AMT gearbox gear self-learning method, device, equipment and medium

Abstract

The present invention discloses a self-learning method, device, equipment and medium for an AMT gearbox. The self-learning method for the AMT gearbox comprises: driving the gear selection and shifting actuator to move to the minimum gear selection position; driving the gear selection and shifting actuator to move to obtain the gear selection position corresponding to the current gear group; when the next gear group is the last gear group, driving the gear selection and shifting actuator to move to the maximum gear selection position, and executing the step of driving the gear selection and shifting actuator to move to obtain the gear selection position corresponding to the current gear group; when the next gear group is not the last gear group, executing the step of determining the target gear selection position of the next gear group based on the gear selection position corresponding to the current gear group. By adopting the above scheme, the gear selection position inconsistency caused by the pre-factory assembly problem, processing problem and later wear and tear of the AMT gearbox is solved, which in turn causes the actual gear recognition error, gear shifting difficulty and gear shifting abnormal noise.

Description

Technical Field

[0001] The present invention relates to the technical field of gearboxes, and in particular to an AMT gearbox gear self-learning method, device, equipment and medium. Background Art

[0002] The current gear recognition and whether the gear selection is completed of the current AMT gearbox are all judged based on the actual position value obtained by the position sensor and the set gear selection position. If the gear selection position is inaccurate, it may lead to errors in the actual gear judgment, too long gear selection time, difficulty in shifting gears, and large impact of shifting gears. Due to the wear and tear during the mass production and assembly of the gearbox and the later use of the gearbox, the gear selection position of each gearbox may deviate. Therefore, it is very necessary for each gearbox to automatically obtain the gear selection position. Summary of the invention

[0003] The present invention provides an AMT gearbox gear self-learning method, device, equipment and medium to solve the problems of inconsistent gear selection positions caused by pre-factory assembly problems, processing problems and later wear and tear of the AMT gearbox, which in turn lead to actual gear position recognition errors, gear shifting difficulties and abnormal gear shifting noises.

[0004] According to one aspect of the present invention, an AMT gearbox gear self-learning method is provided, and the AMT gearbox gear self-learning method comprises:

[0005] Control the gear selection motor to drive the gear selection and shifting actuator to move to the minimum gear selection position;

[0006] Controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move, so as to obtain the gear selection position corresponding to the current gear group, wherein one gear group corresponds to at least one gear;

[0007] Determining a target gear selection position for a next gear group based on the gear selection position corresponding to the current gear group;

[0008] Controlling the gear selection motor to drive the gear selection and shifting actuator to move along the gear selection direction to the target gear selection position, and executing the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move, so as to obtain the gear selection position corresponding to the current gear position group;

[0009] When the next gear group is the last gear group, controlling the gear selection motor to drive the gear selection and shifting actuator to move to the maximum gear selection position, and executing the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move, so as to obtain the gear selection position corresponding to the current gear group;

[0010] When the next gear group is not the last gear group, a step of determining a target gear selection position of the next gear group based on the gear selection position corresponding to the current gear group is performed.

[0011] In an optional embodiment of the present invention, controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move so as to obtain the gear selection position corresponding to the current gear position group includes:

[0012] Controlling the shift motor to drive the shift actuator to move to the in-gear position;

[0013] Controlling the gear selection motor to drive the gear selection and shifting actuator to move a first distance in a first direction, and recording the current gear selection position as a first gear selection position;

[0014] Controlling the gear selection motor to drive the gear selection and shifting actuator to move a second distance in a second direction, and recording the current gear selection position as a second gear selection position, wherein the first direction and the second direction are opposite directions and are both parallel to the gear selection direction;

[0015] An average value of the first gear selection position and the second gear selection position is determined as the gear selection position corresponding to the current gear position group.

[0016] In an optional embodiment of the present invention, after recording the current gear selection position as the second gear selection position, the method further includes:

[0017] determining whether an absolute value of a difference between the first gear selection position and the second gear selection position is greater than or equal to a preset position difference;

[0018] When the absolute value of the difference between the first gear selection position and the second gear selection position is greater than or equal to the preset position difference, performing the step of determining the average value of the first gear selection position and the second gear selection position as the gear selection position corresponding to the current gear position group;

[0019] When the absolute value of the difference between the first gear selection position and the second gear selection position is smaller than the preset position difference, the step of determining the average value of the first gear selection position and the second gear selection position as the gear selection position corresponding to the current gear position group is not performed.

[0020] In an optional embodiment of the present invention, before controlling the gear selection motor to drive the gear selection and shifting actuator to move along the gear selection direction to the target gear selection position, the method further includes:

[0021] Controlling the gear selection motor to drive the gear selection and shifting actuator to move to the gear selection position corresponding to the current gear position group, and controlling the gear shifting motor to drive the gear selection and shifting actuator to move to the neutral position;

[0022] Correspondingly, after controlling the gear selection motor to drive the gear selection and shifting actuator to move along the gear selection direction to the target gear selection position, the method further includes:

[0023] Record the current gear shift position as the first gear shift position;

[0024] Controlling the shift motor to drive the shift actuator to move along the shift direction, and recording the current shift position as the second shift position;

[0025] determining whether the gear selection and shifting actuator enters a gear engaging range based on the first gear shifting position and the second gear shifting position;

[0026] When the gear selection and shifting actuator enters the gear engaging range, the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move so as to obtain the gear selection position corresponding to the current gear position group is executed;

[0027] When the gear selection and shifting actuator has not entered the gear engaging range, adjusting the target gear selection position;

[0028] The gear selection motor is controlled to drive the gear selection and shifting actuator to move to the adjusted target gear selection position, and a step of recording the current gear shifting position as a first gear shifting position is performed.

[0029] In an optional embodiment of the present invention, determining a target gear selection position of a next gear group based on the gear selection position corresponding to the current gear group includes:

[0030] Based on the gear selection position corresponding to the current gear group, the target gear selection position of the next gear group is determined by the following formula:

[0031] P M2 =P M1 +Ofs+Stp×Cnt, where P M1 is the gear selection position corresponding to the current gear group, P M2 is the target gear selection position of the next gear group, Ofs is the offset, Stp is the position step, and Cnt is the counting step;

[0032] Accordingly, when the gear selection and shifting actuator does not enter the gear engaging range, adjusting the target gear selection position includes:

[0033] When the gear selection and shifting actuator does not enter the gear engagement range, the counting step is increased by one, and the target gear selection position is adjusted based on the adjusted counting step.

