Shifting fork control method and related device

Abstract

The invention discloses a shifting fork control method and a related device, a shifting fork moving track is determined based on an obtained target gear instruction, and the shifting fork moving track is used for indicating a first shifting fork to move from a first position to a second position and indicating a second shifting fork to move from a third position to a fourth position. The first shifting fork and the second shifting fork are two shifting forks on the same shaft. The first shifting fork is controlled to start to move from the first position to the second position, the first current position of the first shifting fork is obtained, and if it is determined that the distance between the first current position and the first middle position is smaller than the first threshold value, it is predicted that the second shifting fork is controlled to move at the moment, so that the multi-gear meshing risk can be reduced; at the moment, the second shifting fork can be controlled to start to move from the third position to the fourth position in the process of controlling the first shifting fork to continue to move towards the second position. Therefore, the second shifting fork does not need to be controlled to start to move after the first shifting fork moves to the second position, the shifting fork control time is shortened, and delay generated by shifting fork control is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a control method for a shift fork and a related device. Background Art

[0002] With the improvement of hydraulic system, most of the dual clutch transmissions (DCT) are currently controlled by P valve (pressure valve) and Q valve (flow valve), where P valve controls the pressure of shifting and shifting gears, and Q valve controls the flow and direction of shifting and shifting gears.

[0003] See also Figure 1 , which is a schematic diagram of a 7-speed DCT. Figure 1 In the invention, the four shift forks are controlled by four Q valves respectively, and the four shift forks can act simultaneously. In the related art, although the four shift forks can act simultaneously, there is still a delay. Summary of the invention

[0004] In view of the above problems, the present application provides a control method and related device for a shift fork, which are used to reduce the delay caused by the shift fork control.

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

[0006] On the one hand, an embodiment of the present application provides a method for controlling a shift fork, the method comprising:

[0007] Get the target gear position instruction;

[0008] Determining a shift fork motion trajectory based on the target gear position command, the shift fork motion trajectory is used to indicate that the first shift fork moves from the first position to the second position, and the second shift fork moves from the third position to the fourth position, the first shift fork and the second shift fork are two shift forks on the same shaft;

[0009] Controlling the first shift fork to start moving from the first position to the second position, and acquiring a first current position of the first shift fork;

[0010] If it is determined that the distance between the first current position and the first middle position is less than a first threshold, then while controlling the first shift fork to continue moving toward the second position, the second shift fork is controlled to start moving from the third position to the fourth position, and the first middle position is the middle position of the fork piston cylinder where the first shift fork is located.

[0011] Optionally, after controlling the second shift fork to start moving from the third position to the fourth position, the method further includes:

[0012] Acquire a second current position of the first shift fork and a third current position of the second shift fork;

[0013] If it is determined that the distance between the second current position and the first middle position is greater than the second threshold, and the distance between the third current position and the second middle position is greater than the second threshold, the number of dangers is updated to the number of dangers plus 1, and the second middle position is the middle position of the fork piston cylinder where the second fork is located;

[0014] If the number of danger times is greater than or equal to the danger threshold, the first threshold is updated to the first threshold minus the first threshold offset.

[0015] Optionally, after controlling the second shift fork to start moving from the third position to the fourth position, the method further includes:

[0016] Acquire a second current position of the first shift fork and a third current position of the second shift fork;

[0017] If it is determined that the distance between the second current position and the first middle position is less than or equal to the second threshold, and the distance between the third current position and the second middle position is less than or equal to the second threshold, then after the second shift fork moves to the fourth position, the safety number is updated to the safety number plus 1, and the second middle position is the middle position of the shift fork piston cylinder where the second shift fork is located;

[0018] If the safety number is greater than or equal to the safety threshold, the first threshold is updated to the first threshold plus a second threshold offset.

[0019] Optionally, the method further includes:

[0020] If the first threshold is greater than a first threshold upper limit, updating the first threshold to the first threshold upper limit;

[0021] If the first threshold is less than a first threshold lower limit, the first threshold is updated to the first threshold lower limit.

[0022] Optionally, the second threshold is determined according to the risk of multiple gears engaging.

