Gear shifting control method and device, gear shifting controller and vehicle

Abstract

The invention relates to a gear shifting control method and device, a gear shifting controller and a vehicle. The method comprises the steps that when a gear shifting actuator is controlled to execute a gear advancing action, first motion information of the gear shifting actuator is obtained; under the condition that the first motion information of the gear shifting actuator meets a first preset low-speed operation condition, a matching result of current position information of a synchronizer and a target synchronous stroke is obtained; the target synchronous stroke is used for representing a synchronous sliding stroke between a synchronous initial position and a synchronous complete position of the synchronizer and a forward gear; and according to the matching result, determining an identification result of the synchronizer gear advancing and tooth jacking condition, wherein the identification result is used for indicating a gear shifting control process. By adopting the method, the gear shifting performance can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of AMT transmissions, and in particular to a shift control method, device, shift controller and vehicle. Background Art

[0002] With the increasing demand for driving comfort, commercial vehicles are gradually using automatic transmissions instead of manual transmissions to reduce the labor intensity of drivers. Most commercial vehicles are equipped with AMT transmissions (automatic mechanical transmissions). AMT transmissions have the advantages of high transmission efficiency, low cost and good fuel economy. Therefore, the application of AMT transmissions has become increasingly widespread in recent years.

[0003] The AMT controller controls the actuator to perform the corresponding shifting action by sending commands to the shift actuator to complete the gear shifting or shifting. However, during the gear shifting process, the synchronizer may cause the gear top gear problem due to the small speed difference, which increases the shifting time or even fails to shift, making the shifting performance worse. Summary of the invention

[0004] Based on this, it is necessary to provide a shift control method, device, shift controller and vehicle that can improve the shift performance in response to the above technical problems.

[0005] In a first aspect, the present application provides a shift control method. The method comprises:

[0006] When controlling the shift actuator to perform a shift-in action, obtaining first motion information of the shift actuator;

[0007] When the first motion information of the shift actuator satisfies a first preset low-speed operation condition, a matching result between the current position information of the synchronizer and a target synchronization stroke is obtained; the target synchronization stroke is used to characterize the synchronization slip stroke between the synchronization start position and the synchronization complete position of the synchronizer and the forward gear;

[0008] The recognition result of the synchronizer forward gear top tooth condition is determined according to the matching result, and the recognition result is used to indicate the shift control process.

[0009] In one embodiment, determining the recognition result of the synchronizer forward gear top gear condition according to the matching result includes:

[0010] When the current position information of the synchronizer does not match the target synchronization stroke, it is determined that no top tooth fault occurs during the synchronizer gear advance process.

[0011] In one of the embodiments, determining the recognition result of the synchronizer gear shift top tooth condition based on the matching result includes: when the current position information of the synchronizer matches the target synchronization stroke, determining that a top tooth fault occurs in the synchronizer gear shift process.

[0012] In one embodiment, determining the recognition result of the synchronizer forward gear top gear condition according to the matching result includes:

[0013] When the current position information of the synchronizer matches the target synchronization stroke, obtaining the displacement of the shift actuator within a preset waiting time;

[0014] acquiring second motion information of the shift actuator according to the displacement of the shift actuator within a preset waiting time;

[0015] When the second motion information satisfies a second preset low-speed operation condition, it is determined that a top tooth fault occurs during the synchronizer shift advance process.

[0016] In one embodiment, the step of obtaining the matching result between the current position information of the synchronizer and the target synchronization stroke includes:

[0017] Obtaining a current displacement of the shift actuator relative to a neutral position;

[0018] The current displacement of the shift actuator compared to the neutral position is compared with a preset synchronization distance, and the matching result is determined based on the comparison result; the preset synchronization distance is used to characterize the movement distance of the shift actuator when the synchronizer is in the synchronization starting position compared to the neutral position.

