A control method and related device for a shift fork

Abstract

The present application discloses a control method and related device for a shift fork. The shift fork movement trajectory is determined based on the obtained target gear position instruction. The shift fork movement 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. The first shift fork is controlled to start moving from the first position to the second position, and the first current position of the first shift fork is obtained. If it is determined that the distance between the first current position and the first mid-position is less than a first threshold, it is expected that starting to control the movement of the second shift fork at this time can reduce the risk of multi-gear engagement. At this time, the second shift fork can be controlled to start moving from the third position to the fourth position while the first shift fork is controlled to continue moving to the second position. As a result, 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, which shortens the shift fork control time and reduces the delay caused by the shift fork control.

Description

Technical Field

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

[0002] With the improvement of hydraulic systems, most dual clutch transmissions (DCT) currently use P valves (pressure valves) and Q valves (flow valves) for control, where the P valve controls the pressure for shifting gears, and the Q valve controls the flow and direction for shifting gears.

[0003] See also Figure 1 , This figure 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 move simultaneously. In the related art, although the four shift forks can move simultaneously, there is still a delay. Summary of the Invention

[0004] In response to the above problems, the present application provides a shift fork control method and related devices for reducing the delay caused by shift fork control.

[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 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 being used to indicate that a first shift fork moves from a first position to a second position, and that a second shift fork moves from a third position to a fourth position, wherein the first shift fork and the second shift fork are two shift forks on the same shaft;

[0009] controlling the first shift fork to move from the first position to the second position, and obtaining 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, where 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 a second threshold, and the distance between the third current position and the second middle position is greater than the second threshold, then 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 shift fork is located;

[0014] If the number of dangers is greater than or equal to a danger threshold, the first threshold is updated to the first threshold minus a 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 a 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 count is updated to the safety count 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 the first upper threshold value, updating the first threshold value to the first upper threshold value;

[0021] If the first threshold is less than the 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 shift fork motion trajectory based on the target gear position instruction includes:

[0024] Get the current gear;

[0025] If the target gear position indicated by the target gear position instruction is different from the current gear position, a shift fork motion 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 determining unit is configured to determine a shift fork motion trajectory based on the target gear position command, wherein the shift fork motion trajectory is configured to indicate that the first shift fork moves from a first position to a second position, and that the second shift fork moves from a third position to a fourth position, wherein the first shift fork and the second shift fork are two shift forks on the same shaft;

[0030] The control unit is configured 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, if it is determined that the distance between the first current position and the first middle position is less than a first threshold, control the second shift fork to start moving from the third position to the fourth position while controlling the first shift fork to continue moving toward the second position, where 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 further comprises an adjustment unit, configured to:

[0035] If it is determined that the distance between the second current position and the first middle position is greater than a second threshold, and the distance between the third current position and the second middle position is greater than the second threshold, then 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 shift fork is located;

[0036] If the number of dangers is greater than or equal to a danger threshold, the first threshold is updated to the first threshold minus a 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 further comprises an adjustment unit, configured 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 a 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 count is updated to the safety count 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 includes an adjustment unit, configured to:

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

[0044] If the first threshold is less than the 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 acquiring unit is further configured to:

[0047] Get the current gear;

[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, a shift fork motion 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, 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 configured to execute the method described above 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] 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.

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

[0057] A target gear position command is obtained, and a shift fork trajectory is determined based on the target gear position command. The shift fork trajectory is used to indicate movement of the first shift fork from the first position to the second position, and movement of the second shift fork from the third position to the fourth position, where the first shift fork and the second shift fork are two shift forks on the same shaft. The first shift fork is controlled to begin moving from the first position to the second position, and a first current position of the first shift fork is obtained. If the distance between the first current position and the first intermediate position is determined to be less than a first threshold, it is estimated that initiating movement of the second shift fork at this time can reduce the risk of multi-gear engagement. In this case, while the first shift fork is being controlled to continue moving toward the second position, the second shift fork can be controlled to begin moving from the third position to the fourth position. Thus, when controlling the vehicle to shift to the 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 begin moving. Instead, the second shift fork can be controlled to begin moving when the distance between the first current position and the first intermediate position is less than the first threshold. At this time, the first and second shift forks are moving simultaneously, shortening shift fork control time and reducing delays in shift 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 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.

