial to prevent this mismatch.

[0003] In related technologies, each clutch is equipped with a clutch position sensor or clutch hydraulic pressure sensor to determine the engagement status of the clutch and the planetary gear set, and thus determine the direction of power transmission. However, due to space and cost considerations, not every clutch in an automatic transmission equipped with a planetary gear set is equipped with a clutch position sensor or clutch hydraulic pressure sensor. Therefore, the power transmission direction cannot be directly determined by the clutch position sensor or clutch hydraulic pressure sensor. Summary of the Invention

[0004] In response to the above problems, the present application provides a method for determining the power transmission direction and a related device for determining the power transmission direction in the absence of a clutch position sensor or a clutch hydraulic sensor.

[0005] Based on this, the embodiments of this application disclose the following technical solutions:

[0006] In one aspect, an embodiment of the present application provides a method for determining a power transmission direction, the method comprising:

[0007] Obtaining a first standard clutch combination, where the first standard clutch combination includes a clutch combination that is a combination of clutches combined with a planetary gear in each gear during normal driving;

[0008] Detecting the engagement state of each clutch and the planetary gear set based on the current to obtain a current clutch combination;

[0009] If the current clutch combination is consistent with the first standard clutch combination, and the gear corresponding to the current clutch combination is a forward gear, the power transmission direction is forward;

[0010] If the current clutch combination is consistent with the first standard clutch combination, and the gear corresponding to the current clutch combination is the reverse gear, the power transmission direction is backward;

[0011] If the current clutch combination is inconsistent with the first standard clutch combination, the power transmission direction is disengagement.

[0012] Optionally, the method further includes:

[0013] Obtaining a second standard clutch combination and a third standard clutch combination, wherein the second standard clutch combination includes a clutch combination corresponding to the locked state of the planetary gear set, and the third standard clutch combination includes a clutch combination that is replaced during a gear shift;

[0014] If the current clutch combination is consistent with the second standard clutch combination, the power transmission direction is blocked; or,

[0015] If the number of clutches included in the current clutch combination is greater than the maximum number of shift combinations, the power transmission direction is blocked, and the maximum number of shift combinations is the clutch combination included in the third standard clutch combination, which includes the value with the largest number of clutches; or,

[0016] If the current clutch combination is consistent with the third standard clutch combination, and the current values ​​of the two interactive clutches are both greater than the preset current threshold, the power transmission direction is blocked, and the interactive clutch is the clutch that is replaced during the gear shifting process.

[0017] Optionally, the method further includes:

[0018] Acquire a third standard clutch combination, where the third standard clutch combination includes a clutch combination that is replaced during a gear shift;

[0019] If the current clutch combination is consistent with the third standard clutch combination, and both gears corresponding to the current clutch combination are forward gears, and the current value of one interactive clutch is less than a preset current threshold, then the power transmission direction is potential forward, and the interactive clutch is the clutch that is replaced during the gear shift process; or,

[0020] If the current clutch combination is consistent with the third standard clutch combination, and the two gears corresponding to the current clutch combination are the forward gear and the reverse gear, and the current value of the clutch forming the reverse gear is less than the preset current threshold, and the current value of the clutch forming the forward gear is greater than or equal to the preset current threshold, then the power transmission direction is potential forward;

[0021] If the current clutch combination is consistent with the third standard clutch combination, and the two gears corresponding to the current clutch combination are the forward gear and the reverse gear, and the current value of the clutch forming the reverse gear is greater than or equal to the preset current threshold, and the current value of the clutch forming the forward gear is less than the preset current threshold, then the power transmission direction is potentially backward;

[0022] If the current clutch combination is consistent with the third standard clutch combination, and the two gears corresponding to the current clutch combination are the forward gear and the reverse gear, and the current value of the clutch that forms the reverse gear is less than the preset current threshold, and the current value of the clutch that forms the forward gear is less than the preset current threshold, then the power transmission direction is a potential situation.

[0023] Optionally, the method further includes:

[0024] Acquiring a handle signal, wherein the handle signal is used to indicate the driver's intention;

[0025] If it is determined based on the handle signal that the handle is in the forward gear and the conditions included in the first condition set are met at the same time, the third time period starts to increase, otherwise the third time period starts to decrease;

[0026] If the third time period is greater than a third time threshold, the power transmission direction is inconsistent with the driver's intention;

[0027] Among them, the first condition set includes a first condition, a second condition, a third condition and a fourth condition, the first condition is that the current clutch combination is not a clutch combination for reverse gear, the second condition is that the power transmission direction is backward, potential backward or potential, the third condition is that the exit time of the handle from the forward gear or the reverse gear is determined to be greater than a fourth time threshold based on the handle signal, the fourth condition is that the engine torque is greater than the second torque threshold, or the change time of the handle from the reverse gear to the forward gear is determined to be greater than a fifth time threshold based on the handle signal.

[0028] Optionally, the method further includes:

[0029] If it is determined based on the handle signal that the handle is in the forward gear, and the current clutch combination is a clutch combination for the reverse gear, the first time period starts to increase; otherwise, the first time period starts to decrease;

[0030] If it is determined based on the handle signal that the handle is in the forward gear, the current clutch combination is the clutch combination for the reverse gear, and the engine torque is greater than the first torque threshold, then the second time period starts to increase; otherwise, the second time period starts to decrease;

[0031] If the first time period is greater than a first time threshold, or the second time period is greater than a second time threshold, then the power transmission direction is inconsistent with the driver's intention.

[0032] Optionally, the method further includes:

[0033] Acquiring a handle signal, wherein the handle signal is used to indicate the driver's intention;

[0034] If it is determined based on the handle signal that the handle is in reverse gear and the conditions included in the second condition set are met at the same time, the sixth time period starts to increase, otherwise the sixth time period starts to decrease;

[0035] If the sixth time period is greater than a sixth time threshold, the power transmission direction is inconsistent with the driver's intention;

[0036] Among them, the second condition set includes the fifth condition and the third condition, the fifth condition is that the power transmission direction is forward, potential forward or potential, and the third condition is that the exit time of the handle exiting the forward gear or the reverse gear is determined to be greater than the fourth time threshold based on the handle signal.