[0019] In one embodiment, the method further comprises:

[0020] When it is determined that a top tooth fault occurs during the synchronizer shifting process, the clutch is controlled to engage to a preset target position and the engine torque is controlled to a first preset target torque;

[0021] The third motion information of the shift actuator is obtained, and when the third motion information meets a preset high-speed operation condition, it is determined that the top tooth fault in the synchronizer forward gear process is eliminated.

[0022] In one embodiment, the method further comprises:

[0023] When the third motion information does not meet the preset high-speed running condition, the engine torque is controlled to a second preset target torque; the second preset target torque is greater than the first preset target torque;

[0024] The fourth motion information of the shift actuator is obtained, and when the fourth motion information meets a preset high-speed operation condition, it is determined that the top tooth fault in the synchronizer forward gear process is eliminated.

[0025] In one embodiment, before controlling the clutch to engage to the preset target position, the method further includes:

[0026] Controlling the clutch to perform a disengagement action;

[0027] When the clutch is in a completely disengaged state, an identification result of the current state of the synchronizer top gear is obtained.

[0028] In a second aspect, the present application also provides a shift control device. The device comprises:

[0029] An acquisition module, used for acquiring first motion information of the shift actuator when controlling the shift actuator to perform a shift-in action;

[0030] a position module, configured to obtain a matching result between the current position information of the synchronizer and a target synchronization stroke when the first motion information of the shift actuator satisfies a first preset low-speed operation condition; the target synchronization stroke is used to characterize a synchronization slip stroke between a synchronization start position and a synchronization complete position of the synchronizer and the forward gear;

[0031] A diagnostic module is used to determine the recognition result of the synchronizer forward gear top tooth condition according to the matching result, and the recognition result is used to indicate the shift control process.

[0032] In a third aspect, the present application also provides a gear shift controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the gear shift control method provided in the first aspect of the present application when executing the computer program.

[0033] In a fourth aspect, the present application further provides a vehicle, which includes the shift controller provided in the third aspect of the present application.

[0034] The above-mentioned shift control method, device, shift controller and vehicle obtain the first motion information of the shift actuator when controlling the shift actuator to perform the shift action, obtain the matching result of the current position information of the synchronizer and the target synchronization stroke when the first motion information of the shift actuator meets the first preset low-speed operation condition, and determine the recognition result of the synchronizer's forward gear top gear condition according to the matching result, and the recognition result is used to indicate the shift control process. The present application first pre-judges whether the motion information of the shift actuator belongs to the first preset low-speed operation condition, and then determines the relationship between the current position of the synchronizer and the starting position of the synchronization process to eliminate the interference caused by the synchronizer's too low actuator movement speed during the shift synchronization process, and can accurately identify whether the synchronizer forward gear top gear fault occurs. According to the recognition result, when the forward gear top gear fault occurs, the corresponding fault handling strategy can be executed in time to continue the forward gear process. When the forward gear top gear fault does not occur, the shift solenoid valve continues to be controlled to open, thereby reducing the risks of increased shift time and shift failure, and improving the shift performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG1 is a schematic flow chart of a shift control method in one embodiment;

[0036] FIG2 is a schematic diagram of a flow chart of a step of obtaining a matching result in one embodiment;

[0037] FIG3 is a schematic diagram of a flow chart of a step of determining a recognition result in one embodiment;

[0038] FIG4 is a schematic flow chart of a shift control method in another embodiment;

[0039] FIG5 is a schematic flow chart of a shift control method in another embodiment;

[0040] FIG6 is a schematic diagram of a flow chart of determining an identification result of a shift control method in another embodiment;

[0041] FIG7 is a schematic flow chart of a method for removing a top gear fault in a shift control method according to another embodiment;

[0042] FIG. 8 is a structural block diagram of a shift control device in one embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] An embodiment of the present application provides a gear shift control method, which can be applied to a transmission control unit (TCU). The TCU is mainly used for gear management of a transmission and real-time torque distribution.