[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 method for controlling 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 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.

[0066] See also Figure 1 , This figure is a schematic diagram of a 7-speed DCT. Figure 1 In the system, the four shift forks are controlled by four Q valves separately, and the four shift forks can move simultaneously. 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, which can control the R4 shift fork to perform the shift down action and control the 62 shift fork to perform the shift down 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 is 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 time the downshift fork is in place to the time the gear shift fork starts to move.

[0068] See also Figure 2 , the figure is with Figure 1 A corresponding schematic diagram of a shift fork shifting back and forth. Figure 2Initially, 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 a shift-down command is issued, the shift-down curve changes from 0 to 1 and the R4 fork is controlled to move toward the middle position to perform the shift-down operation. However, due to the hydraulic delay of the gear engagement, the R4 fork does not start to move toward the middle position until a period of time after the shift-down command is issued. When the R4 fork moves from the rightmost end to the middle position, the shift-down operation is completed, that is, the shift-down curve changes from 1 to 0.

[0069] Subsequently, the shift-up command will be issued only after the shift-down operation is completed, that is, the shift-up curve changes from 0 to 1. However, due to the hydraulic delay of the gear engagement, the 62 shift fork will not start to move to the far left until a period of time has passed since the shift-up command was issued. When the 62 shift fork moves from the middle position to the far left, the shift-up is completed, that is, the shift-up curve changes from 1 to 0. Therefore, since the shift-up operation will only be performed after the shift-down operation, and there is a hydraulic delay in the gear engagement, there will be a 100-200ms delay from the shift-down 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 pressing the accelerator. For example, the gear engagement delay caused by the shift 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 device for a shift fork, in which 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 the 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 the 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] The following combination Figure 3 , a control method for a shift fork provided in an embodiment of the present application is introduced. Figure 3 In one implementation, the method shown can be executed by an electronic control unit (ECU) included in a vehicle, for example. Figure 3 , this figure 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 command is used to identify the gear the vehicle wants to change to, i.e., the target gear. For example, if the vehicle wants to change from the current 1st gear to 3rd gear, then 1st gear is the vehicle's current gear, 3rd gear is the vehicle's target gear, and changing from the current 1st gear to 3rd gear is the target gear command.

[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 a shift fork motion trajectory based on the target gear position command.

[0076] The shift fork motion trajectory indicates the movement trajectory of the shift fork. For example, if you want to change from the current 1st gear to 3rd gear, the corresponding movement trajectory of the shift fork is determined based on the target gear position command, where 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.

[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 method, 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 foregoing, although the delay in shift fork control is caused by waiting for the previous gear to be downshifted before engaging the next gear, the first and second shift forks can be controlled to start moving simultaneously, saving the time required for shifting. However, research has found that if the first and second shift forks are controlled to start moving at the same time, there is a high risk of multiple gears engaging. Based on this, the embodiment of the present application first controls the first shift fork to start moving and monitors the movement position of the first shift fork. When the first shift fork moves to a position where the risk of multiple gears engaging is lower, the second shift fork is controlled to start moving. This 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 start moving from the third position to the fourth position while the first shift fork is controlled to continue moving toward the second position.

[0082] The first neutral position is the middle position of the shift fork piston cylinder where the first shift fork resides. If the distance between the first current position and the first neutral position is determined to be less than a first threshold, then control of the second shift fork movement is initiated, minimizing the risk of multiple gear engagement. Therefore, while the first shift fork continues to move toward the second position, the second shift fork can be controlled to begin moving from the third position toward the fourth position.