[0023] Optionally, determining the movement trajectory of the shift fork based on the target gear position instruction includes:

[0024] Get the current gear position;

[0025] If the target gear position indicated by the target gear position instruction is different from the current gear position, the shift fork movement trajectory is determined based on the target gear position instruction.

[0026] Optionally, the movement of the first shift fork from the first position to the second position is a shift-down operation, and the movement of the second shift fork from the third position to the fourth position is a shift-engagement operation.

[0027] On the other hand, the present application provides a control device for a shift fork, the device comprising: an acquisition unit, a determination unit and a control unit;

[0028] The acquisition unit is used to acquire a target gear position instruction;

[0029] The determination unit is used to determine a shift fork motion trajectory based on the target gear position instruction, wherein the shift fork motion trajectory is used to indicate that the first shift fork moves from the first position to the second position, and the second shift fork moves from the third position to the fourth position, and the first shift fork and the second shift fork are two shift forks on the same shaft;

[0030] The control unit is used to control the first shift fork to move from the first position to the second position and obtain a first current position of the first shift fork;

[0031] The control unit is further configured to control the second shift fork to move from the third position to the fourth position while controlling the first shift fork to continue to move toward the second position if it is determined that the distance between the first current position and the first middle position is less than a first threshold value, and the first middle position is the middle position of the fork piston cylinder where the first shift fork is located.

[0032] Optionally, after controlling the second shift fork to start moving from the third position to the fourth position, the acquiring unit is further configured to:

[0033] Acquire a second current position of the first shift fork and a third current position of the second shift fork;

[0034] The device also includes an adjustment unit, which is used to:

[0035] If it is determined that the distance between the second current position and the first middle position is greater than the second threshold, and the distance between the third current position and the second middle position is greater than the second threshold, the number of dangers is updated to the number of dangers plus 1, and the second middle position is the middle position of the fork piston cylinder where the second fork is located;

[0036] If the number of danger times is greater than or equal to the danger threshold, the first threshold is updated to the first threshold minus the first threshold offset.

[0037] Optionally, after controlling the second shift fork to start moving from the third position to the fourth position, the acquiring unit is further configured to:

[0038] Acquire a second current position of the first shift fork and a third current position of the second shift fork;

[0039] The device also includes an adjustment unit, which is used to:

[0040] If it is determined that the distance between the second current position and the first middle position is less than or equal to the second threshold, and the distance between the third current position and the second middle position is less than or equal to the second threshold, then after the second shift fork moves to the fourth position, the safety number is updated to the safety number plus 1, and the second middle position is the middle position of the shift fork piston cylinder where the second shift fork is located;

[0041] If the safety number is greater than or equal to the safety threshold, the first threshold is updated to the first threshold plus a second threshold offset.

[0042] Optionally, the device further comprises an adjustment unit, configured to:

[0043] If the first threshold is greater than a first threshold upper limit, updating the first threshold to the first threshold upper limit;

[0044] If the first threshold is less than a first threshold lower limit, the first threshold is updated to the first threshold lower limit.

[0045] Optionally, the second threshold is determined according to the risk of multiple gears engaging.

[0046] Optionally, the acquisition unit is further used to:

[0047] Get the current gear position;

[0048] The determining unit is further configured to:

[0049] If the target gear position indicated by the target gear position instruction is different from the current gear position, the shift fork movement trajectory is determined based on the target gear position instruction.

[0050] Optionally, the movement of the first shift fork from the first position to the second position is a shift-down operation, and the movement of the second shift fork from the third position to the fourth position is a shift-engagement operation.

[0051] In another aspect, the present application provides a computer device, the device comprising a processor and a memory:

[0052] The memory is used to store program code and transmit the program code to the processor;

[0053] The processor is used to execute the method described in the above aspects according to the instructions in the program code.

[0054] 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.

[0055] On the other hand, an embodiment of the present application provides a computer program product or a 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 the processor executes the computer instructions, so that the computer device executes the method described in the above aspects.