[0045] Among them, in the AMT shift control system, it usually includes two independent control units, namely TCU and Motor Control Unit (MCU), among which TCU is connected to the shift motor, the shift motor is installed on the shift actuator, and TCU controls the shift actuator to perform the shift action through the shift motor. MCU is connected to the drive motor, and data transmission and command transmission are carried out between TCU and MCU through CAN bus. TCU continuously determines whether to update the target gear according to the collected signals including vehicle speed, accelerator pedal opening, and vehicle acceleration; TCU can also send torque unloading instructions, free mode instructions, speed regulation instructions, random torque control instructions, and torque loading instructions to MCU.

[0046] In one embodiment, as shown in FIG. 1 , a shift control method is provided, and the method is described by taking the application of the method to the transmission control unit in FIG. 1 as an example, comprising the following steps:

[0047] Step 202 : when controlling the shift actuator to execute the shift-in action, obtaining first motion information of the shift actuator.

[0048] The first movement information includes the current movement speed of the shift actuator when the shift actuator performs the shift-up action.

[0049] For example, the transmission control unit determines when a gear shift operation is required based on real-time data from vehicle sensors, such as vehicle speed, accelerator pedal opening, and speed. Once the gear shift conditions are met, the transmission control unit sends a synchronizer shift command to the shift solenoid valve to control the shift actuator to perform the gear shift action. When the transmission control unit controls the shift solenoid valve to open and the shift actuator to perform the gear shift action, it obtains the current movement speed of the shift actuator.

[0050] In an optional implementation, the transmission control unit may obtain the position of the shift actuator via a shift position sensor, and then calculate the current movement speed of the shift actuator via the position change of the shift actuator within a certain period.

[0051] Step 204 : when the first motion information of the shift actuator satisfies the first preset low-speed operation condition, a matching result between the current position information of the synchronizer and the target synchronization stroke is obtained.

[0052] Exemplarily, the transmission control unit compares the relationship between the current movement speed in the first movement information of the shift actuator and the first preset speed, and the first preset speed can be a speed set by calibration. If the current movement speed in the first movement information is less than the first preset speed, the first movement information satisfies the first preset low-speed operation condition; if the current movement speed in the first movement information is greater than or equal to the first preset speed, the first movement information does not satisfy the first preset low-speed operation condition.

[0053] When the first motion information of the shift actuator does not meet the first preset low-speed operation condition, the transmission control unit of the embodiment of the present application determines that the synchronizer has no forward gear top tooth failure, and the transmission control unit continues to control the shift solenoid valve to open, and controls the shift actuator to continue to execute the forward gear action.

[0054] The transmission control unit of the embodiment of the present application obtains the matching result of the current position information of the synchronizer and the target synchronization stroke when the first motion information of the shift actuator meets the first preset low-speed operation condition. The target synchronization stroke is used to characterize the synchronization slip stroke between the synchronizer starting position where the synchronizer and the forward gear start synchronization and the synchronizer complete position where the synchronization is completed. The matching result can be used to indicate whether the current position of the synchronizer exceeds or reaches the starting position of the synchronization process.

[0055] Step 206, determining the recognition result of the synchronizer forward gear top gear condition according to the matching result, and the recognition result is used to indicate the shift control process.

[0056] When the movement speed of the shift actuator meets the first preset low-speed operation condition, it may be because the synchronization window is too small and the gear-up tooth occurs, resulting in a reduction in movement speed, or it may be because the movement speed of the shift actuator itself is too low during the synchronizer shift synchronization process. In order to eliminate the interference caused by the actuator movement speed being too low during the synchronizer shift synchronization process, the transmission control unit of the embodiment of the present application obtains the matching result of the current position information of the synchronizer and the target synchronization stroke, and determines whether the synchronizer gear-up tooth fault occurs according to the matching result.