[0034] In an optional embodiment of the present invention, after the counting step is increased by one, the method further includes:

[0035] Determining whether the counting step is greater than or equal to a preset step threshold;

[0036] When the counting step length is greater than or equal to the preset step length threshold, it is determined that the gear selection position corresponding to the current gear group fails to be acquired;

[0037] When the counting step is smaller than the preset step threshold, the step of adjusting the target gear selection position based on the adjusted counting step is performed.

[0038] In an optional embodiment of the present invention, when the current gear group is the first gear group, before controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move to obtain the gear selection position corresponding to the current gear group, the method further includes:

[0039] Determining whether a difference between a current gear selection position of the gear selection and shifting actuator and a minimum gear selection position is less than a preset difference;

[0040] When the difference between the current gear selection position of the gear selection and shifting actuator and the minimum gear selection position is less than a preset difference, the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move to obtain the gear selection position corresponding to the current gear position group is executed; and / or

[0041] When the current gear group is the last gear group, before controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move to obtain the gear selection position corresponding to the current gear group, the method further includes:

[0042] Determining whether a difference between a current gear selection position of the gear selection and shifting actuator and a maximum gear selection position is less than a preset difference;

[0043] When the difference between the current gear selection position of the gear selection and shifting actuator and the maximum gear selection position is less than a preset difference, the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move is executed to obtain the gear selection position corresponding to the current gear group.

[0044] According to another aspect of the present invention, an AMT gearbox gear self-learning device is provided, and the AMT gearbox gear self-learning device comprises:

[0045] The first gear selection control module is used to control the gear selection motor to drive the gear selection and shifting actuator to move to the minimum gear selection position;

[0046] A gear selection and shift control module, used to control the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move, so as to obtain the gear selection position corresponding to the current gear group, wherein one gear group corresponds to at least one gear;

[0047] A determination module, configured to determine a target gear selection position of a next gear group based on the gear selection position corresponding to the current gear group;

[0048] A second gear selection control module is used to control the gear selection motor to drive the gear selection and shifting actuator to move along the gear selection direction to the target gear selection position, and execute the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move, so as to obtain the gear selection position corresponding to the current gear position group;

[0049] A first execution module is used for controlling the gear selection motor to drive the gear selection and shifting actuator to move to the maximum gear selection position when the next gear group is the last gear group, and executing the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move, so as to obtain the gear selection position corresponding to the current gear group;

[0050] The second execution module is used for executing the step of determining the target gear selection position of the next gear group based on the gear selection position corresponding to the current gear group when the next gear group is not the last gear group.

[0051] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0052] at least one processor; and

[0053] a memory communicatively connected to the at least one processor; wherein,

[0054] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the AMT transmission gear self-learning method described in any embodiment of the present invention.

[0055] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the AMT transmission gear self-learning method described in any embodiment of the present invention when executed.

[0056] The technical solution of the embodiment of the present invention takes the minimum gear selection position as the starting point, obtains the gear selection position of the gear group corresponding to the minimum gear selection position, and then uses the gear selection motor to drive the gear selection and shifting actuator to move in a single direction along the gear selection direction and cross-drive the gear shifting motor to obtain the gear selection position of each gear group, and then obtains the gear selection position of each gear. At the same time, when obtaining the gear selection position of the last gear group, the gear selection and shifting actuator is directly driven to move to the maximum gear selection position. The gear selection position of each gear can be self-learned, which solves the problems of inconsistent gear selection positions caused by pre-factory assembly problems, processing problems, and later wear and tear of the AMT gearbox, and then causes errors in actual gear recognition, difficulty in shifting, and abnormal noise when shifting. At the same time, this solution only requires single-direction gear selection and shifting cross-drive to obtain the gear selection position, which can make it easier to obtain the gear selection position and save time.

[0057] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0059] Figure 1 A flowchart of an AMT gearbox gear self-learning method provided in Embodiment 1 of the present invention;

[0060] Figure 2 A gear distribution diagram of a gearbox provided in Embodiment 1 of the present invention;

[0061] Figure 3 A gear position distribution diagram of another gearbox provided in Embodiment 1 of the present invention;

[0062] Figure 4 yes Figure 1 The step of controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move, so as to obtain a flow chart of the gear selection position corresponding to the current gear position group;

[0063] Figure 5 A flowchart of an AMT gearbox gear self-learning method provided in Embodiment 2 of the present invention;

[0064] Figure 6 A schematic diagram of the structure of an AMT gearbox gear self-learning device provided in Embodiment 3 of the present invention;

[0065] Figure 7 It is a structural schematic diagram of an electronic device for implementing the AMT transmission gear self-learning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0066] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0067] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0068] Embodiment 1

[0069] Figure 1 The present invention provides a flowchart of an AMT transmission gear self-learning method according to a first embodiment of the present invention. The AMT transmission, which stands for Automated Mechanical Transmission, is a mechanical automatic transmission. The AMT transmission is based on a traditional dry clutch and gear transmission, with the addition of a microcomputer-controlled automatic transmission module, thereby realizing automated gear shifting. The AMT transmission has the advantages of automatic shifting of a hydraulic automatic transmission, while retaining the advantages of high efficiency, low cost, simple structure, and easy manufacturing of the original manual transmission gear transmission. The AMT transmission can intelligently select the best gear based on factors such as vehicle speed, throttle opening, and the driver's control instructions, thereby improving driving convenience and comfort. The AMT transmission gear self-learning method provided by the present invention can be executed by an AMT transmission gear self-learning device, which can be implemented in the form of hardware and / or software, and can be configured in a vehicle. Figure 1 As shown, the AMT gearbox gear self-learning method includes:

[0070] S110, controlling the gear selection motor to drive the gear selection and shifting actuator to move to the minimum gear selection position.

[0071] Among them, the gear selection motor is a motor used for gear selection of the gearbox, which can drive the gear selection and shifting actuator to move along the gear selection direction. In this embodiment, the gear selection direction is the X-axis direction. The minimum gear selection position refers to any one of the two end positions of the gear selection and shifting actuator, that is, any one of the farthest two ends that the gear selection and shifting actuator can move to along the X-axis direction. It can be understood that the other end position of the two end positions is the maximum gear selection position, that is, the farthest two ends that the gear selection and shifting actuator can move to along the X-axis direction are respectively the minimum gear selection position and the maximum gear selection position, and the minimum gear selection position and the maximum gear selection position usually correspond to specific gear positions of the gearbox.