[0037] Optionally, the method further includes:

[0038] If the power transmission direction does not match the driver's intention, the transmission chain is disengaged to interrupt power transmission.

[0039] On the other hand, the present application provides a device for determining a power transmission direction, the device comprising: an acquisition unit, a detection unit, and a judgment unit;

[0040] The acquisition unit is configured to acquire a first standard clutch combination, wherein the first standard clutch combination includes a clutch combination that is combined with the planetary gear in each gear during normal driving;

[0041] The detection unit is used to detect the engagement state of each clutch and the planetary gear based on the current to obtain the current clutch combination;

[0042] The judgment unit is configured to determine that if the current clutch combination is consistent with the first standard clutch combination and the gear corresponding to the current clutch combination is a forward gear, the power transmission direction is forward;

[0043] The judgment unit is further configured to determine that if the current clutch combination is consistent with the first standard clutch combination and the gear corresponding to the current clutch combination is a reverse gear, the power transmission direction is backward;

[0044] The judgment unit is further configured to determine that if the current clutch combination is inconsistent with the first standard clutch combination, the power transmission direction is disengagement.

[0045] Optionally, the acquiring unit is further configured to:

[0046] Obtaining a second standard clutch combination and a third standard clutch combination, wherein the second standard clutch combination includes a clutch combination corresponding to the locked state of the planetary gear set, and the third standard clutch combination includes a clutch combination that is replaced during a gear shift;

[0047] The judging unit is further configured to:

[0048] If the current clutch combination is consistent with the second standard clutch combination, the power transmission direction is blocked; or,

[0049] If the number of clutches included in the current clutch combination is greater than the maximum number of shift combinations, the power transmission direction is blocked, and the maximum number of shift combinations is the clutch combination included in the third standard clutch combination, which includes the value with the largest number of clutches; or,

[0050] If the current clutch combination is consistent with the third standard clutch combination, and the current values ​​of the two interactive clutches are both greater than the preset current threshold, the power transmission direction is blocked, and the interactive clutch is the clutch that is replaced during the gear shifting process.

[0051] Optionally, the acquiring unit is further configured to:

[0052] Acquire a third standard clutch combination, where the third standard clutch combination includes a clutch combination that is replaced during a gear shift;

[0053] The judging unit is further configured to:

[0054] If the current clutch combination is consistent with the third standard clutch combination, and both gears corresponding to the current clutch combination are forward gears, and the current value of one interactive clutch is less than a preset current threshold, then the power transmission direction is potential forward, and the interactive clutch is the clutch that is replaced during the gear shift process; or,

[0055] If the current clutch combination is consistent with the third standard clutch combination, and the two gears corresponding to the current clutch combination are the forward gear and the reverse gear, and the current value of the clutch forming the reverse gear is less than the preset current threshold, and the current value of the clutch forming the forward gear is greater than or equal to the preset current threshold, then the power transmission direction is potential forward;

[0056] If the current clutch combination is consistent with the third standard clutch combination, and the two gears corresponding to the current clutch combination are the forward gear and the reverse gear, and the current value of the clutch forming the reverse gear is greater than or equal to the preset current threshold, and the current value of the clutch forming the forward gear is less than the preset current threshold, then the power transmission direction is potentially backward;

[0057] If the current clutch combination is consistent with the third standard clutch combination, and the two gears corresponding to the current clutch combination are the forward gear and the reverse gear, and the current value of the clutch that forms the reverse gear is less than the preset current threshold, and the current value of the clutch that forms the forward gear is less than the preset current threshold, then the power transmission direction is a potential situation.

[0058] Optionally, the acquiring unit is further configured to:

[0059] Acquiring a handle signal, wherein the handle signal is used to indicate the driver's intention;

[0060] The judging unit is further configured to:

[0061] If it is determined based on the handle signal that the handle is in the forward gear and the conditions included in the first condition set are met at the same time, the third time period starts to increase, otherwise the third time period starts to decrease;

[0062] If the third time period is greater than a third time threshold, the power transmission direction is inconsistent with the driver's intention;

[0063] Among them, the first condition set includes a first condition, a second condition, a third condition and a fourth condition, the first condition is that the current clutch combination is not a clutch combination for reverse gear, the second condition is that the power transmission direction is backward, potential backward or potential, the third condition is that the exit time of the handle from the forward gear or the reverse gear is determined to be greater than a fourth time threshold based on the handle signal, the fourth condition is that the engine torque is greater than the second torque threshold, or the change time of the handle from the reverse gear to the forward gear is determined to be greater than a fifth time threshold based on the handle signal.

[0064] Optionally, the judging unit is further configured to:

[0065] If it is determined based on the handle signal that the handle is in the forward gear, and the current clutch combination is a clutch combination for the reverse gear, the first time period starts to increase; otherwise, the first time period starts to decrease;

[0066] If it is determined based on the handle signal that the handle is in the forward gear, the current clutch combination is the clutch combination for the reverse gear, and the engine torque is greater than the first torque threshold, then the second time period starts to increase; otherwise, the second time period starts to decrease;

[0067] If the first time period is greater than a first time threshold, or the second time period is greater than a second time threshold, then the power transmission direction is inconsistent with the driver's intention.

[0068] Optionally, the acquiring unit is further configured to:

[0069] Acquiring a handle signal, wherein the handle signal is used to indicate the driver's intention;

[0070] The judging unit is further configured to:

[0071] If it is determined based on the handle signal that the handle is in reverse gear and the conditions included in the second condition set are met at the same time, the sixth time period starts to increase, otherwise the sixth time period starts to decrease;

[0072] If the sixth time period is greater than a sixth time threshold, the power transmission direction is inconsistent with the driver's intention;

[0073] Among them, the second condition set includes the fifth condition and the third condition, the fifth condition is that the power transmission direction is forward, potential forward or potential, and the third condition is that the exit time of the handle exiting the forward gear or the reverse gear is determined to be greater than the fourth time threshold based on the handle signal.