[0056] The advantages of the above technical solution of this application are:

[0057] The target gear position instruction is obtained, and the fork running trajectory is determined based on the target gear position instruction. The fork movement trajectory is used to indicate that the first fork moves from the first position to the second position, and the second fork moves from the third position to the fourth position. The first fork and the second fork are two forks on the same shaft. The first fork is controlled to start moving from the first position to the second position, and the first current position of the first fork is obtained. If it is determined that the distance between the first current position and the first middle position is less than the first threshold, it is expected that starting to control the movement of the second fork at this time can reduce the risk of multi-gear engagement. At this time, the second fork can be controlled to start moving from the third position to the fourth position while the first fork is controlled to continue to move to the second position. Therefore, in the process of controlling the vehicle to shift to the target gear position, there is no need to wait for the first fork to move to the second position before controlling the second fork to start moving. Instead, when the distance between the first current position and the first middle position is less than the first threshold, the second fork can be controlled to start moving. At this time, the first fork and the second fork are moving at the same time, which shortens the fork control time and reduces the delay caused by the fork control. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] 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, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0059] Figure 1 is a schematic diagram of a 7-speed DCT;

[0060] Figure 2 For Figure 1 A corresponding schematic diagram of a shift fork shifting back and forth;

[0061] Figure 3A flow chart of a control method for a shift fork provided in an embodiment of the present application;

[0062] Figure 4 A schematic diagram of a shift fork shifting out of gear provided in an embodiment of the present application;

[0063] Figure 5 A schematic diagram of a control device for a shift fork provided in an embodiment of the present application;

[0064] Figure 6 A structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0066] See also Figure 1 , which is a schematic diagram of a 7-speed DCT. Figure 1 In the 4-fork shifter, 4 Q valves are used to control the 4 forks separately, and the 4 forks can move at the same time. Among them, the shift fork retraction control and the shift fork engagement control are the basic functions of the shift fork control, and the shift forks can be continuously retracted and engaged on the same shaft. For example, Figure 1 The 62 shift fork and the R4 shift fork are on the same shaft. The R4 shift fork can be controlled to perform the shift down action, and the 62 shift fork can be controlled to perform the shift up action.

[0067] In the related art, in order to avoid multiple gears being engaged on the same shaft and damaging the gearbox, the two shift forks on the same shaft are not allowed to move at the same time. The gear shifting action must be performed after the downshift gear returns to the neutral position. There is also the influence of hydraulic delay. Therefore, the general practice is to wait until the previous gear is downshifted before performing the gear shifting action of the next gear. For example, the R4 shift fork is controlled to perform the downshift action first. After the R4 shift fork is in the correct position in the R4 shift fork piston cylinder, the 62 shift fork will be controlled to perform the gear shifting operation. However, due to the hydraulic delay of the gear shifting, there will be a delay of 100-200ms from the downshift fork being in place to the gear shift fork starting to move.

[0068] See also Figure 2 , the figure is Figure 1 A corresponding schematic diagram of a shift fork shifting gears. Figure 2In the initial stage, the 62 fork is at the middle position (0) of the 62 fork piston cylinder, and the R4 fork is at the rightmost end of the R4 fork piston cylinder (-8mm from the middle position). When the shift-down command is issued, that is, the shift-down curve changes from 0 to 1 and starts to control the R4 fork to move to the middle position to perform the shift-down operation. However, due to the hydraulic delay of the gear shifting, the R4 fork starts to move to the middle position after the shift-down command is issued for a period of time. When the R4 fork moves from the rightmost end to the middle position, the shift-down is completed, that is, the shift-down curve changes from 1 to 0.

[0069] Subsequently, the shift-in command is issued only after the shift-out operation is completed, that is, the shift-in curve changes from 0 to 1. However, due to the hydraulic delay of the gear engagement, the 62 shift fork begins to move to the far left after the shift-in command is issued for a period of time. When the 62 shift fork moves from the middle position to the far left, the shift-in is completed, that is, the shift-in curve changes from 1 to 0. Therefore, since the shift-in operation is performed only after the shift-out operation, and there is a hydraulic delay of the gear engagement, there will be a delay of 100-200ms from the shift-out fork being in place to the shift-engagement fork starting to move. In other words, although the four shift forks can move at the same time, there will still be a delay. This has a great impact on the gear shift response, especially downshifting by stepping on the accelerator. For example, the gear engagement delay caused by the fork control may make the driver feel that the power is coming slowly and the experience is poor.