[0057] In the above-mentioned shift control method, when the shift actuator is controlled to perform the shift action, the first motion information of the shift actuator is obtained. When the first motion information of the shift actuator meets the first preset low-speed operation condition, the matching result of the current position information of the synchronizer and the target synchronization stroke is obtained, and the recognition result of the synchronizer's forward gear top gear condition is determined according to the matching result, and the recognition result is used to indicate the shift control process. The embodiment of the present application first pre-judges whether the motion information of the shift actuator belongs to the first preset low-speed operation condition, and then determines the relationship between the current position of the synchronizer and the starting position of the synchronization process, thereby eliminating the interference caused by the synchronizer's too low actuator movement speed during the shift synchronization process, and can accurately identify whether the synchronizer forward gear top gear fault occurs. According to the recognition result, when the forward gear top gear fault occurs, the corresponding fault handling strategy can be executed in time to continue the forward gear process. When the forward gear top gear fault does not occur, the shift solenoid valve is continued to be controlled to open, thereby reducing the risks of increased shift time and shift failure, and improving the shift performance.

[0058] In an optional implementation of the embodiment of FIG. 1 , as shown in FIG. 2 , the step of obtaining the matching result of the current position information of the synchronizer and the target synchronization stroke includes:

[0059] Step 202, obtaining the current displacement of the shift actuator compared to the neutral position.

[0060] Step 204 , comparing the current displacement of the shift actuator relative to the neutral position with the preset synchronization distance, and determining a matching result according to the comparison result.

[0061] The preset synchronization distance is used to represent the movement distance of the shift actuator when the synchronizer is in the synchronization starting position compared to the neutral position.

[0062] Exemplarily, the position of the sliding sleeve in neutral is used as a reference standard, for example, the position of the shift actuator when the sliding sleeve is in neutral is recorded as 0, and relative to the neutral position, the distance from the position of the shift actuator to the neutral position when the synchronization process starts, for example, 4 to 5 mm is used as the preset synchronization distance.

[0063] The transmission control unit of the embodiment of the present application obtains the current displacement of the shift actuator compared to the neutral position, compares the current displacement with the preset synchronization distance, determines the matching result based on the comparison result, and then determines the recognition result of the synchronizer forward gear top tooth condition based on the matching result.

[0064] For example, if the current displacement is less than or equal to the preset synchronization distance, it means that the synchronizer is in the synchronization process, the current position information of the synchronizer does not match the target synchronization stroke, and it is determined that no top tooth fault occurs in the synchronizer shifting process. At this time, the shift solenoid valve continues to be controlled to open, and the shift actuator executes the shifting action; if the current displacement is greater than the preset synchronization distance, it means that the synchronizer synchronization process has ended, the current position information of the synchronizer matches the target synchronization stroke, and it is determined that a top tooth fault occurs in the synchronizer shifting process. At this time, the corresponding top tooth fault handling strategy is executed in time.

[0065] In another preferred embodiment, as shown in FIG3 , the step of determining the recognition result of the synchronizer forward gear top gear condition according to the matching result includes:

[0066] Step 302: When the current position information of the synchronizer matches the target synchronization stroke, the displacement of the shift actuator within a preset waiting time is obtained.

[0067] Step 304 : acquiring second motion information of the shift actuator according to the displacement of the shift actuator after the preset waiting time.

[0068] Step 306 , when the second motion information satisfies the second preset low-speed operation condition, it is determined that a top tooth fault occurs during the synchronizer shifting process.

[0069] The second movement information may include a movement speed of the shift actuator during a preset waiting time.

[0070] For example, if the current displacement of the shift actuator is greater than the preset synchronization position, the timer is started, the current timer time is continuously obtained, and after the timer time reaches the preset waiting time, the position of the shift actuator after the preset waiting time is obtained, and the second movement speed of the shift actuator is calculated. The second movement speed is compared with the second preset speed, and the second preset speed can be a speed set by calibration. If the second movement speed is greater than the second preset speed, it is determined that the top tooth fault has not occurred; if the second movement speed is less than or equal to the second preset speed, it is determined that the top tooth fault has occurred during the synchronizer shift process.