[0074] Optionally, the device further includes an execution unit configured to control the disengagement of the transmission chain to interrupt power transmission if the power transmission direction is inconsistent with the driver's intention.

[0075] In another aspect, the present application provides a computer device, comprising a processor and a memory:

[0076] The memory is used to store program code and transmit the program code to the processor;

[0077] The processor is configured to execute the method described above according to the instructions in the program code.

[0078] On the other hand, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method described in the above aspects.

[0079] In another aspect, embodiments of the present application provide a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method described in the above aspects.

[0080] The advantages of the above technical solution of this application are:

[0081] A first standard clutch combination is obtained. The first standard clutch combination includes the clutch combinations that are engaged with the planetary gears during normal driving. Since there is no clutch position sensor or clutch hydraulic pressure sensor, it is necessary to detect the engagement state of each clutch and planetary gear based on current to determine the current clutch combination, that is, which clutches are currently engaged with the planetary gear. If the current clutch combination matches the first standard clutch combination and the gear corresponding to the current clutch combination is forward, the current clutch combination matches the clutch combination corresponding to the forward gear, and the power transmission direction is forward. If the current clutch combination matches the first standard clutch combination and the gear corresponding to the current clutch combination is reverse, the current clutch combination matches the clutch combination corresponding to the reverse gear, and the power transmission direction is reverse. If the current clutch combination does not match the first standard clutch combination, the current clutch combination does not correspond to the gear required during normal driving, and the power transmission direction is disengaged, meaning no power is being transmitted. Therefore, even without a clutch position sensor or clutch hydraulic pressure sensor, the clutch engaged with the planetary gear can be determined based on current, and then compared with the first standard clutch combination to determine the power transmission direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0083] Figure 1 A flow chart of a method for determining a power transmission direction provided in this application;

[0084] Figure 2 A schematic diagram of a device for determining the direction of power transmission provided in this application;

[0085] Figure 3 A structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0086] In order to help those skilled in the art better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0087] The following combination Figure 1 , a method for determining the power transmission direction provided in an embodiment of the present application is introduced. Figure 1 The method shown, in one implementation, may be executed by, for example, an electronic control unit (ECU) included in a vehicle. Figure 1 , this figure is a flow chart of a method for determining the power transmission direction provided in an embodiment of the present application, and the method may include S101-S105.

[0088] S101: Obtain a first standard clutch combination.

[0089] The first standard clutch combination includes the clutches that engage with the planetary gears in each gear during normal driving. For example, if a vehicle has six clutches and the vehicle is in reverse gear, clutches 1, 2, and 3 are all engaged with the planetary gears. In this case, the clutch combination corresponding to reverse gear is clutch 1, 2, and 3.

[0090] It should be noted that the first standard clutch combination includes multiple clutch combinations, which can be obtained based on bench characteristic test experiments, so as to obtain the clutch combinations corresponding to each gear position and obtain the first standard clutch combination.

[0091] S102: Detecting the engagement state of each clutch and planetary gear based on the current to obtain the current clutch combination.

[0092] Since there is no clutch position sensor or clutch hydraulic sensor, it is necessary to detect the connection status of each clutch and planetary gear based on the current to obtain the current clutch combination, that is, which clutches are currently combined with the planetary gear.

[0093] As one possible implementation, the clutch torque corresponding to the current of each clutch can be obtained. This can be based on the corresponding relationship between clutch current and clutch torque, which can also be obtained through bench performance testing. Clutches with clutch torques greater than a preset torque threshold and lasting longer than a preset time threshold are identified as clutches engaged with the planetary gear set. This ensures stable engagement between the clutch and the planetary gear set. The current clutch combination is then determined based on the clutches engaged with the planetary gear set.

[0094] S103: If the current clutch combination is consistent with the first standard clutch combination, and the gear corresponding to the current clutch combination is the forward gear, the power transmission direction is forward.

[0095] S104: If the current clutch combination is consistent with the first standard clutch combination, and the gear corresponding to the current clutch combination is the reverse gear, the power transmission direction is backward.

[0096] S105: If the current clutch combination is inconsistent with the first standard clutch combination, the power transmission direction is disengagement.

[0097] It should be noted that there are three power transmission directions: forward, backward, and free-wheeling. Free-wheeling is a situation where no power is transmitted. The following describes how to determine the three power transmission directions.

[0098] (1) Forward: If the current clutch combination is consistent with the first standard clutch combination, and the gear corresponding to the current clutch combination is the forward gear, it means that the current clutch combination is consistent with the clutch combination corresponding to the forward gear. At this time, the power transmission direction is forward, corresponding to the aforementioned S103.

[0099] (2) Backward: If the current clutch combination is consistent with the first standard clutch combination, and the gear corresponding to the current clutch combination is the reverse gear, it means that the current clutch combination is consistent with the clutch combination corresponding to the reverse gear. At this time, the power transmission direction is backward, corresponding to the aforementioned S104.

[0100] (3) Disengagement: If the current clutch combination is inconsistent with the first standard clutch combination, it means that the current clutch combination is not the clutch combination corresponding to the gear required during normal driving. At this time, the power transmission direction is disengagement, that is, there is no power transmission, corresponding to the aforementioned S105.