[0070] Based on this, an embodiment of the present application provides a control method and related devices for a shift fork, wherein the first shift fork and the second shift fork are two shift forks on the same shaft. In the process of controlling the vehicle to shift to a target gear, there is no need to wait for the first shift fork to move to the second position before controlling the second shift fork to start moving. Instead, when the distance between the first current position and the first middle position is less than a first threshold, the second shift fork can be controlled to start moving. At this time, the first shift fork and the second shift fork are moving at the same time, which shortens the time of shift fork control and reduces the delay caused by the shift fork control.

[0071] Combine the following Figure 3 , a control method for a shift fork provided in an embodiment of the present application is introduced. Figure 3 The method shown, in one implementation, may be executed by, for example, an electronic control unit (ECU) included in a vehicle. Figure 3 , which is a flow chart of a control method for a shift fork provided in an embodiment of the present application, and the method may include S301-S304.

[0072] S301: Obtain a target gear position instruction.

[0073] The target gear position instruction is used to identify the gear position that the vehicle wants to change to, i.e., the target gear position. For example, if the vehicle wants to change from the current 1st gear to the 3rd gear, then the 1st gear is the current gear position of the vehicle, the 3rd gear is the target gear position of the vehicle, and changing from the current 1st gear to the 3rd gear is the target gear position instruction.

[0074] As a possible implementation method, the current gear position can be obtained. If the target gear position indicated by the target gear position instruction is different from the current gear position, such as changing from the current gear 1 to gear 3, it means that the shift fork needs to be controlled to move, and S301 is executed at this time; if the target gear position indicated by the target gear position instruction is the same as the current gear position, such as changing from the current gear 1 to gear 1, it means that the shift fork does not need to be controlled to move, and S301 can no longer be executed.

[0075] S302: Determine the movement trajectory of the shift fork based on the target gear position instruction.

[0076] The fork motion trajectory is used to indicate the motion trajectory of the fork, such as the corresponding motion trajectory of the fork if the current gear 1 is to be changed to gear 3. The fork motion trajectory determined based on the target gear position instruction is that the first fork moves from the first position to the second position, and the second fork moves from the third position to the fourth position.

[0077] It should be noted that the first shift fork and the second shift fork are two shift forks on the same shaft. Figure 1 The 62 fork and R4 fork in the.

[0078] As a possible implementation, the movement of the first shift fork from the first position to the second position is a shift down operation, and the movement of the second shift fork from the third position to the fourth position is a shift down operation, that is, the shift fork movement trajectory determined based on the target gear position instruction is a continuous shift down and shift down operation.

[0079] S303: Control the first shift fork to move from the first position to the second position, and obtain a first current position of the first shift fork.

[0080] As can be seen from the above, although the delay in the fork control is caused by waiting for the previous gear to be downshifted before the next gear is engaged, the first fork and the second fork can be controlled to start moving at the same time, saving the time required for shifting. However, after research, it was found that if the first fork and the second fork are controlled to start moving at the same time, it is easy to generate the risk of multiple gears engaging. Based on this, the embodiment of the present application first controls the first fork to start moving, and monitors the movement position of the first fork. When the first fork moves to a position where the risk of multiple gears engaging is lower, the second fork is controlled to start moving, which is explained in detail below.

[0081] S304: If it is determined that the distance between the first current position and the first middle position is less than the first threshold, the second shift fork is controlled to move from the third position to the fourth position while the first shift fork is controlled to continue to move toward the second position.

[0082] The first middle position is the middle position of the fork piston cylinder where the first fork is located. If it is determined that the distance between the first current position and the first middle position is less than the first threshold, it means that the second fork is controlled to move at this time, and the risk of multi-gear engagement is small. Therefore, the second fork can be controlled to move from the third position to the fourth position while the first fork is controlled to continue to move to the second position.