[0071] In an embodiment of the present application, if the current displacement is greater than the preset synchronization distance, it means that the synchronizer synchronization process has ended, and the current position information of the synchronizer matches the target synchronization stroke. At this time, it is not directly determined whether a top tooth failure occurs in the synchronizer gear shifting process, but a confirmation time is set to further ensure the accuracy of the top tooth failure judgment.

[0072] In the shift control process, the embodiment of the present application further provides a fault handling strategy for identifying a synchronizer forward gear top gear fault. The top gear fault handling strategy of the embodiment of the present application in the shift control method process will be described below.

[0073] In one embodiment, as shown in FIG4 , the shift control method of the embodiment of the present application further includes:

[0074] Step 402 : When it is determined that a top tooth fault occurs during the synchronizer shifting process, the clutch is controlled to engage to a preset target position and the engine torque is controlled to a first preset target torque.

[0075] Step 404 , obtaining third motion information of the shift actuator, and determining that the top tooth fault in the synchronizer shifting process is resolved when the third motion information meets a preset high-speed operation condition.

[0076] In the embodiment of the present application, after a top tooth fault occurs and the top tooth fault processing is triggered, the transmission control unit can obtain the clutch position through the clutch position sensor, control the clutch to engage to the preset target position to transmit torque, and then obtain the actual engine torque through the CAN bus message, and control the engine torque to reach the first preset target torque, and complete the synchronizer misalignment by giving a torque at the input end.

[0077] Optionally, before controlling the clutch to engage to the preset target position, the transmission control unit may first control the clutch to perform a disengagement action. The transmission control unit obtains the clutch position through the clutch position sensor, and determines whether the clutch is completely disengaged through the clutch position. When the clutch is in a completely disengaged state, the recognition result of the top gear condition of the current synchronizer is obtained. Specifically, the clutch is kept in a completely disengaged state, and an indicator of whether a top gear fault occurs is obtained. If there is no top gear fault indicator, it means that the top gear fault has been resolved. If there is a top gear fault indicator, the next step is to control the clutch to engage to the preset target position.

[0078] After the engine reaches the first preset target torque, the transmission control unit can obtain the third motion information of the shift actuator, the third motion information includes the third motion speed of the shift actuator after the engine reaches the first preset target torque, and the transmission control unit compares the third motion speed with the third preset speed, and the third preset speed can be set by calibration. Among them, if the third motion speed is greater than or equal to the third preset speed, the third motion information meets the preset high-speed operation condition, and the top tooth fault during the synchronizer shift process is eliminated.

[0079] In an optional implementation of the embodiment shown in FIG. 4 , as shown in FIG. 5 , the shift control method of the embodiment of the present application further includes:

[0080] Step 502: When the third motion information does not satisfy the preset high-speed operation condition, control the engine torque to a second preset target torque.

[0081] Wherein, the second preset target torque is greater than the first preset target torque.

[0082] Step 504 , obtaining fourth motion information of the shift actuator, and determining that the top tooth fault in the synchronizer shifting process is resolved when the fourth motion information meets a preset high-speed operation condition.

[0083] Exemplarily, if the third movement speed is less than the third preset speed, the third movement information does not meet the preset high-speed operation condition, and the transmission control unit continues to control the increase of the engine torque to increase the actual engine torque to the second preset torque. After the actual engine torque reaches the second preset torque, the transmission control unit can obtain the fourth movement information of the shift actuator, and the fourth movement information includes the fourth movement speed of the shift actuator after the engine reaches the second preset target torque. The transmission control unit compares the fourth movement speed with the third preset speed. Among them, if the fourth movement speed is greater than or equal to the third preset speed, the fourth movement information meets the preset high-speed operation condition, and the top tooth fault during the synchronizer shift process is eliminated.

[0084] After the top tooth fault is eliminated during the synchronizer shifting process, the transmission control unit controls the clutch to completely disengage, thus ending the top tooth fault handling process.