[0083] See also Figure 4 , This figure is a schematic diagram of a shift fork shifting back and forth provided in an embodiment of the present application. Figure 4 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 a shift-down command is issued, the shift-down curve changes from 0 to 1, thereby controlling the R4 fork to move toward the middle position to perform the shift-down operation. However, due to the hydraulic delay of the gear shift, the R4 fork does not begin to move toward the middle position until a period of time has passed since the shift-down command was issued. When the R4 fork moves from the rightmost end to the middle position, the shift-down is completed, and the shift-down curve changes from 1 to 0.

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

[0085] As can be seen from the above technical solution, a target gear position command is obtained, and a shift fork trajectory is determined based on the target gear position command. The shift fork trajectory is used to indicate the movement of the first shift fork from the first position to the second position, and the movement of the second shift fork from the third position to the fourth position, where the first shift fork and the second shift fork are two shift forks on the same shaft. The first shift fork is controlled to begin moving from the first position to the second position, and the first current position of the first shift fork is obtained. If it is determined that the distance between the first current position and the first intermediate position is less than a first threshold, it is expected that starting to control the movement of the second shift fork at this time can reduce the risk of multi-gear engagement. In this case, while the first shift fork continues to move toward the second position, the second shift fork can be controlled to begin moving from the third position to the fourth position. As a result, when controlling the vehicle to shift to the 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 begin moving. Instead, the second shift fork can be controlled to begin moving when the distance between the first current position and the first intermediate position is less than the first threshold. At this time, the first and second shift forks are moving simultaneously, shortening the shift fork control time and reducing the delay caused by the shift fork control.

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

[0087] S305: After controlling the second shift fork to start moving from the third position to the fourth position, obtaining 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 before the second fork moves. The second current position refers to the current position of the first fork 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 a 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 increases. 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 dangers is greater than or equal to the danger threshold. If so, execute S309; ​​if not, execute S310.

[0094] S309: If the number of dangers 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 dangers is greater than or equal to the danger threshold, it means that the current risk of multi-gear engagement is relatively high. 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 dangers is less than the danger threshold, the first threshold is not adjusted.

[0097] If the number of dangerous times is less than the danger threshold, it indicates that the current multi-gear engagement risk is low. In this case, the first threshold is not adjusted until the gear is engaged. After the gear is engaged, the first threshold is stored in 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 danger 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 number of safety times 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 multi-gear engagement risk 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 number of safety times exceeds the safety threshold, it can be reset to zero and restarted.

[0106] As a possible implementation, during the adjustment of 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 number of dangerous times, such as adaptively adjusting the intersection of shifting and engaging gears. This can not only save shifting time to the greatest extent, but also avoid the risk of multi-gear engagement during the shifting 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 configured to determine a shift fork motion trajectory based on the target gear position command, wherein the shift fork motion trajectory indicates that the first shift fork moves from a first position to a second position, and the second shift fork moves from a third position to a fourth position, wherein the first shift fork and the second shift fork are two shift forks on the same shaft;

[0111] The control unit 503 is configured 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 further configured to control the second shift fork to start moving 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, where the first middle position is the middle position of the fork piston cylinder where the first shift fork is located.

[0113] As can be seen from the above technical solution, a target gear position command is obtained, and a shift fork trajectory is determined based on the target gear position command. The shift fork trajectory is used to indicate the movement of the first shift fork from the first position to the second position, and the movement of the second shift fork from the third position to the fourth position, where the first shift fork and the second shift fork are two shift forks on the same shaft. The first shift fork is controlled to begin moving from the first position to the second position, and the first current position of the first shift fork is obtained. If it is determined that the distance between the first current position and the first intermediate position is less than a first threshold, it is expected that starting to control the movement of the second shift fork at this time can reduce the risk of multi-gear engagement. In this case, while the first shift fork continues to move toward the second position, the second shift fork can be controlled to begin moving from the third position to the fourth position. As a result, when controlling the vehicle to shift to the 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 begin moving. Instead, the second shift fork can be controlled to begin moving when the distance between the first current position and the first intermediate position is less than the first threshold. At this time, the first and second shift forks are moving simultaneously, shortening the shift fork control time and reducing the delay caused by the shift 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 further comprises an adjustment unit, configured to:

[0117] If it is determined that the distance between the second current position and the first middle position is greater than a second threshold, and the distance between the third current position and the second middle position is greater than the second threshold, then 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 shift fork is located;

[0118] If the number of dangers is greater than or equal to a danger threshold, the first threshold is updated to the first threshold minus a 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 further comprises an adjustment unit, configured 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 a 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 count is updated to the safety count 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 apparatus further includes an adjustment unit, configured to:

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

[0126] If the first threshold is less than the 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;

[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, a shift fork motion 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. Figure 6 , which shows a structural diagram of a computer device provided by 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 configured to execute any one of the shift 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 shift fork control methods provided in the above embodiments.

[0137] 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 shift fork control method 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, 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.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] 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 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 being used to indicate that a first shift fork moves from a first position to a second position, and that a second shift fork moves from a third position to a fourth position, wherein the first shift fork and the second shift fork are two shift forks on the same shaft; controlling the first shift fork to move from the first position to the second position, and obtaining 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, controlling the second shift fork to start moving from the third position to the fourth position while controlling the first shift fork to continue moving toward the second position, where the first middle position is the middle position of the shift fork piston cylinder where the first shift fork is located; 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 a second threshold, and the distance between the third current position and the second middle position is greater than the second threshold, updating the number of dangers to the number of dangers plus 1, where the second middle position is the middle position of the fork piston cylinder where the second shift fork is located; If the number of dangers is greater than or equal to a danger threshold, the first threshold is updated to the first threshold minus a first threshold offset.

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: If it is determined that the distance between the second current position and the first middle position is less than or equal to a 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 count is updated to the safety count 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.

3. The method according to claim 1 or 2, characterized in that The method further comprises: If the first threshold is greater than the first upper threshold value, updating the first threshold value to the first upper threshold value; If the first threshold is less than the first threshold lower limit, the first threshold is updated to the first threshold lower limit.

4. The method according to claim 1 or 2, characterized in that The second threshold is determined according to the risk of multiple gears being engaged.

5. The method according to claim 1, wherein The determining of the shift fork motion trajectory based on the target gear position instruction includes: Get the current gear; If the target gear position indicated by the target gear position instruction is different from the current gear position, a shift fork motion trajectory is determined based on the target gear position instruction.

6. The method according to claim 1, wherein 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.

7. 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 determining unit is configured to determine a shift fork motion trajectory based on the target gear position command, wherein the shift fork motion trajectory is configured to indicate that the first shift fork moves from a first position to a second position, and that the second shift fork moves from a third position to a fourth position, wherein the first shift fork and the second shift fork are two shift forks on the same shaft; The control unit is configured 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, if it is determined that the distance between the first current position and a first intermediate position is less than a first threshold, control the second shift fork to start moving from the third position to the fourth position while controlling the first shift fork to continue moving toward the second position, where the first intermediate position is a middle position of the shift fork piston cylinder where the first shift fork is located; After controlling the second shift fork to start moving from the third position to the fourth position, the acquiring unit is further configured to: Acquire a second current position of the first shift fork and a third current position of the second shift fork; The device further comprises an adjustment unit, configured to: If it is determined that the distance between the second current position and the first middle position is greater than a second threshold, and the distance between the third current position and the second middle position is greater than the second threshold, updating the number of dangers to the number of dangers plus 1, where the second middle position is the middle position of the fork piston cylinder where the second shift fork is located; If the number of dangers is greater than or equal to a danger threshold, the first threshold is updated to the first threshold minus a first threshold offset.

8. 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 6 according to instructions in the program code.

9. 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 6.

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