[0083] See also Figure 4 , which is a schematic diagram of a shift fork shifting back and forth provided in an embodiment of the present application. Figure 4 In the figure, initially, the 62 fork is at the middle position (0) of the 62 fork piston cylinder, and the R4 fork is at the rightmost end of the R4 fork piston cylinder (-8mm from the middle position). When the shift-down command is issued, the shift-down curve changes from 0 to 1, thereby controlling the R4 fork to move to the middle position to perform the shift-down operation. However, due to the hydraulic delay of the gear shifting, the R4 fork starts to move to the middle position after the shift-down command is issued for a period of time. When the R4 fork moves from the rightmost end to the middle position, the shift-down is completed, that is, the shift-down curve changes from 1 to 0.

[0084] During the movement of the R4 fork toward the middle position, if it is determined that the distance between the first current position of the R4 fork and the first middle position is less than the first threshold, a shift-in command is issued during the process of controlling the R4 fork to continue to move toward the middle position, that is, during the process of shifting down, so that after the hydraulic delay of the gear engaging, the 62 fork starts to move to the leftmost end. When the 62 fork moves from the middle position to the leftmost end, the shift-in is completed, that is, the shift-in curve changes from 1 to 0. It can be seen from this that compared with Figure 2 Even if there is a hydraulic delay in shifting gears, Figure 4 The solution realizes the continuous shifting and shifting operations more quickly.

[0085] It can be seen from the above technical solution that the target gear position instruction is obtained, and the fork running trajectory is determined based on the target gear position instruction. The fork movement trajectory is used to indicate that the first fork moves from the first position to the second position, and the second fork moves from the third position to the fourth position. The first fork and the second fork are two forks on the same shaft. The first fork is controlled to start moving from the first position to the second position, and the first current position of the first fork is obtained. If it is determined that the distance between the first current position and the first middle position is less than the first threshold, it is expected that starting to control the second fork movement at this time can reduce the risk of multi-gear engagement. At this time, the second fork can be controlled to start moving from the third position to the fourth position while the first fork continues to move to the second position. Therefore, in the process of controlling the vehicle to shift to the target gear position, there is no need to wait for the first fork to move to the second position before controlling the second fork to start moving. Instead, when the distance between the first current position and the first middle position is less than the first threshold, the second fork can be controlled to start moving. At this time, the first fork and the second fork are moving at the same time, which shortens the fork control time and reduces the delay caused by the fork control.

[0086] As a possible implementation method, due to factors such as the possible inconsistency in the movement speeds of the first shift fork and the second shift fork, and the inconsistency in the hydraulic response delay time caused by different working conditions, in order to ensure that the risk of multi-gear engagement is small, the first threshold value can be dynamically adjusted. Figure 3 Detailed description is given in detail (not shown).

[0087] S305: After controlling the second shift fork to start moving from the third position to the fourth position, acquiring the second current position of the first shift fork and the third current position of the second shift fork.

[0088] The first current position refers to the current position of the first fork obtained before the second fork moves. The second current position refers to the current position of the first fork obtained after the second fork moves. The third current position refers to the current position of the second fork.

[0089] S306: Determine whether the distance between the second current position and the first median is greater than the second threshold, and whether the distance between the third current position and the second median is greater than the second threshold. If so, execute S307; if not, execute S311.

[0090] As a possible implementation manner, the second threshold value may be determined based on the risk of multi-gear engagement.

[0091] S307: If it is determined that the distance between the second current position and the first median is greater than the second threshold, and the distance between the third current position and the second median is greater than the second threshold, the number of danger times is accumulated and increased by 1.

[0092] If it is determined that the distance between the second current position and the first median position is greater than the second threshold, and the distance between the third current position and the second median position is greater than the second threshold, it means that the risk of multi-gear engagement has increased. At this time, the number of dangers is updated to the number of dangers plus 1, that is, the number of dangers accumulates and increases by 1.

[0093] S308: Determine whether the number of danger times is greater than or equal to the danger threshold, if so, execute S309; ​​if not, execute S310.