[0072] The shift motor is a motor used for transmission shifting, which can drive the shift actuator to move along the shift direction. In this embodiment, the shift direction is the Y-axis direction. The shift actuator refers to a mechanism used to respond to the control of the shift motor and the shift motor to achieve shifting. When a certain gear needs to be selected, the shift motor drives the shift actuator to move along the X-axis direction to the gear selection position of the gear, and then the shift motor drives the shift actuator to move along the Y-axis direction to the gear position of the gear, thereby achieving the selection of the gear. It can be understood that the X-axis direction and the Y-axis direction are only for the convenience of explaining this application, and do not specifically limit the shift direction and the gear shift direction. In actual application, it is sufficient that the shift direction and the gear shift direction are perpendicular.

[0073] In some embodiments, the gear selection and shifting actuator includes a gear shift shaft, a gear selection shaft, a shift fork and a transmission mechanism. When shifting, the gear selection motor drives the gear selection shaft to move through the transmission mechanism. The movement of the gear selection shaft drives the gear shift shaft connected thereto to move in the gear selection direction. The position change of the gear shift shaft in the gear selection direction represents the change of the selected gear. When the gear shift shaft moves to the gear selection position of the selected gear, the operation of the gear selection motor is completed. Then, the gear shift motor drives the gear shift shaft to move in the gear shift direction through the transmission mechanism. The movement of the gear shift shaft drives the shift fork connected thereto to rotate or move linearly. The movement of the shift fork changes the meshing state of the gear set inside the transmission. When the gear set meshes correctly according to the requirements of the target gear, the operation of the shift motor is completed to achieve gear shifting. It can be understood that in other embodiments, the gear selection and shifting actuator may also include other structures, as long as the gear selection and shifting actuator can be driven by the gear selection motor and the shift motor to move to achieve gear selection and shifting, and no specific limitation is made here.

[0074] S120, controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move, so as to obtain a gear selection position corresponding to a current gear group, wherein one gear group corresponds to at least one gear.

[0075] Among them, the gear selection positions of the gears included in the same gear group are the same, and the gear selection position is the position on the X-axis that the gear selection and shifting actuator needs to be in order to select the gear included in the gear group. For example, in a specific embodiment, a certain gear group corresponds to two gears. In the case of normal gear engagement, when the gear selection motor drives the gear selection and shifting actuator to move to the gear selection position of the gear group, the gear shifting motor is driven to move with a positive duty cycle so that the gear selection and shifting actuator can select a gear of the gear group when it moves to the gear position, and the gear shifting motor is driven to move with a negative duty cycle so that the gear selection and shifting actuator can select another gear of the gear group when it moves to the gear position.

[0076] In some embodiments, the gear distribution diagram of the gearbox is as follows: Figure 2 As shown, at this time, the first gear group includes two gears, namely, 1st gear and R gear. In the case of normal gear engagement, when the gear selection motor drives the gear selection and shifting actuator to move to the gear selection position of the first gear group, the gear shifting motor is driven to move with a positive duty cycle so that the gear selection and shifting actuator can select R gear when it moves to the gear position, and the gear shifting motor is driven to move with a negative duty cycle so that the gear selection and shifting actuator can select 1st gear when it moves to the gear position. The second gear group includes two gears, namely, 2nd gear and 3rd gear. The third gear group includes two gears, namely, 4th gear and 5th gear. The last gear group includes one gear, which is 6th gear.

[0077] In some embodiments, the gear distribution diagram of the gearbox is as follows: Figure 3 As shown, at this time, the first gear group includes two gears, namely, the 5th gear and the 6th gear. In the case of normal gear engagement, when the gear selection motor drives the gear selection and shifting actuator to move to the gear selection position of the first gear group, the gear shifting motor is driven to move with a positive duty cycle so that the gear selection and shifting actuator can select the 5th gear when it moves to the gear position, and the gear shifting motor is driven to move with a negative duty cycle so that the gear selection and shifting actuator can select the 6th gear when it moves to the gear position. The second gear group includes two gears, namely, the 3rd gear and the 4th gear. The third gear group includes two gears, namely, the 1st gear and the 2nd gear. The last gear group includes one gear, which is the R gear.

[0078] It is understandable that different gearboxes have different numbers of gears and gear distribution methods, so the number of gear groups and the number of gears included in each gear group may be different. No specific limitation is made here, and it is just an example.

[0079] Since the gear selection and shifting actuator needs to be driven to move by the gear selection motor and the gear shifting motor in coordination when selecting gears, the gear selection and shifting actuator is cross-driven to move by the coordinated work and control strategy of the gear selection motor and the gear shifting motor, so that the gear selection position corresponding to the current gear group can be accurately obtained.

[0080] S130. Determine a target gear selection position of a next gear group based on the gear selection position corresponding to the current gear group.

[0081] The target gear selection position refers to the theoretical gear selection position of the next gear group. Since the initial position of each gear is fixed, the target gear selection position of the next gear group can be determined according to the gear selection position corresponding to the current gear group.

[0082] S140, controlling the gear selection motor to drive the gear selection and shifting actuator to move along the gear selection direction to the target gear selection position, and executing the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move, so as to obtain the gear selection position corresponding to the current gear position group.

[0083] Among them, when the gear selection and shifting actuator moves to the target gear selection position, the gear group corresponding to the target gear selection position is the current gear group. At this time, the gear selection and shifting actuator is driven to move by controlling the gear selection motor and the gear shifting motor to obtain the gear selection position corresponding to the current gear group.

[0084] S150, when the next gear group is the last gear group, controlling the gear selection motor to drive the gear selection and shifting actuator to move to the maximum gear selection position, and executing the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move, so as to obtain the gear selection position corresponding to the current gear group.

[0085] Among them, since the minimum gear selection position and the maximum gear selection position are respectively the farthest two ends to which the gear selection and shifting actuator can move along the X-axis direction, when the next gear group is the last gear group, the gear selection motor can be directly controlled to drive the gear selection and shifting actuator to move to the maximum gear selection position to obtain the gear selection position of the last gear group.

[0086] S160: When the next gear group is not the last gear group, determine the target gear position of the next gear group based on the gear position corresponding to the current gear group.

[0087] If the next gear group is not the last gear group, it means that the next gear group is still the middle gear group, so the target gear selection position of the next gear group can be determined according to the gear selection position corresponding to the current gear group.

[0088] Since the positions of both ends of the gear selection of the gearbox are relatively fixed, that is, the minimum gear selection position and the maximum gear selection position are relatively fixed, the above scheme, by taking the minimum gear selection position as the starting point, obtains the gear selection position of the gear group corresponding to the minimum gear selection position, and then uses the gear selection motor to drive the gear selection and shifting actuator to move in a single direction along the gear selection direction and cross-drive the gear shifting motor to obtain the gear selection position of each gear group, and then obtains the gear selection position of each gear. At the same time, when obtaining the gear selection position of the last gear group, the gear selection and shifting actuator is directly driven to move to the maximum gear selection position. The ability to self-learn the gear selection position of each gear solves the problems of inconsistent gear selection positions caused by pre-factory assembly problems, processing problems, and later wear and tear of the AMT gearbox, which in turn causes actual gear recognition errors, difficulty in shifting, and abnormal gear shifting noises. At the same time, this scheme only requires single-direction gear selection and shifting cross-drive to obtain the gear selection position, which can make it easier to obtain the gear selection position and save time.