[0101] As can be seen from the above technical solution, a first standard clutch combination is obtained. The first standard clutch combination includes the clutch combinations that are engaged with the planetary gear in each gear during normal driving. Since there is no clutch position sensor or clutch hydraulic pressure sensor, it is necessary to detect the engagement state of each clutch and planetary gear based on current to obtain the current clutch combination, that is, which clutches are currently engaged with the planetary gear. If the current clutch combination is consistent with the first standard clutch combination and the gear corresponding to the current clutch combination is forward, the current clutch combination is consistent with the clutch combination corresponding to the forward gear, and the power transmission direction is forward. If the current clutch combination is consistent with the first standard clutch combination and the gear corresponding to the current clutch combination is reverse, the current clutch combination is consistent with the clutch combination corresponding to the reverse gear, and the power transmission direction is reverse. If the current clutch combination is inconsistent with the first standard clutch combination, the current clutch combination is not the clutch combination corresponding to the gear required during normal driving, and the power transmission direction is disengaged, that is, no power is transmitted. Therefore, even without a clutch position sensor or clutch hydraulic pressure sensor, the clutch engaged with the planetary gear can be determined based on current, and then compared with the first standard clutch combination to determine the power transmission direction.

[0102] It should be noted that in order to improve the accuracy of the power transmission direction, the types of power transmission directions can be further subdivided. In addition to (1) forward, (2) backward and (3) escape, they can also be one or more combinations of (4) blocked, (5) potential forward, (6) potential backward and (7) potential situations, which are explained below.

[0103] Blockage refers to the interruption of power transmission during the gear shift process, preventing it from properly reaching the planetary gear output and thus preventing the gear from being engaged. This clutch combination may be overly constrained, leading to a locked planetary gear, thus preventing the low-speed start safety risk caused by power transmission direction not matching the driver's intent. To prevent false alarms, it is necessary to predetermine the clutch combinations that may cause blockage, creating a second standard clutch combination.

[0104] During the gear shifting process, the direction of power transmission will change, such as from reverse gear to forward gear 2. In order to quickly identify the direction of power transmission, although it is currently in reverse gear and has not yet been shifted to forward gear 2, it can be identified that the current power transmission direction is changing from backward to forward, and there is a forward trend. At this time, the power transmission direction can be defined as potential forward. Similarly, potential backward can also be defined.

[0105] In addition, there is a situation where, during the gear shifting process, the gear will be removed and then re-engaged, or the vehicle may have a malfunction, making it impossible to determine whether the current direction is potential forward or potential backward. At this time, the power transmission direction can be defined as a potential situation.

[0106] Therefore, the potential forward, potential backward and potential situations all occur during the gear shifting process, so based on the changes between the previous clutch combination (the clutch combination before the gear shifting) and the subsequent clutch combination (the clutch combination after the gear shifting), the third standard clutch combination can be obtained, that is, the clutch combination that changes during the gear shifting process, such as shifting from the combination of clutch 1, clutch 2 and clutch 3 to the combination of clutch 1, clutch 2 and clutch 4, then the combination of clutch 1, clutch 2, clutch 3 and clutch 4 can belong to the third standard clutch combination.

[0107] As a possible implementation, for one of the multiple planetary gear sets included in an automatic transmission, determining the rotational speeds of two components of the gear set can be used to deduce the rotational speeds of the other components. Therefore, for the multiple planetary gear sets included in an automatic transmission, the gear positions corresponding to two normally engaged clutch combinations can be determined based on the components of each clutch connected to the gear set. Assuming that the shifting process requires shifting from clutches 1, 2, and 3 engaging with the planetary gear set to clutches 1, 2, and 4 engaging with the planetary gear set, then clutches 1 and 2 are the normally engaged clutches, while clutches 3 and 4 are the clutches that are replaced during the shifting process. A permutation and combination method can then be used to calculate and check whether any clutch combinations are missing from the first standard clutch combination, the second standard clutch combination, or the third standard clutch combination, thereby improving detection accuracy.

[0108] For example, if there are 6 clutches in total and 3 clutches are needed to complete the gear, then A clutch combination that does not meet the first standard clutch combination must be in the second standard clutch combination, and A clutch combination that does not meet the third standard clutch combination must be in the second standard clutch combination.

[0109] Based on this, after obtaining the second standard clutch combination and the third standard clutch combination, the (4) blocking, (5) potential forward, (6) potential backward and (7) potential situations can be identified based on the second standard clutch combination and the third standard clutch combination, which are explained below respectively.

[0110] (4) Blocking: There are three situations, which are explained below.

[0111] Case 1: If the current clutch combination is consistent with the second standard clutch combination, it means that the current clutch combination is one of the clutch combinations corresponding to the locked state of the planetary gear, and the power transmission direction is blocked at this time.

[0112] Case 2: If the number of clutches included in the current clutch combination is greater than the maximum number of shift combinations, the power transmission direction is blocked.

[0113] The number of clutches included in each of the multiple clutch combinations in the third standard clutch combination may vary, for example, some clutch combinations include three clutches, some clutch combinations include four clutches, and so on. The maximum number of shift combinations refers to the maximum number of clutches included in the clutch combination in the third standard clutch combination. If the number of clutches included in the current clutch combination exceeds the maximum number of shift combinations, it indicates that the current clutch combination may have too many constraints, and the power transmission direction is blocked.

[0114] Case 3: If the current clutch combination is consistent with the third standard clutch combination, and the current values ​​of the two interactive clutches are both greater than the preset current threshold, the power transmission direction is blocked.

[0115] Continuing with the above example, if the gear shift is from the combination of clutch No. 1, clutch No. 2 and clutch No. 3 to the combination of clutch No. 1, clutch No. 2 and clutch No. 4, then the combination of clutch No. 1, clutch No. 2, clutch No. 3 and clutch No. 4 can belong to the third standard clutch combination, among which clutch No. 3 and clutch No. 4 are interactive clutches, that is, clutches that change during the gear shift, and clutch No. 1 and clutch No. 2 are normally engaged clutches, that is, clutches that do not change during the gear shift.

[0116] If the current clutch combination is consistent with the third standard clutch combination, it means that the gear shift is in progress. In theory, one of the two interactive clutches should be disconnected from the planetary gear (withdrawn) and the other should be engaged with the planetary gear (engaged). Then the current value of the withdrawn interactive clutch should be less than the preset current threshold, and the current value of the engaged interactive clutch should be greater than the preset current threshold.