[0085] In this embodiment, when the top tooth fault is not resolved in time, the target torque of the engine is increased to transmit a greater torque to the input shaft, driving the synchronizer and the gear to rotate a certain angle to speed up the tooth misalignment during the gear shifting process, thereby further speeding up the gear shifting speed, reducing the gear shifting time, improving the gear shifting success rate, and increasing the service life of the gear.

[0086] In one embodiment, a shift control method is also provided. Please refer to FIG. 6 and FIG. 7 . The shift control method includes the following process:

[0087] Step A, at the start time, first wait for the synchronizer gear engagement instruction, if there is no synchronizer gear shift instruction, continue to maintain the current synchronizer gear position, if there is a gear shift command, proceed to the next step.

[0088] Step B: The transmission control unit controls the shift solenoid valve to open, the shift actuator performs the shift action, the shift position sensor obtains the shift actuator position, and calculates the actuator movement speed. The actuator movement speed is calculated by the shift actuator position change within a certain period.

[0089] Step C, compare the relationship between the actuator movement speed and the preset speed V1, the preset speed V1 is a speed that can be set by calibration. If the actuator movement speed is greater than or equal to the preset speed V1, the shift solenoid valve is controlled to open, and the shift actuator performs the forward gear action. If the actuator movement speed is less than the preset speed V1, the size relationship between the shift actuator displacement and the preset synchronization position is compared. The preset synchronization position is a position that can be set by calibration.

[0090] Step D: If the actuator displacement is less than or equal to the preset synchronization position, it means that the synchronizer is in the synchronization process. At this time, the shift solenoid valve is still controlled to open, and the shift actuator performs the forward gear action. If the actuator displacement is greater than the preset synchronization position, it means that the synchronizer synchronization process has ended. At this time, the synchronizer has a forward gear top gear. Start the timer and obtain the current timer time.

[0091] Step E: If the current time of the timer is less than the preset time, the timer time is continuously obtained; if the current time of the timer is greater than or equal to the preset time, the position of the shift actuator is obtained and the actuator movement speed is calculated. The actuator movement speed is calculated by the position change of the shift actuator within a certain period.

[0092] Step F, compare the actuator movement speed with the preset speed V2, the preset speed V2 is a speed that can be set by calibration. V1 and V2 have no magnitude relationship. If the actuator movement speed is greater than the preset speed V2, it is determined that the top tooth fault has not occurred. If the actuator movement speed is less than or equal to the preset speed V2, it is determined that the top tooth fault has occurred during the synchronizer shift process.

[0093] Step G: If a top gear fault occurs during the synchronizer shifting process, the transmission control unit first controls the clutch to be completely disengaged, and obtains the clutch position through the clutch position sensor. The clutch position is used to determine whether the clutch is completely disengaged.

[0094] Step H: If the clutch is not completely separated, the clutch is controlled to continue to separate. If the clutch is completely separated, the clutch is kept in a completely separated state.

[0095] Step I, at this time, obtain the flag of whether the top tooth fault occurs. If there is no top tooth fault flag, it means that the top tooth fault has been resolved. If there is a top tooth fault flag, proceed to the next step.

[0096] Step J, control the clutch to engage to a preset position, and obtain the clutch position through a clutch position sensor. If the clutch is not engaged to the preset position, continue to control the clutch to engage to the preset position. If the clutch is engaged to the preset position, proceed to the next step.

[0097] Step K, control the engine torque to the preset target torque, obtain the actual engine torque through the CAN bus message, and if the actual engine torque does not reach the preset target torque, continue to control the engine torque. If the actual engine torque has reached the target torque, obtain the shift actuator displacement.

[0098] Step L, calculating the actuator movement speed. The actuator movement speed is calculated by the position change of the shift actuator within a certain period.