[0089] In an optional embodiment of the present invention, Figure 4 As shown, the control of the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move to obtain the gear selection position corresponding to the current gear position group includes:

[0090] S121, controlling the shift motor to drive the shift actuator to move to the in-gear position.

[0091] The gear position is the position of the gear selector actuator on the Y axis when the gear selector actuator is engaged in the gear corresponding to the current gear group.

[0092] S122, controlling the gear selection motor to drive the gear selection and shifting actuator to move a first distance in a first direction, and recording the current gear selection position as a first gear selection position.

[0093] When the gear selection motor is driven with a positive duty cycle, the gear selection and shifting actuator moves in a first direction.

[0094] S123, controlling the gear selection motor to drive the gear selection and shifting actuator to move a second distance in a second direction, and recording the current gear selection position as a second gear selection position, wherein the first direction and the second direction are opposite directions and are both parallel to the gear selection direction.

[0095] When the gear selection motor is driven with a negative duty cycle, the gear selection and shifting actuator moves in the second direction.

[0096] S124. Determine an average value of the first gear selection position and the second gear selection position as the gear selection position corresponding to the current gear position group.

[0097] When selecting a gear, each gear usually has a certain gear selection range. When the gear selection actuator is located in the gear selection range of the gear on the X-axis, the gear can be engaged. The gear selection position is usually the midpoint of the gear selection range. The first gear selection position and the second gear selection position are the extreme positions of the gear selection actuator in two directions, respectively, so the average value of the two can be determined as the gear selection position corresponding to the current gear group.

[0098] Through the above method, the gear selection position corresponding to the current gear group can be determined accurately and quickly.

[0099] In some embodiments, the first distance is greater than half of the preset gear selection range length, and the second distance is greater than twice the first distance, so that the gear selection position of the current gear group can be obtained more accurately. The preset gear selection range length refers to the length of the gear selection range corresponding to the gear of the current gearbox.

[0100] In an optional embodiment of the present invention, after the gear selection motor and the gear shift motor are controlled to drive the gear selection and shift actuator to move to obtain the gear selection position corresponding to the current gear group, the method further includes: determining the gear selection range of the current gear group based on the gear selection position corresponding to the current gear group and the preset gear selection range length. The gear selection range of the current gear group can be obtained by taking the gear selection position corresponding to the current gear group as the midpoint of the gear selection range and taking the preset gear selection range length as the length of the gear selection range.

[0101] In an optional embodiment of the present invention, after recording the current gear selection position as the second gear selection position, the method further includes:

[0102] Determine whether an absolute value of a difference between the first gear selection position and the second gear selection position is greater than or equal to a preset position difference.

[0103] When the absolute value of the difference between the first gear selection position and the second gear selection position is greater than or equal to the preset position difference, the step of determining the average value of the first gear selection position and the second gear selection position as the gear selection position corresponding to the current gear group is performed. In which, when selecting a gear, each gear usually has a certain gear selection range, so when the gear selection position is correct, theoretically, the absolute value of the difference between the first gear selection position and the second gear selection position will be greater than a certain value, and the preset position difference is the value that the absolute value of the difference between the first gear selection position and the second gear selection position will be greater than when the gear selection position is correct. In some embodiments, the preset position difference can be set based on the preset gear selection range length. Therefore, when the absolute value of the difference between the first gear selection position and the second gear selection position is greater than or equal to the preset position difference, the step of determining the average value of the first gear selection position and the second gear selection position as the gear selection position corresponding to the current gear group is performed, which can make the obtained gear selection position more accurate.

[0104] When the absolute value of the difference between the first gear selection position and the second gear selection position is less than the preset position difference, the step of determining the average value of the first gear selection position and the second gear selection position as the gear selection position corresponding to the current gear position group is not performed. Wherein, when the absolute value of the difference between the first gear selection position and the second gear selection position is less than the preset position difference, it means that the gear selection position obtained at this time is incorrect, so the gear selection position obtained at this time is discarded, and the step of determining the average value of the first gear selection position and the second gear selection position as the gear selection position corresponding to the current gear position group is not performed.

[0105] In an optional embodiment of the present invention, before controlling the gear selection motor to drive the gear selection and shifting actuator to move to the minimum gear selection position, the method further includes: obtaining vehicle parameters, determining whether the vehicle parameters meet the gear selection position self-learning entry conditions, and when the gear selection position self-learning entry conditions are met, executing the step of controlling the gear selection motor to drive the gear selection and shifting actuator to move to the minimum gear selection position. When the gear selection position self-learning entry conditions are not met, executing the step of determining whether the vehicle parameters meet the gear selection position self-learning entry conditions.

[0106] In some embodiments, the vehicle parameters include a gearbox state and a handbrake state. The step of determining whether the vehicle parameters meet the gear selection position self-learning entry condition includes: determining whether the gearbox state is a disengagement completion state and determining whether the handbrake state is a pull-up state; when the gearbox state is a disengagement completion state and the handbrake state is a pull-up state, determining that the gear selection position self-learning entry condition is met; when the gearbox state is not a disengagement completion state or the handbrake state is not a pull-up state, determining that the gear selection position self-learning entry condition is not met.

[0107] Embodiment 2

[0108] Figure 5A flow chart of an AMT transmission gear self-learning method provided in Example 2 of the present invention. The relationship between this embodiment and the above-mentioned embodiment is that Example 1 is improved. Optionally, before the control of the gear selection motor to drive the gear selection and shifting actuator to move along the gear selection direction to the target gear selection position, it also includes: controlling the gear selection motor to drive the gear selection and shifting actuator to move to the gear selection position corresponding to the current gear position group, and controlling the gear shifting motor to drive the gear selection and shifting actuator to move to the neutral position; correspondingly, after the control of the gear selection motor to drive the gear selection and shifting actuator to move along the gear selection direction to the target gear selection position, it also includes: recording the current gear shifting position as the first gear shifting position; controlling The shift motor drives the shift actuator to move in the shift direction, and records the current shift position as the second shift position; determines whether the shift actuator enters the gear range based on the first shift position and the second shift position; when the shift actuator enters the gear range, executes the step of controlling the shift motor and the shift motor to drive the shift actuator to move, so as to obtain the gear position corresponding to the current gear group; when the shift actuator does not enter the gear range, adjusts the target gear position; controls the shift motor to drive the shift actuator to move to the adjusted target gear position, and executes the step of recording the current gear position as the first shift position. Based on this, if Figure 5 As shown, the AMT gearbox gear self-learning method includes:

[0109] S210, controlling the gear selection motor to drive the gear selection and shifting actuator to move to the minimum gear selection position.