[0117] The preset current value can be determined based on the degree of engagement between the clutch and the planetary gear. For example, the preset current value can be less than or equal to the current value corresponding to complete engagement of the clutch and the planetary gear, or greater than the current value corresponding to the moment the clutch and the planetary gear begin to engage. The preset current threshold is related to engine torque and can be obtained by looking up the engine torque table.

[0118] If the current clutch combination is consistent with the third standard clutch combination, and the current values ​​of the two interactive clutches are both greater than the preset current threshold, it indicates that there is a problem, and the power transmission direction is blocked.

[0119] (5) Potential forward: There are two situations, which are explained below.

[0120] Case 1: If the current clutch combination is consistent with the third standard clutch combination, it means that it is currently in the gear shifting process, and if the two gears corresponding to the current clutch combination are both forward gears (such as shifting from forward gear 1 to forward gear 2), and the current value of one interactive clutch is less than the preset current threshold, it means that one interactive clutch is withdrawing and the other interactive clutch may be engaging. At this time, the power transmission direction is potentially forward.

[0121] Case 2: If the current clutch combination is consistent with the third standard clutch combination, it means that it is currently in the process of shifting, and if the two gears corresponding to the current clutch combination are forward gear and reverse gear respectively (such as shifting from forward gear 1 to reverse gear), and the current value of the clutch that forms the reverse gear is less than the preset current threshold, and the current value of the clutch that forms the forward gear is greater than or equal to the preset current threshold, then it means that the interactive clutch that forms the reverse gear is withdrawing, and the interactive clutch that forms the forward gear is engaging, that is, it is now shifting from reverse gear to forward gear, and the corresponding power transmission direction is potentially forward.

[0122] (6) Potential backward

[0123] If the current clutch combination is consistent with the third standard clutch combination, it means that it is currently in the gear shifting process, and if the two gears corresponding to the current clutch combination are forward gear and reverse gear respectively (such as shifting from forward gear 1 to reverse gear), and the current value of the clutch that forms the reverse gear is greater than or equal to the preset current threshold, and the current value of the clutch that forms the forward gear is less than the preset current threshold, then it means that the interactive clutch that forms the reverse gear is engaging, and the interactive clutch that forms the forward gear is withdrawing, that is, it is now shifting from forward gear to reverse gear, and the corresponding power transmission direction is potentially backward.

[0124] (7) Potential situations

[0125] If the current clutch combination is consistent with the third standard clutch combination, it means that it is currently in the process of shifting, and if the two gears corresponding to the current clutch combination are forward gear and reverse gear respectively (such as shifting from forward gear 1 to reverse gear), and the current value of the clutch that forms the reverse gear is less than the preset current threshold, and the current value of the clutch that forms the forward gear is less than the preset current threshold, it means that the gear may be removed first and then re-engaged, or the vehicle has a fault, which makes it impossible to determine whether the current direction is potential forward or potential backward. At this time, the power transmission direction can be defined as a potential situation.

[0126] It should be noted that, in addition to satisfying the above seven power transmission directions, the default power transmission state is empty.

[0127] As a possible implementation, after determining the power transmission direction, a determination can be made as to whether the current power transmission direction matches the driver's intended direction to ensure vehicle safety. A handle signal can be obtained to indicate the driver's intended direction. The following describes the two scenarios where the driver's intended direction is forward and reverse.

[0128] 1) The driver intends to move forward: the handle is determined to be in the forward gear based on the handle signal.

[0129] In order to avoid some misjudgments, the embodiment of the present application performs cumulative timing on the three situations to ensure that each situation is actually triggered.

[0130] Case 1: If it is determined based on the handle signal that the handle is in the forward gear, and the current clutch combination is a clutch combination for the reverse gear, the first time period starts to increase, otherwise the first time period starts to decrease.

[0131] It is understood that if the driving intention is to move forward, the handle is engaged in forward gear, but the vehicle's actual clutch combination corresponds to reverse gear, this does not meet the driver's intention. For example, if the current clutch combination corresponds to a clutch combination for normal control combined with reverse gear (including auxiliary control clutches), the first time period will begin to increase, such as increasing Timer1. Otherwise, the first time period will begin to decrease, such as decreasing Timer1. Involving reverse gear refers to changing from any gear to reverse gear.

[0132] For example, if the clutch used to engage reverse gear is a dog clutch, the speed differential must be reduced to 0 before engaging the dog clutch. During this process, an auxiliary clutch is used to reduce the speed differential. For example, the clutch combination for reverse gear is clutch 2, clutch 4, and clutch 6. The clutch combination for forward gear 1 is clutch 1, clutch 4, and clutch 6. Since clutch 1 is a dog clutch, engaging reverse gear requires engaging clutch 3 to reduce its speed differential to 0 before engaging clutch 2. Therefore, clutch 3 is an auxiliary clutch, and the clutch combination for reverse gear is clutch 2, clutch 3, clutch 4, and clutch 6.

[0133] Case 2: If the handle is determined to be in the forward gear based on the handle signal, and the current clutch combination is a clutch combination for the reverse gear, and the engine torque is greater than the first torque threshold, the second time period starts to increase, otherwise the second time period starts to decrease.

[0134] For example, if the gear corresponding to the current clutch combination is a clutch combination for normal control combined with reverse gear (including an auxiliary control clutch), and torque has appeared, that is, the current power has begun to be transmitted, then the second time period begins to increase, such as increasing the timing of Timer2; otherwise, the second time period begins to decrease, such as decreasing the timing of Timer2.

[0135] Case 3: If it is determined based on the handle signal that the handle is in the forward gear and the first condition set is satisfied at the same time, the third time period starts to increase; otherwise, the third time period starts to decrease.

[0136] The first condition set includes a first condition, a second condition, a third condition and a fourth condition, which are described below respectively.