[0094] S309: If the number of danger times is greater than or equal to the danger threshold, the first threshold is updated to the first threshold minus the first threshold offset.

[0095] If the number of danger times is greater than or equal to the danger threshold, it means that the current risk of multi-gear engagement is relatively high, and the first threshold is updated to the first threshold minus the first threshold offset, that is, the first threshold is reduced so that the first fork position can be judged based on the smaller first threshold next time to prevent the risk of multi-gear engagement.

[0096] S310: If the number of danger times is less than the danger threshold, the first threshold is not adjusted.

[0097] If the number of dangerous times is less than the dangerous threshold, it means that the current multi-gear engagement risk is small, and the first threshold is not adjusted until the gear is engaged. After the gear is engaged, the first threshold is stored in the memory (such as EEPROM). It should be noted that the number of dangerous times can be reset to zero and restarted after it exceeds the dangerous threshold.

[0098] S311: If it is determined that the distance between the second current position and the first middle position is less than or equal to the second threshold, and the distance between the third current position and the second middle position is less than or equal to the second threshold, then after the second fork moves to the fourth position, the safety number is updated to the safety number plus 1.

[0099] If it is determined that the distance between the second current position and the first middle position is less than or equal to the second threshold, and the distance between the third current position and the second middle position is less than or equal to the second threshold, it means that the risk of multi-gear engagement is small, and the safety number can be increased by 1 after the second shift fork moves to the fourth position.

[0100] S312: Determine whether the number of safety times is greater than or equal to the safety threshold, if so, execute S313; if not, execute S314.

[0101] S313: If the number of safety times is greater than or equal to the safety threshold, the first threshold is updated to the first threshold plus the second threshold offset.

[0102] If the number of safety times is greater than or equal to the safety threshold, it means that the current risk of multi-gear engagement is relatively small. At this time, the first threshold is updated to the first threshold plus the second threshold offset, that is, the first threshold is increased so that the first fork position can be judged based on the larger first threshold next time, providing a larger first threshold for a safe environment.

[0103] S314: If the number of safety times is less than the safety threshold, the first threshold is not adjusted.

[0104] As a possible implementation, the initial value of the first threshold can be set to 1-2 mm, the initial value of the second threshold can be set to 2-3 mm, and the initial values ​​of the first threshold offset and the second threshold offset can both be set to 0.1-0.5 mm.

[0105] It should be noted that after the safety times are greater than the safety threshold, they can be reset to zero and counted again.

[0106] As a possible implementation, in the process of adjusting the first threshold, it is necessary to ensure that the first threshold is within a certain range so that it is neither too large nor too small. Specifically, if the first threshold is greater than the first threshold upper limit, the first threshold is updated to the first threshold upper limit; if the first threshold is less than the first threshold lower limit, the first threshold is updated to the first threshold lower limit. The first threshold upper limit and the first threshold lower limit can be set based on the needs of those skilled in the art.

[0107] Therefore, based on the size of the distance between the second current position and the first middle position and the second threshold, as well as the size of the distance between the third current position and the second middle position and the second threshold, it can be judged whether there is a risk of multi-gear engagement at present. In order to ensure stability, the number of times the risk of multi-gear engagement occurs is accumulated to avoid misjudgment. The first threshold is dynamically adjusted based on the safe times and the dangerous times, such as adapting the intersection of backing off and engaging gears. This can not only save the shifting time to the greatest extent, but also avoid the risk of multi-gear engagement during the backing off process.

[0108] In addition to the control method of the shift fork provided in the embodiment of the present application, a control device for the shift fork is also provided, such as Figure 5 As shown, it includes: an acquisition unit 501, a determination unit 502 and a control unit 503;

[0109] The acquisition unit 501 is used to acquire a target gear position instruction;

[0110] The determining unit 502 is used to determine a shift fork motion trajectory based on the target gear position instruction, wherein the shift fork motion trajectory is used to indicate that the first shift fork moves from the first position to the second position, and the second shift fork moves from the third position to the fourth position, and the first shift fork and the second shift fork are two shift forks on the same shaft;

[0111] The control unit 503 is used to control the first shift fork to move from the first position to the second position, and obtain a first current position of the first shift fork;

[0112] The control unit 503 is also used to control the second shift fork to move from the third position to the fourth position while controlling the first shift fork to continue moving toward the second position if it is determined that the distance between the first current position and the first middle position is less than a first threshold value, and the first middle position is the middle position of the fork piston cylinder where the first shift fork is located.