[0110] S220, controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move, so as to obtain a gear selection position corresponding to a current gear group, wherein one gear group corresponds to at least one gear.

[0111] S230, controlling the gear selection motor to drive the gear selection and shifting actuator to move to the gear selection position corresponding to the current gear position group, and controlling the gear shifting motor to drive the gear selection and shifting actuator to move to the neutral position.

[0112] S240: Determine a target gear selection position of a next gear group based on the gear selection position corresponding to the current gear group.

[0113] S250, controlling the gear selection motor to drive the gear selection and shifting actuator to move along the gear selection direction to the target gear selection position.

[0114] S260. Record the current gear shift position as the first gear shift position.

[0115] The first gear shift position is the position on the Y axis where the gear selection and shift actuator moves to the target gear selection position.

[0116] S270, controlling the shift motor to drive the shift selection actuator to move along the shift direction, and recording the current shift position as the second shift position.

[0117] The second shift position is the position of the shift actuator on the Y axis after the shift actuator moves in the shift direction.

[0118] S280: Determine whether the gear selection and shifting actuator enters a gear engaging range based on the first gear shift position and the second gear shift position.

[0119] Among them, when the gear selection and shift actuator enters the gear engagement range, the gear selection and shift actuator can shift gears. At this time, the gear selection and shift actuator can move a certain distance in the gear shift direction. When the gear selection and shift actuator does not enter the gear engagement range, even if the gear shift motor is running, it is difficult for the gear selection and shift actuator to move a certain distance in the gear shift direction to achieve gear engagement. Therefore, it can be determined whether the gear selection and shift actuator enters the gear engagement range based on the first gear shift position and the second gear shift position.

[0120] S290: When the gear selection and shifting actuator enters the gear engaging range, a step is executed to control the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move, so as to obtain a gear selection position corresponding to the current gear position group.

[0121] Among them, when the gear selection and shift actuator enters the gear engagement range, it means that the target gear selection position at this time is correct, and the gear selection and shift actuator can engage gears at this position, so the gear selection motor and the gear shift motor can be controlled to drive the gear selection and shift actuator to move to obtain the gear selection position corresponding to the current gear group.

[0122] S2100, when the gear selection and shifting actuator has not entered the gear engaging range, adjusting the target gear selection position; controlling the gear selection motor to drive the gear selection and shifting actuator to move to the adjusted target gear selection position, and executing the step of recording the current gear shifting position as the first gear shifting position.

[0123] Among them, when the gear selection and shifting actuator has not entered the gear engaging range, it means that the target gear selection position is wrong at this time, and it is difficult for the gear selection and shifting actuator to move a certain distance in the gear shifting direction to achieve gear engaging. Therefore, the target gear selection position is adjusted at this time to facilitate subsequent self-learning to the gear selection position corresponding to the current gear group.

[0124] S2110, when the next gear group is the last gear group, control the gear selection motor to drive the gear selection and shifting actuator to move to the maximum gear selection position, and execute the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move, so as to obtain the gear selection position corresponding to the current gear group.

[0125] S2120: When the next gear group is not the last gear group, determine the target gear position of the next gear group based on the gear position corresponding to the current gear group.

[0126] The above scheme can easily obtain the gear selection position of the middle gear group by continuously adjusting the target gear selection position.

[0127] In an optional embodiment of the present invention, determining whether the gear selection and shift actuator enters the gear range based on the first gear shift position and the second gear shift position includes: when the difference between the first gear shift position and the second gear shift position is greater than or equal to a preset gear shift difference, determining that the gear selection and shift actuator enters the gear range; when the difference between the first gear shift position and the second gear shift position is less than the preset gear shift difference, determining that the gear selection and shift actuator does not enter the gear range.

[0128] In an optional embodiment of the present invention, determining the target gear selection position of the next gear group based on the gear selection position corresponding to the current gear group includes: determining the target gear selection position of the next gear group based on the gear selection position corresponding to the current gear group by the following formula:

[0129] P M2 =P M1 +Ofs+Stp×Cnt, where P M1 is the gear selection position corresponding to the current gear group, P M2 is the target gear selection position of the next gear group, Ofs is the offset, Stp is the position step, and Cnt is the counting step. Through this formula, the target gear selection position of the next gear group can be conveniently and accurately determined according to the gear selection position corresponding to the current gear group.

[0130] Accordingly, when the gear selection and shifting actuator does not enter the gear engaging range, adjusting the target gear selection position includes:

[0131] When the gear selection and shifting actuator does not enter the gear range, the counting step is increased by one, and the target gear selection position is adjusted based on the adjusted counting step. When the counting step is changed, the adjusted target gear selection position can be obtained according to the above formula, and the gear selection and shifting actuator can be moved along the X-axis by a small distance. By slowly adjusting, the gear selection position corresponding to the gear group can be found.

[0132] On the basis of the above embodiment, after the counting step is increased by one, it also includes: determining whether the counting step is greater than or equal to a preset step threshold; when the counting step is greater than or equal to the preset step threshold, determining that the gear selection position corresponding to the current gear group has failed to be acquired; when the counting step is less than the preset step threshold, executing the step of adjusting the target gear selection position based on the adjusted counting step.

[0133] The preset step length threshold is the number of times the counting step length will be less than when obtaining the gear selection position of the current gear group. When the counting step length is greater than or equal to the preset step length threshold, it means that after adjusting the target gear selection position for many times, the gear selection and shifting actuator still cannot enter the gear range, so the gear selection position corresponding to the gear group fails to be obtained. At this time, the target gear selection position of the next gear group can be directly moved to obtain the gear selection position of the next gear group. When the counting step length is less than the preset step length threshold, it means that the number of adjustments to the target gear selection position is small, so the target gear selection position continues to be adjusted to obtain the gear selection position corresponding to the gear group.

[0134] In an optional embodiment of the present invention, when the current gear group is the first gear group, before controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move to obtain the gear selection position corresponding to the current gear group, it also includes: determining whether the difference between the current gear selection position of the gear selection and shift actuator and the minimum gear selection position is less than a preset difference; when the difference between the current gear selection position of the gear selection and shift actuator and the minimum gear selection position is less than the preset difference, executing the step of controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move to obtain the gear selection position corresponding to the current gear group.