[0137] The first condition is that the current clutch combination is not a clutch combination for reverse gear, or in other words, the current clutch combination is not a clutch combination for normal control combined with reverse gear (including auxiliary control clutch), that is, the situation corresponding to situation one is eliminated to avoid false alarms.

[0138] The second condition is that the power transmission direction is backward, potentially backward or in a potential situation. It can be understood that if the current driver's intention is forward, then the power transmission direction is backward, potentially backward or in a potential situation, which is opposite to the driver's intention.

[0139] The third condition is that the time it takes for the handle to exit forward gear or reverse gear, determined based on the handle signal, is greater than a fourth time threshold. It should be noted that, under normal circumstances, the time it takes for the handle to exit forward gear or reverse gear should be less than the fourth time threshold. If it is not less than the fourth time threshold, it indicates that there is a problem.

[0140] The fourth condition is that the engine torque is greater than the second torque threshold, or that the time it takes for the handle to be switched from the reverse gear to the forward gear is greater than a fifth time threshold, as determined based on the handle signal.

[0141] It should be noted that the third and fourth conditions are both to exclude normal controls and prevent false alarms.

[0142] If the first time period is greater than the first time threshold, or the second time period is greater than the second time threshold, or the third time period is greater than the third time threshold, it means that the abnormal situation has lasted for a period of time, and the power transmission direction is inconsistent with the driver's intention.

[0143] It should be noted that, since torque has occurred, power transmission has already occurred, and therefore the second time threshold is greater than or equal to 0 and less than the first time threshold. Furthermore, the third time threshold is greater than or equal to 0 and less than the first time threshold. The first time threshold is greater than the fourth time threshold, the fourth time threshold is greater than the fifth time threshold, and the fifth time threshold is greater than or equal to 0. Furthermore, the first, second, third, fourth, and fifth time thresholds are all related to oil temperature.

[0144] In addition, those skilled in the art can set the first torque threshold and the second torque threshold according to actual needs, and the embodiments of the present application do not specifically limit this.

[0145] 2) The driver intends to move backward: the handle is determined to be in the reverse gear based on the handle signal.

[0146] If it is determined based on the handle signal that the handle is in reverse gear and the conditions included in the second condition set are met at the same time, the sixth time period starts to increase; otherwise, the sixth time period starts to decrease.

[0147] If the sixth time period is greater than the sixth time threshold, the power transmission direction is inconsistent with the driver's intention.

[0148] Among them, the second condition set includes the fifth condition and the third condition. The fifth condition is that the power transmission direction is forward, potential forward or potential situation, and the third condition is that the exit time of the handle exiting the forward gear or reverse gear based on the handle signal is greater than the fourth time threshold.

[0149] As a possible implementation, if the power transmission direction does not match the driver's intended direction, the transmission chain is disengaged to interrupt power transmission. For example, the transmission control unit could immediately request the corresponding solenoid valve high-side drive be disconnected until the end of the current driving cycle. A driving cycle is defined as the period from when the driver starts the engine to when the engine is shut down.

[0150] Therefore, using the power transmission direction determination method provided in the embodiments of this application, even without a clutch position sensor or clutch hydraulic pressure sensor, the power transmission direction can be determined by the current combination of the clutch coupled to the planetary gear set, thereby determining whether the power transmission direction is consistent with the driver's intention. If the power transmission direction is contrary to the driver's intention, the transmission chain is controlled to disengage and interrupt power transmission, preventing safety accidents.

[0151] In addition to the method for determining the power transmission direction provided in the embodiment of the present application, a device for determining the power transmission direction is also provided, such as Figure 2 As shown, it includes: an acquisition unit 201, a detection unit 202 and a judgment unit 203;

[0152] The acquisition unit 201 is configured to acquire a first standard clutch combination, where the first standard clutch combination includes a clutch combination that is coupled with the planetary gear in each gear during normal driving;

[0153] The detection unit 202 is used to detect the engagement state of each clutch and the planetary gear based on the current to obtain the current clutch combination;

[0154] The judgment unit 203 is configured to determine that if the current clutch combination is consistent with the first standard clutch combination and the gear corresponding to the current clutch combination is a forward gear, the power transmission direction is forward;

[0155] The judgment unit 203 is further configured to determine that if the current clutch combination is consistent with the first standard clutch combination and the gear corresponding to the current clutch combination is a reverse gear, the power transmission direction is backward;

[0156] The judgment unit 203 is further configured to determine that if the current clutch combination is inconsistent with the first standard clutch combination, the power transmission direction is disengagement.

[0157] As can be seen from the above technical solution, a first standard clutch combination is obtained. The first standard clutch combination includes the clutch combinations that are engaged with the planetary gear in each gear during normal driving. Since there is no clutch position sensor or clutch hydraulic pressure sensor, it is necessary to detect the engagement state of each clutch and planetary gear based on current to obtain the current clutch combination, that is, which clutches are currently engaged with the planetary gear. If the current clutch combination is consistent with the first standard clutch combination and the gear corresponding to the current clutch combination is forward, the current clutch combination is consistent with the clutch combination corresponding to the forward gear, and the power transmission direction is forward. If the current clutch combination is consistent with the first standard clutch combination and the gear corresponding to the current clutch combination is reverse, the current clutch combination is consistent with the clutch combination corresponding to the reverse gear, and the power transmission direction is reverse. If the current clutch combination is inconsistent with the first standard clutch combination, the current clutch combination is not the clutch combination corresponding to the gear required during normal driving, and the power transmission direction is disengaged, that is, no power is transmitted. Therefore, even without a clutch position sensor or clutch hydraulic pressure sensor, the clutch engaged with the planetary gear can be determined based on current, and then compared with the first standard clutch combination to determine the power transmission direction.