[0099] Step M, compare the actuator movement speed with the preset speed V3, the preset speed V3 is a speed that can be set by calibration. V3 has no size relationship with the preset speed V1 and the preset speed V2. If the actuator movement speed is less than the preset speed V3, the preset target torque of the engine is increased, and the engine torque is continued to be controlled to the preset target torque. The actual torque of the engine is obtained through the CAN bus message. If the actual torque of the engine does not reach the preset target torque, the engine torque is continued to be controlled. If the actual torque of the engine has reached the target torque, the displacement of the shift actuator is obtained. Calculate the actuator movement speed. The actuator movement speed is calculated by the position change of the shift actuator within a certain period.

[0100] Step N, if the actuator movement speed is greater than or equal to the preset speed V3, the top tooth fault in the synchronizer shift process is eliminated. The clutch is controlled to be completely disengaged, and the clutch position is used to determine whether the clutch actuator moves to the completely disengaged position. If the clutch is not completely disengaged, the clutch is continued to be controlled to be disengaged. If the clutch actuator moves to be completely disengaged, the top tooth fault processing flow is terminated.

[0101] The embodiment of the present application can solve the problem of top gear occurring during synchronizer shifting using a pneumatic actuator or an electric actuator, thereby improving the shifting success rate, reducing the shifting time, and increasing the service life of the gears. Specifically, it has the following beneficial effects:

[0102] (1) First, the movement speed of the shift actuator is compared with the preset speed, and then the position of the shift actuator is compared with the preset synchronization position to eliminate the interference caused by the actuator movement speed being too low during the synchronizer shift synchronization process. At the same time, a confirmation time is set to ensure the accuracy of the top tooth fault judgment.

[0103] (2) Secondly, after a top tooth fault occurs and the top tooth fault processing is triggered, the clutch is first completely disengaged to eliminate the influence of the clutch on the synchronizer shifting process. The clutch is engaged to the preset position to transmit torque. By controlling the actual engine torque to the preset target torque, a torque is given at the input end to complete the synchronizer misalignment. Comparing the relationship between the movement speed of the shift actuator and the preset speed, when its movement speed is greater than the preset speed, it means that the top tooth fault processing is completed at this time.

[0104] (3) Finally, when the top gear fault is not resolved in time, the target torque of the engine is increased to transmit a greater torque to the input shaft, driving the synchronizer and the gear to rotate a certain angle to speed up the misalignment of the gears during the gear shifting process. This speeds up the gear shifting process, reduces the gear shifting time, improves the gear shifting success rate, and increases the service life of the gears.

[0105] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0106] Based on the same inventive concept, the embodiment of the present application also provides a shift control device for implementing the shift control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more shift control device embodiments provided below can refer to the limitations of the shift control method above, and will not be repeated here.

[0107] In one embodiment, as shown in FIG8 , a shift control device is provided, including: an acquisition module 802 , a position module 804 and a diagnosis module 806 , wherein:

[0108] The acquisition module 802 is used to acquire first motion information of the gear shift actuator when controlling the gear shift actuator to perform a gear-up action.

[0109] The position module 804 is used to obtain the matching result of the current position information of the synchronizer and the target synchronization stroke when the first motion information of the shift actuator meets the first preset low-speed operation condition; the target synchronization stroke is used to characterize the synchronization slip stroke between the synchronization start position and the synchronization complete position of the synchronizer and the forward gear.

[0110] The diagnosis module 806 is used to determine the recognition result of the synchronizer forward gear top gear condition according to the matching result, and the recognition result is used to indicate the shift control process.

[0111] Each module in the above-mentioned shift control device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0112] In one embodiment, the present application further provides a shift controller, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the steps in the shift control method in the above embodiment are implemented. To avoid repetition, it is not described here. Alternatively, when the processor executes the computer program, the functions of each module in the embodiment of the shift control device are implemented. To avoid repetition, it is not described here.