[0135] Among them, due to the wear and tear during the mass production and assembly of the gearbox and the later use of the gearbox, the gear selection and shifting actuator may not be able to accurately reach the minimum gear selection position. When the difference between the current gear selection position of the gear selection and shifting actuator and the minimum gear selection position is less than the preset difference, it means that the gear selection and shifting actuator has reached the vicinity of the minimum gear selection position, so at this time, the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move to obtain the gear selection position corresponding to the current gear group can be executed to obtain the gear selection position of the first gear group.

[0136] In an optional embodiment of the present invention, when the current gear group is the last gear group, before controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move to obtain the gear selection position corresponding to the current gear group, it also includes: determining whether the difference between the current gear selection position of the gear selection and shift actuator and the maximum gear selection position is less than a preset difference; when the difference between the current gear selection position of the gear selection and shift actuator and the maximum gear selection position is less than the preset difference, executing the step of controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move to obtain the gear selection position corresponding to the current gear group.

[0137] Among them, due to the wear and tear during the mass production and assembly of the gearbox and the later use of the gearbox, the gear selection and shifting actuator may not be able to accurately reach the maximum gear selection position. When the difference between the current gear selection position of the gear selection and shifting actuator and the maximum gear selection position is less than the preset difference, it means that the gear selection and shifting actuator has reached the vicinity of the maximum gear selection position, so at this time, the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move to obtain the gear selection position corresponding to the current gear group can be executed to obtain the gear selection position of the last gear group.

[0138] The specific steps of this solution are described below with a specific embodiment. In this embodiment, the number of gear groups is four. First, it is confirmed that the gear selection and shifting actuator is in the neutral position, and then the gear selection position corresponding to the first gear group is obtained.

[0139] The process of obtaining the gear selection position corresponding to the first gear group is as follows: first, the gear selection motor is controlled to drive the gear selection and shifting actuator to move to the minimum gear selection position, and then the gear shifting motor is controlled to drive the gear selection and shifting actuator to move to the gear position; the gear selection motor is controlled to drive the gear selection and shifting actuator to move a first distance in the first direction, and the current gear selection position is recorded as the first gear selection position; the gear selection motor is controlled to drive the gear selection and shifting actuator to move a second distance in the second direction, and the current gear selection position is recorded as the second gear selection position, wherein the first direction and the second direction are opposite directions and are parallel to the gear selection direction; the average value of the first gear selection position and the second gear selection position at this time is determined as the gear selection position corresponding to the current gear group. Then, the gear selection motor is controlled to drive the gear selection and shifting actuator to move to the gear selection position corresponding to the current gear group, and then the gear shifting motor is controlled to drive the gear selection and shifting actuator to move to the neutral position in the gear shifting direction.

[0140] Then, the gear selection position corresponding to the second gear group is obtained. The process of obtaining the gear selection position corresponding to the second gear group is as follows: Based on the gear selection position corresponding to the current gear group, the target gear selection position of the next gear group is determined by the following formula: M2 =P M1+Ofs+Stp×Cnt, where P M1 is the gear selection position corresponding to the current gear group, P M2 is the target gear selection position of the next gear group, Ofs is the offset, Stp is the position step, Cnt is the counting step, confirming that the target gear selection position has been reached, recording the first gear shift position at this time, and then driving the gear shift motor with a small duty cycle, recording the second gear shift position at this time, when the difference between the first gear shift position and the second gear shift position is greater than or equal to the preset gear shift difference, determining that the gear selection and shift actuator enters the gear range, and when the difference between the first gear shift position and the second gear shift position is less than the preset gear shift difference, determining that the gear selection and shift actuator does not enter the gear range.

[0141] If the gear engagement range is entered, the gear selection motor is controlled to drive the gear selection and shifting actuator to move a first distance in a first direction, and the current gear selection position is recorded as the first gear selection position; the gear selection motor is controlled to drive the gear selection and shifting actuator to move a second distance in a second direction, and the current gear selection position is recorded as the second gear selection position, and the average value of the first gear selection position and the second gear selection position at this time is determined as the gear selection position corresponding to the current gear group.

[0142] If the gear selection range is not entered, the counting step is increased by one, and the new target gear selection position is calculated based on the new counting step, and then the target gear selection position is confirmed to be reached based on the adjusted target gear selection position, and the first gear shift position at this time and subsequent steps are recorded until the gear selection range is entered or the counting step is greater than or equal to the preset step threshold. When the counting step is greater than or equal to the preset step threshold, it means that the gear selection position acquisition of the gear group has failed. At this time, the counting step is reassigned to 1, and the gear selection position acquisition process of the next gear group is entered. The gear selection position acquisition process of the third gear group is the same as the acquisition process of the second gear group, which will not be repeated here.

[0143] The process of obtaining the gear selection position of the last gear group is the same as that of the first gear group. The only difference is that the gear selection motor will be controlled to drive the gear selection and shifting actuator to move to the maximum gear selection position, and then the gear shifting motor will be controlled to drive the gear selection and shifting actuator to the gear position. The subsequent process is consistent with the process of obtaining the gear selection position of the first gear group, which will not be repeated here.

[0144] Embodiment 3

[0145] Figure 6 This is a schematic diagram of the structure of an AMT gearbox gear self-learning device provided in Embodiment 3 of the present invention. Figure 6 As shown, the AMT gearbox gear self-learning includes:

[0146] The first gear selection control module 61 is used to control the gear selection motor to drive the gear selection and shifting actuator to move to the minimum gear selection position.

[0147] The gear selection and shift control module 62 is used to control the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move, so as to obtain the gear selection position corresponding to the current gear group, wherein one gear group corresponds to at least one gear.

[0148] The determination module 63 is used to determine the target gear selection position of the next gear group based on the gear selection position corresponding to the current gear group.

[0149] The second gear selection control module 64 is used to control the gear selection motor to drive the gear selection and shifting actuator to move along the gear selection direction to the target gear selection position, and execute the steps of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move, so as to obtain the gear selection position corresponding to the current gear group.

[0150] The first execution module 65 is used for controlling the gear selection motor to drive the gear selection and shifting actuator to move to the maximum gear selection position when the next gear group is the last gear group, and executing the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move to obtain the gear selection position corresponding to the current gear group.

[0151] The second execution module 66 is used for executing the step of determining the target gear selection position of the next gear group based on the gear selection position corresponding to the current gear group when the next gear group is not the last gear group.

[0152] In an optional embodiment of the present invention, the gear selection and shift control module 62 includes:

[0153] The first control submodule is used to control the shift motor to drive the shift actuator to move to the in-gear position.