[0158] As a possible implementation manner, the acquiring unit 201 is further configured to:

[0159] Obtaining a second standard clutch combination and a third standard clutch combination, wherein the second standard clutch combination includes a clutch combination corresponding to the locked state of the planetary gear set, and the third standard clutch combination includes a clutch combination that is replaced during a gear shift;

[0160] The judging unit 203 is further configured to:

[0161] If the current clutch combination is consistent with the second standard clutch combination, the power transmission direction is blocked; or,

[0162] If the number of clutches included in the current clutch combination is greater than the maximum number of shift combinations, the power transmission direction is blocked, and the maximum number of shift combinations is the clutch combination included in the third standard clutch combination, which includes the value with the largest number of clutches; or,

[0163] If the current clutch combination is consistent with the third standard clutch combination, and the current values ​​of the two interactive clutches are both greater than the preset current threshold, the power transmission direction is blocked, and the interactive clutch is the clutch that is replaced during the gear shifting process.

[0164] As a possible implementation manner, the acquiring unit 201 is further configured to:

[0165] Acquire a third standard clutch combination, where the third standard clutch combination includes a clutch combination that is replaced during a gear shift;

[0166] The judging unit 203 is further configured to:

[0167] If the current clutch combination is consistent with the third standard clutch combination, and both gears corresponding to the current clutch combination are forward gears, and the current value of one interactive clutch is less than a preset current threshold, then the power transmission direction is potential forward, and the interactive clutch is the clutch that is replaced during the gear shift process; or,

[0168] If the current clutch combination is consistent with the third standard clutch combination, and the two gears corresponding to the current clutch combination are the forward gear and the reverse gear, and the current value of the clutch forming the reverse gear is less than the preset current threshold, and the current value of the clutch forming the forward gear is greater than or equal to the preset current threshold, then the power transmission direction is potential forward;

[0169] If the current clutch combination is consistent with the third standard clutch combination, and the two gears corresponding to the current clutch combination are the forward gear and the reverse gear, and the current value of the clutch forming the reverse gear is greater than or equal to the preset current threshold, and the current value of the clutch forming the forward gear is less than the preset current threshold, then the power transmission direction is potentially backward;

[0170] If the current clutch combination is consistent with the third standard clutch combination, and the two gears corresponding to the current clutch combination are the forward gear and the reverse gear, and the current value of the clutch that forms the reverse gear is less than the preset current threshold, and the current value of the clutch that forms the forward gear is less than the preset current threshold, then the power transmission direction is a potential situation.

[0171] As a possible implementation manner, the acquiring unit 201 is further configured to:

[0172] Acquiring a handle signal, wherein the handle signal is used to indicate the driver's intention;

[0173] The judging unit 203 is further configured to:

[0174] If it is determined based on the handle signal that the handle is in the forward gear and the conditions included in the first condition set are met at the same time, the third time period starts to increase, otherwise the third time period starts to decrease;

[0175] If the third time period is greater than a third time threshold, the power transmission direction is inconsistent with the driver's intention;

[0176] Among them, the first condition set includes a first condition, a second condition, a third condition and a fourth condition, the first condition is that the current clutch combination is not a clutch combination for reverse gear, the second condition is that the power transmission direction is backward, potential backward or potential, the third condition is that the exit time of the handle from the forward gear or the reverse gear is determined to be greater than a fourth time threshold based on the handle signal, the fourth condition is that the engine torque is greater than the second torque threshold, or the change time of the handle from the reverse gear to the forward gear is determined to be greater than a fifth time threshold based on the handle signal.

[0177] As a possible implementation manner, the determining unit 203 is further configured to:

[0178] If it is determined based on the handle signal that the handle is in the forward gear, and the current clutch combination is a clutch combination for the reverse gear, the first time period starts to increase; otherwise, the first time period starts to decrease;

[0179] If it is determined based on the handle signal that the handle is in the forward gear, the current clutch combination is the clutch combination for the reverse gear, and the engine torque is greater than the first torque threshold, then the second time period starts to increase; otherwise, the second time period starts to decrease;

[0180] If the first time period is greater than a first time threshold, or the second time period is greater than a second time threshold, then the power transmission direction is inconsistent with the driver's intention.

[0181] As a possible implementation manner, the acquiring unit 201 is further configured to:

[0182] Acquiring a handle signal, wherein the handle signal is used to indicate the driver's intention;

[0183] The judging unit 203 is further configured to:

[0184] If it is determined based on the handle signal that the handle is in reverse gear and the conditions included in the second condition set are met at the same time, the sixth time period starts to increase, otherwise the sixth time period starts to decrease;

[0185] If the sixth time period is greater than a sixth time threshold, the power transmission direction is inconsistent with the driver's intention;

[0186] Among them, the second condition set includes the fifth condition and the third condition, the fifth condition is that the power transmission direction is forward, potential forward or potential, and the third condition is that the exit time of the handle exiting the forward gear or the reverse gear is determined to be greater than the fourth time threshold based on the handle signal.

[0187] As a possible implementation, the device further includes an execution unit configured to control the disengagement of a transmission chain to interrupt power transmission if the power transmission direction is inconsistent with the driver's intention.

[0188] The present application also provides a computer device. Figure 3 , which shows a structural diagram of a computer device provided by an embodiment of the present application, such as Figure 3 As shown, the device includes a memory 310 and a processor 320:

[0189] The memory 310 is used to store program codes and transmit the program codes to the processor;

[0190] The processor 320 is configured to execute any one of the methods for determining the power transmission direction provided in the above embodiments according to the instructions in the program code.

[0191] An embodiment of the present application provides a computer-readable storage medium, which is used to store a computer program. The computer program is used to execute any one of the methods for determining the power transmission direction provided in the above embodiments.

[0192] The present application also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method for determining the power transmission direction provided in various optional implementations of the above aspects.

[0193] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0194] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0195] It should also be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0196] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0197] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining the direction of power transmission, characterized in that: The method comprises: Obtaining a first standard clutch combination, where the first standard clutch combination includes a clutch combination that is a combination of clutches combined with a planetary gear in each gear during normal driving; Detecting the engagement state of each clutch and the planetary gear set based on the current to obtain a current clutch combination; If the current clutch combination is consistent with the first standard clutch combination, and the gear corresponding to the current clutch combination is a forward gear, the power transmission direction is forward; If the current clutch combination is consistent with the first standard clutch combination, and the gear corresponding to the current clutch combination is the reverse gear, the power transmission direction is backward; If the current clutch combination is inconsistent with the first standard clutch combination, the power transmission direction is disengagement.