[0113] It can be seen from the above technical solution that the target gear position instruction is obtained, and the fork running trajectory is determined based on the target gear position instruction. The fork movement trajectory is used to indicate that the first fork moves from the first position to the second position, and the second fork moves from the third position to the fourth position. The first fork and the second fork are two forks on the same shaft. The first fork is controlled to start moving from the first position to the second position, and the first current position of the first fork is obtained. If it is determined that the distance between the first current position and the first middle position is less than the first threshold, it is expected that starting to control the second fork movement at this time can reduce the risk of multi-gear engagement. At this time, the second fork can be controlled to start moving from the third position to the fourth position while the first fork continues to move to the second position. Therefore, in the process of controlling the vehicle to shift to the target gear position, there is no need to wait for the first fork to move to the second position before controlling the second fork to start moving. Instead, when the distance between the first current position and the first middle position is less than the first threshold, the second fork can be controlled to start moving. At this time, the first fork and the second fork are moving at the same time, which shortens the fork control time and reduces the delay caused by the fork control.

[0114] As a possible implementation manner, after controlling the second shift fork to start moving from the third position to the fourth position, the acquiring unit 501 is further configured to:

[0115] Acquire a second current position of the first shift fork and a third current position of the second shift fork;

[0116] The device also includes an adjustment unit, which is used to:

[0117] If it is determined that the distance between the second current position and the first middle position is greater than the second threshold, and the distance between the third current position and the second middle position is greater than the second threshold, the number of dangers is updated to the number of dangers plus 1, and the second middle position is the middle position of the fork piston cylinder where the second fork is located;

[0118] If the number of danger times is greater than or equal to the danger threshold, the first threshold is updated to the first threshold minus the first threshold offset.

[0119] As a possible implementation manner, after controlling the second shift fork to start moving from the third position to the fourth position, the acquiring unit 501 is further configured to:

[0120] Acquire a second current position of the first shift fork and a third current position of the second shift fork;

[0121] The device also includes an adjustment unit, which is used to:

[0122] If it is determined that the distance between the second current position and the first middle position is less than or equal to the second threshold, and the distance between the third current position and the second middle position is less than or equal to the second threshold, then after the second shift fork moves to the fourth position, the safety number is updated to the safety number plus 1, and the second middle position is the middle position of the shift fork piston cylinder where the second shift fork is located;

[0123] If the safety number is greater than or equal to the safety threshold, the first threshold is updated to the first threshold plus a second threshold offset.

[0124] As a possible implementation manner, the device further includes an adjustment unit, configured to:

[0125] If the first threshold is greater than a first threshold upper limit, updating the first threshold to the first threshold upper limit;

[0126] If the first threshold is less than a first threshold lower limit, the first threshold is updated to the first threshold lower limit.

[0127] As a possible implementation manner, the second threshold is determined according to the risk of multiple gears engaging.

[0128] As a possible implementation manner, the obtaining unit 501 is further configured to:

[0129] Get the current gear position;

[0130] The determining unit 502 is further configured to:

[0131] If the target gear position indicated by the target gear position instruction is different from the current gear position, the shift fork movement trajectory is determined based on the target gear position instruction.

[0132] As a possible implementation manner, the movement of the first shift fork from the first position to the second position is a shift-down operation, and the movement of the second shift fork from the third position to the fourth position is a shift-engagement operation.

[0133] The present application also provides a computer device, see Figure 6 , which shows a structural diagram of a computer device provided in an embodiment of the present application, such as Figure 6As shown, the device includes a memory 610 and a processor 620:

[0134] The memory 610 is used to store program codes and transmit the program codes to the processor;

[0135] The processor 620 is used to execute any one of the fork control methods provided in the above embodiments according to the instructions in the program code.