[0113] In one embodiment, the present invention further provides a readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the shift control method in the above embodiment are implemented. To avoid repetition, it is not repeated here. Alternatively, when the processor executes the computer program, the functions of each module in the embodiment of the shift control device are implemented. To avoid repetition, it is not repeated here.

[0114] In one embodiment, the present application also provides a vehicle, on which is provided a shift controller provided in an embodiment of the present application.

[0115] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0116] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0117] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0118] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A gear shift control method, characterized in that: The method comprises: When controlling the shift actuator to perform a shift-in action, obtaining first motion information of the shift actuator; When the first motion information of the shift actuator satisfies a first preset low-speed operation condition, a matching result between the current position information of the synchronizer and a target synchronization stroke is obtained; the target synchronization stroke is used to characterize the synchronization slip stroke between the synchronization start position and the synchronization complete position of the synchronizer and the forward gear; The recognition result of the synchronizer forward gear top tooth condition is determined according to the matching result, and the recognition result is used to indicate the shift control process.

2. The method according to claim 1, characterized in that The step of determining the recognition result of the synchronizer forward gear top gear condition according to the matching result includes: When the current position information of the synchronizer does not match the target synchronization stroke, it is determined that no top tooth fault occurs during the synchronizer gear advance process.

3. The method according to claim 2, characterized in that The step of determining the recognition result of the synchronizer forward gear top gear condition according to the matching result includes: When the current position information of the synchronizer matches the target synchronization stroke, obtaining the displacement of the shift actuator within a preset waiting time; acquiring second motion information of the shift actuator according to the displacement of the shift actuator within a preset waiting time; When the second motion information satisfies a second preset low-speed operation condition, it is determined that a top tooth fault occurs during the synchronizer shift advance process.

4. The method according to claim 1, characterized in that: The obtaining of the matching result of the current position information of the synchronizer and the target synchronization stroke includes: Obtaining a current displacement of the shift actuator relative to a neutral position; The current displacement of the shift actuator compared to the neutral position is compared with a preset synchronization distance, and the matching result is determined based on the comparison result; the preset synchronization distance is used to characterize the movement distance of the shift actuator when the synchronizer is in the synchronization starting position compared to the neutral position.

5. The method according to claim 1, characterized in that The method further comprises: When it is determined that a top tooth fault occurs during the synchronizer shifting process, the clutch is controlled to engage to a preset target position and the engine torque is controlled to a first preset target torque; The third motion information of the shift actuator is obtained, and when the third motion information meets a preset high-speed operation condition, it is determined that the top tooth fault in the synchronizer forward gear process is eliminated.

6. The method according to claim 5, characterized in that The method further comprises: When the third motion information does not meet the preset high-speed running condition, the engine torque is controlled to a second preset target torque; the second preset target torque is greater than the first preset target torque; The fourth motion information of the shift actuator is obtained, and when the fourth motion information meets a preset high-speed operation condition, it is determined that the top tooth fault in the synchronizer forward gear process is eliminated.

7. The method according to claim 5, characterized in that Before controlling the clutch to engage to a preset target position, it also includes: Controlling the clutch to perform a disengagement action; When the clutch is in a completely disengaged state, an identification result of the current state of the synchronizer top gear is obtained.

8. A gear shift control device, characterized in that: The device comprises: An acquisition module, used for acquiring first motion information of the shift actuator when controlling the shift actuator to perform a shift-in action; a position module, configured to obtain a matching result between the current position information of the synchronizer and a target synchronization stroke when the first motion information of the shift actuator satisfies a first preset low-speed operation condition; the target synchronization stroke is used to characterize a synchronization slip stroke between a synchronization start position and a synchronization complete position of the synchronizer and the forward gear; A diagnostic module is used to determine the recognition result of the synchronizer forward gear top tooth condition according to the matching result, and the recognition result is used to indicate the shift control process.

9. A shift controller, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the shift control method according to any one of claims 1 to 7 when executing the computer program.

10. A vehicle, characterized in that: Comprising the shift controller as claimed in claim 9.

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