2. The method according to claim 1, characterized in that The method further comprises: Obtaining a second standard clutch combination and a third standard clutch combination, wherein the second standard clutch combination includes a clutch combination corresponding to the locked state of the planetary gear set, and the third standard clutch combination includes a clutch combination that is replaced during a gear shift; If the current clutch combination is consistent with the second standard clutch combination, the power transmission direction is blocked; or, If the number of clutches included in the current clutch combination is greater than the maximum number of shift combinations, the power transmission direction is blocked, and the maximum number of shift combinations is the clutch combination included in the third standard clutch combination, which includes the value with the largest number of clutches; or, If the current clutch combination is consistent with the third standard clutch combination, and the current values ​​of the two interactive clutches are both greater than the preset current threshold, the power transmission direction is blocked, and the interactive clutch is the clutch that is replaced during the gear shifting process.

3. The method according to claim 1, characterized in that The method further comprises: Acquire a third standard clutch combination, where the third standard clutch combination includes a clutch combination that is replaced during a gear shift; If the current clutch combination is consistent with the third standard clutch combination, and both gears corresponding to the current clutch combination are forward gears, and the current value of one interactive clutch is less than a preset current threshold, then the power transmission direction is potential forward, and the interactive clutch is the clutch that is replaced during the gear shift process; or, If the current clutch combination is consistent with the third standard clutch combination, and the two gears corresponding to the current clutch combination are the forward gear and the reverse gear, and the current value of the clutch forming the reverse gear is less than the preset current threshold, and the current value of the clutch forming the forward gear is greater than or equal to the preset current threshold, then the power transmission direction is potential forward; If the current clutch combination is consistent with the third standard clutch combination, and the two gears corresponding to the current clutch combination are the forward gear and the reverse gear, and the current value of the clutch forming the reverse gear is greater than or equal to the preset current threshold, and the current value of the clutch forming the forward gear is less than the preset current threshold, then the power transmission direction is potentially backward; If the current clutch combination is consistent with the third standard clutch combination, and the two gears corresponding to the current clutch combination are the forward gear and the reverse gear, and the current value of the clutch that forms the reverse gear is less than the preset current threshold, and the current value of the clutch that forms the forward gear is less than the preset current threshold, then the power transmission direction is a potential situation.

4. The method according to claim 1, wherein The method further comprises: Acquiring a handle signal, wherein the handle signal is used to indicate the driver's intention; If it is determined based on the handle signal that the handle is in the forward gear and the conditions included in the first condition set are met at the same time, the third time period starts to increase, otherwise the third time period starts to decrease; If the third time period is greater than a third time threshold, the power transmission direction is inconsistent with the driver's intention; Among them, the first condition set includes a first condition, a second condition, a third condition and a fourth condition, the first condition is that the current clutch combination is not a clutch combination for reverse gear, the second condition is that the power transmission direction is backward, potential backward or potential, the third condition is that the exit time of the handle from the forward gear or the reverse gear is determined to be greater than a fourth time threshold based on the handle signal, the fourth condition is that the engine torque is greater than the second torque threshold, or the change time of the handle from the reverse gear to the forward gear is determined to be greater than a fifth time threshold based on the handle signal.

5. The method according to claim 4, characterized in that The method further comprises: If it is determined based on the handle signal that the handle is in the forward gear, and the current clutch combination is a clutch combination for the reverse gear, the first time period starts to increase; otherwise, the first time period starts to decrease; If it is determined based on the handle signal that the handle is in the forward gear, the current clutch combination is the clutch combination for the reverse gear, and the engine torque is greater than the first torque threshold, then the second time period starts to increase; otherwise, the second time period starts to decrease; If the first time period is greater than a first time threshold, or the second time period is greater than a second time threshold, then the power transmission direction is inconsistent with the driver's intention.

6. The method according to claim 1, characterized in that The method further comprises: Acquiring a handle signal, wherein the handle signal is used to indicate the driver's intention; If it is determined based on the handle signal that the handle is in reverse gear and the conditions included in the second condition set are met at the same time, the sixth time period starts to increase, otherwise the sixth time period starts to decrease; If the sixth time period is greater than a sixth time threshold, the power transmission direction is inconsistent with the driver's intention; Among them, the second condition set includes the fifth condition and the third condition, the fifth condition is that the power transmission direction is forward, potential forward or potential, and the third condition is that the exit time of the handle exiting the forward gear or the reverse gear is determined to be greater than the fourth time threshold based on the handle signal.

7. The method according to any one of claims 4 to 6, characterized in that: The method further comprises: If the power transmission direction does not match the driver's intention, the transmission chain is disengaged to interrupt power transmission.

8. A device for determining the direction of power transmission, characterized in that: The device comprises: an acquisition unit, a detection unit and a judgment unit; The acquisition unit is configured to acquire a first standard clutch combination, wherein the first standard clutch combination includes a clutch combination that is combined with the planetary gear in each gear during normal driving; The detection unit is used to detect the engagement state of each clutch and the planetary gear based on the current to obtain the current clutch combination; The judgment unit is configured to determine that if the current clutch combination is consistent with the first standard clutch combination and the gear corresponding to the current clutch combination is a forward gear, the power transmission direction is forward; The judgment unit is further configured to determine that if the current clutch combination is consistent with the first standard clutch combination and the gear corresponding to the current clutch combination is a reverse gear, the power transmission direction is backward; The judgment unit is further configured to determine that if the current clutch combination is inconsistent with the first standard clutch combination, the power transmission direction is disengagement.

9. A computer device, characterized in that: The device includes a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is configured to execute the method according to any one of claims 1 to 7 according to instructions in the program code.

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

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