[0136] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, wherein the computer program is used to execute any one of the control methods for a shift fork provided in the above embodiments.

[0137] The embodiment of the present application also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. The processor of the computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the control method of the shift fork provided in various optional implementations of the above aspects.

[0138] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0139] It should be understood that in the present 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 objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single 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.

[0140] It should also be noted that, in this article, relational terms such as first and second, etc. are only used 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 "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0141] The steps of the method or algorithm 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), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0142] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those 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 will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling a shift fork, characterized in that: The method comprises: Get the target gear position instruction; Determining a shift fork motion trajectory based on the target gear position command, the shift fork motion trajectory is used to indicate that the first shift fork moves from the first position to the second position, and the second shift fork moves from the third position to the fourth position, the first shift fork and the second shift fork are two shift forks on the same shaft; Controlling the first shift fork to start moving from the first position to the second position, and acquiring a first current position of the first shift fork; If it is determined that the distance between the first current position and the first middle position is less than a first threshold, then while controlling the first shift fork to continue moving toward the second position, the second shift fork is controlled to start moving from the third position to the fourth position, and the first middle position is the middle position of the fork piston cylinder where the first shift fork is located.

2. The method according to claim 1, characterized in that After controlling the second shift fork to start moving from the third position to the fourth position, the method further includes: Acquire a second current position of the first shift fork and a third current position of the second shift fork; If it is determined that the distance between the second current position and the first middle position is greater than the second threshold, and the distance between the third current position and the second middle position is greater than the second threshold, the number of dangers is updated to the number of dangers plus 1, and the second middle position is the middle position of the fork piston cylinder where the second fork is located; If the number of danger times is greater than or equal to the danger threshold, the first threshold is updated to the first threshold minus the first threshold offset.

3. The method according to claim 1, characterized in that: After controlling the second shift fork to start moving from the third position to the fourth position, the method further includes: Acquire a second current position of the first shift fork and a third current position of the second shift fork; If it is determined that the distance between the second current position and the first middle position is less than or equal to the second threshold, and the distance between the third current position and the second middle position is less than or equal to the second threshold, then after the second shift fork moves to the fourth position, the safety number is updated to the safety number plus 1, and the second middle position is the middle position of the shift fork piston cylinder where the second shift fork is located; If the safety number is greater than or equal to the safety threshold, the first threshold is updated to the first threshold plus a second threshold offset.

4. The method according to claim 2 or 3, characterized in that: The method further comprises: If the first threshold is greater than a first threshold upper limit, updating the first threshold to the first threshold upper limit; If the first threshold is less than a first threshold lower limit, the first threshold is updated to the first threshold lower limit.

5. The method according to claim 2 or 3, characterized in that: The second threshold is determined according to the risk of multiple gears being engaged.

6. The method according to claim 1, characterized in that The step of determining the movement trajectory of the shift fork based on the target gear position instruction comprises: Get the current gear position; If the target gear position indicated by the target gear position instruction is different from the current gear position, the shift fork movement trajectory is determined based on the target gear position instruction.

7. The method according to claim 1, characterized in that The movement of the first shift fork from the first position to the second position is a gear shifting operation, and the movement of the second shift fork from the third position to the fourth position is a gear shifting operation.

8. A control device for a shift fork, characterized in that: The device comprises: an acquisition unit, a determination unit and a control unit; The acquisition unit is used to acquire a target gear position instruction; The determination unit is used to determine a shift fork motion trajectory based on the target gear position instruction, wherein the shift fork motion trajectory is used to indicate that the first shift fork moves from the first position to the second position, and the second shift fork moves from the third position to the fourth position, and the first shift fork and the second shift fork are two shift forks on the same shaft; The control unit is used to control the first shift fork to move from the first position to the second position and obtain a first current position of the first shift fork; The control unit is further configured to control the second shift fork to move from the third position to the fourth position while controlling the first shift fork to continue to move toward the second position if it is determined that the distance between the first current position and the first middle position is less than a first threshold value, and the first middle position is the middle position of the fork piston cylinder where the first shift fork is located.

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