[0154] The second control submodule is used to control the gear selection motor to drive the gear selection and shifting actuator to move a first distance in a first direction, and record the current gear selection position as the first gear selection position.

[0155] The third control submodule is used to control the gear selection motor to drive the gear selection and shifting actuator to move a second distance in a second direction, and record the current gear selection position as the second gear selection position, wherein the first direction and the second direction are opposite directions and are both parallel to the gear selection direction.

[0156] The position determination submodule is used to determine the average value of the first gear selection position and the second gear selection position as the gear selection position corresponding to the current gear position group.

[0157] In an optional embodiment of the present invention, the AMT gearbox gear self-learning device further includes:

[0158] The first difference determination module is used to determine whether the absolute value of the difference between the first gear selection position and the second gear selection position is greater than or equal to a preset position difference.

[0159] The third execution module is used to execute the step of determining the average value of the first gear selection position and the second gear selection position as the gear selection position corresponding to the current gear group when the absolute value of the difference between the first gear selection position and the second gear selection position is greater than or equal to the preset position difference.

[0160] A fourth execution module is used to not execute the step of determining the average value of the first gear selection position and the second gear selection position as the gear selection position corresponding to the current gear position group when the absolute value of the difference between the first gear selection position and the second gear selection position is less than the preset position difference.

[0161] In an optional embodiment of the present invention, the AMT gearbox gear self-learning device further includes:

[0162] The third gear selection control module is used to control the gear selection motor to drive the gear selection and shifting actuator to move to the gear selection position corresponding to the current gear position group, and control the gear shifting motor to drive the gear selection and shifting actuator to move to the neutral position.

[0163] The first recording module is used to record the current gear shift position as the first gear shift position.

[0164] The second recording module is used to control the shift motor to drive the shift selection actuator to move along the shift direction, and record the current shift position as the second shift position.

[0165] A range determination module is used to determine whether the gear selection and shifting actuator enters a gear range based on the first gear shift position and the second gear shift position.

[0166] The fifth execution module is used to execute the step of controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move when the gear selection and shift actuator enters the gear engagement range, so as to obtain the gear selection position corresponding to the current gear position group.

[0167] The adjustment module is used to adjust the target gear selection position when the gear selection and shifting actuator does not enter the gear engagement range.

[0168] The sixth execution module is used to control the gear selection motor to drive the gear selection and shifting actuator to move to the adjusted target gear selection position, and execute the step of recording the current gear shifting position as the first gear shifting position.

[0169] In an optional embodiment of the present invention, the determination module 63 is specifically configured to determine the target gear selection position of the next gear group based on the gear selection position corresponding to the current gear group by the following formula:

[0170] P M2 =P M1 +Ofs+Stp×Cnt, where P M1 is the gear selection position corresponding to the current gear group, P M2 is the target gear selection position of the next gear group, Ofs is the offset, Stp is the position step, and Cnt is the counting step.

[0171] Correspondingly, the adjustment module is specifically configured to increase the counting step by one when the gear selection and shifting actuator has not entered the gear engaging range, and adjust the target gear selection position based on the adjusted counting step.

[0172] In an optional embodiment of the present invention, the AMT gearbox gear self-learning device further includes:

[0173] The threshold determination module is used to determine whether the counting step is greater than or equal to a preset step threshold.

[0174] The gear selection determination module is used to determine that the gear selection position corresponding to the current gear group fails to be acquired when the counting step is greater than or equal to the preset step threshold.

[0175] A seventh execution module is used to execute the step of adjusting the target gear selection position based on the adjusted counting step when the counting step is less than the preset step threshold.

[0176] In an optional embodiment of the present invention, when the current gear group is the first gear group, the AMT gearbox gear self-learning device further includes:

[0177] The second difference determination module is used to determine whether the difference between the current gear selection position of the gear selection and shifting actuator and the minimum gear selection position is less than a preset difference.

[0178] The eighth execution module is used to execute the step of controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move when the difference between the current gear selection position of the gear selection and shift actuator and the minimum gear selection position is less than a preset difference, so as to obtain the gear selection position corresponding to the current gear group.

[0179] In an optional embodiment of the present invention, when the current gear group is the last gear group, the AMT gearbox gear self-learning device further includes:

[0180] The third difference determination module is used to determine whether the difference between the current gear selection position of the gear selection and shifting actuator and the maximum gear selection position is less than a preset difference.

[0181] The ninth execution module is used to execute the step of controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move when the difference between the current gear selection position of the gear selection and shift actuator and the maximum gear selection position is less than a preset difference, so as to obtain the gear selection position corresponding to the current gear group.

[0182] The AMT transmission gear self-learning device provided in the embodiment of the present invention can execute the AMT transmission gear self-learning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0183] Embodiment 4

[0184] Figure 7 A schematic diagram of an electronic device that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0185] like Figure 7 As shown, the electronic device includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In RAM13, various programs and data required for the operation of the electronic device can also be stored. The processor 11, ROM12 and RAM13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0186] A number of components in the electronic device are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0187] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the AMT gearbox gear self-learning method.

[0188] In some embodiments, the AMT transmission gear self-learning method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the AMT transmission gear self-learning method described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the AMT transmission gear self-learning method in any other appropriate manner (for example, by means of firmware).

[0189] In some embodiments, the electronic device includes a computer program product, which includes a computer program. When the computer program is executed by the processor 11, it implements the various methods and processes described above, such as the AMT transmission gear self-learning method.

[0190] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0191] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0192] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0193] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0194] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0195] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0196] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0197] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A self-learning method for an AMT gearbox gear, characterized in that: include: Control the gear selection motor to drive the gear selection and shifting actuator to move to the minimum gear selection position; Controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move, so as to obtain the gear selection position corresponding to the current gear group, wherein one gear group corresponds to at least one gear; Determining a target gear selection position for a next gear group based on the gear selection position corresponding to the current gear group; Controlling the gear selection motor to drive the gear selection and shifting actuator to move along the gear selection direction to the target gear selection position, and executing the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move, so as to obtain the gear selection position corresponding to the current gear position group; When the next gear group is the last gear group, controlling the gear selection motor to drive the gear selection and shifting actuator to move to the maximum gear selection position, and executing the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move, so as to obtain the gear selection position corresponding to the current gear group; When the next gear group is not the last gear group, performing the step of determining a target gear selection position of the next gear group based on the gear selection position corresponding to the current gear group; When the current gear group is the first gear group, before controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move to obtain the gear selection position corresponding to the current gear group, the method further includes: Determining whether a difference between a current gear selection position of the gear selection and shifting actuator and a minimum gear selection position is less than a preset difference; When the difference between the current gear selection position of the gear selection and shifting actuator and the minimum gear selection position is less than a preset difference, the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move to obtain the gear selection position corresponding to the current gear position group is executed; and / or When the current gear group is the last gear group, before controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move to obtain the gear selection position corresponding to the current gear group, the method further includes: Determining whether a difference between a current gear selection position of the gear selection and shifting actuator and a maximum gear selection position is less than a preset difference; When the difference between the current gear selection position of the gear selection and shifting actuator and the maximum gear selection position is less than a preset difference, the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move is executed to obtain the gear selection position corresponding to the current gear group.

2. The AMT gearbox gear self-learning method according to claim 1, characterized in that: The controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move so as to obtain the gear selection position corresponding to the current gear position group includes: Controlling the shift motor to drive the shift actuator to move to the in-gear position; Controlling the gear selection motor to drive the gear selection and shifting actuator to move a first distance in a first direction, and recording the current gear selection position as a first gear selection position; Controlling the gear selection motor to drive the gear selection and shifting actuator to move a second distance in a second direction, and recording the current gear selection position as a second gear selection position, wherein the first direction and the second direction are opposite directions and are both parallel to the gear selection direction; An average value of the first gear selection position and the second gear selection position is determined as the gear selection position corresponding to the current gear position group.

3. The AMT gearbox gear self-learning method according to claim 2, characterized in that: After recording the current gear selection position as the second gear selection position, the method further includes: determining whether an absolute value of a difference between the first gear selection position and the second gear selection position is greater than or equal to a preset position difference; When the absolute value of the difference between the first gear selection position and the second gear selection position is greater than or equal to the preset position difference, performing the step of determining the average value of the first gear selection position and the second gear selection position as the gear selection position corresponding to the current gear position group; When the absolute value of the difference between the first gear selection position and the second gear selection position is smaller than the preset position difference, the step of determining the average value of the first gear selection position and the second gear selection position as the gear selection position corresponding to the current gear position group is not performed.

4. The AMT gearbox gear self-learning method according to any one of claims 1 to 3, characterized in that: Before controlling the gear selection motor to drive the gear selection and shifting actuator to move along the gear selection direction to the target gear selection position, the method further includes: Controlling the gear selection motor to drive the gear selection and shifting actuator to move to the gear selection position corresponding to the current gear position group, and controlling the gear shifting motor to drive the gear selection and shifting actuator to move to the neutral position; Correspondingly, after controlling the gear selection motor to drive the gear selection and shifting actuator to move along the gear selection direction to the target gear selection position, the method further includes: Record the current gear shift position as the first gear shift position; Controlling the shift motor to drive the shift actuator to move along the shift direction, and recording the current shift position as the second shift position; determining whether the gear selection and shifting actuator enters a gear engaging range based on the first gear shifting position and the second gear shifting position; When the gear selection and shifting actuator enters the gear engaging range, the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move so as to obtain the gear selection position corresponding to the current gear position group is executed; When the gear selection and shifting actuator has not entered the gear engaging range, adjusting the target gear selection position; The gear selection motor is controlled to drive the gear selection and shifting actuator to move to the adjusted target gear selection position, and a step of recording the current gear shifting position as a first gear shifting position is performed.

5. The AMT gearbox gear self-learning method according to claim 4, characterized in that: The step of determining a target gear selection position of a next gear group based on the gear selection position corresponding to the current gear group includes: Based on the gear selection position corresponding to the current gear group, the target gear selection position of the next gear group is determined by the following formula: P M2 =P M1 +Ofs+Stp×Cnt, where P M1 is the gear selection position corresponding to the current gear group, P M2 is the target gear selection position of the next gear group, Ofs is the offset, Stp is the position step, and Cnt is the counting step; Accordingly, when the gear selection and shifting actuator does not enter the gear engaging range, adjusting the target gear selection position includes: When the gear selection and shifting actuator does not enter the gear engagement range, the counting step is increased by one, and the target gear selection position is adjusted based on the adjusted counting step.

6. The AMT gearbox gear self-learning method according to claim 5, characterized in that: After the counting step is increased by one, the method further includes: Determining whether the counting step is greater than or equal to a preset step threshold; When the counting step length is greater than or equal to the preset step length threshold, it is determined that the gear selection position corresponding to the current gear group fails to be acquired; When the counting step is smaller than the preset step threshold, the step of adjusting the target gear selection position based on the adjusted counting step is performed.

7. An AMT gearbox gear self-learning device, characterized in that: include: The first gear selection control module is used to control the gear selection motor to drive the gear selection and shifting actuator to move to the minimum gear selection position; A gear selection and shift control module, used to control the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move, so as to obtain the gear selection position corresponding to the current gear group, wherein one gear group corresponds to at least one gear; A determination module, configured to determine a target gear selection position of a next gear group based on the gear selection position corresponding to the current gear group; A second gear selection control module is used to control the gear selection motor to drive the gear selection and shifting actuator to move along the gear selection direction to the target gear selection position, and execute the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move, so as to obtain the gear selection position corresponding to the current gear position group; A first execution module is used for controlling the gear selection motor to drive the gear selection and shifting actuator to move to the maximum gear selection position when the next gear group is the last gear group, and executing the step of controlling the gear selection motor and the gear shifting motor to drive the gear selection and shifting actuator to move, so as to obtain the gear selection position corresponding to the current gear group; A second execution module, for, when a gear group is not the last gear group, executing the step of determining a target gear selection position of a next gear group based on the gear selection position corresponding to the current gear group; When the current gear group is the first gear group, the AMT gearbox gear self-learning device further includes: A second difference determination module is used to determine whether the difference between the current gear selection position of the gear selection and shifting actuator and the minimum gear selection position is less than a preset difference; an eighth execution module, configured to execute the step of controlling the gear selection motor and the gear shift motor to drive the gear selection and shifting actuator to move so as to obtain the gear selection position corresponding to the current gear position group when the difference between the current gear selection position of the gear selection and shifting actuator and the minimum gear selection position is less than a preset difference; When the current gear group is the last gear group, the AMT gearbox gear self-learning device further includes: A third difference determination module is used to determine whether the difference between the current gear selection position of the gear selection and shifting actuator and the maximum gear selection position is less than a preset difference; The ninth execution module is used to execute the step of controlling the gear selection motor and the gear shift motor to drive the gear selection and shift actuator to move when the difference between the current gear selection position of the gear selection and shift actuator and the maximum gear selection position is less than a preset difference, so as to obtain the gear selection position corresponding to the current gear group.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the AMT transmission gear self-learning method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the AMT transmission gear self-learning method according to any one of claims 1 to 6 when executed.

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