Gear shifting actuator self-learning method, device and equipment

Abstract

The invention provides a gear shifting actuator self-learning method, device and equipment, and the method comprises the steps: firstly driving an execution plate to enable a spring piece roller to enter a theoretical value position when the real position of a target gear needs to be learned, driving the execution plate to drive a motor in a preset time period through a motor shaking control method, enabling the roller to move back and forth, and enabling the roller to move back and forth; and then the stroke center position of the roller in the reciprocating motion process is obtained, and the stroke center position serves as the calibration value of the target gear. Therefore, calibration of the actual position of the target gear is achieved, and then it is guaranteed that the roller can accurately fall into the groove bottom of the target gear during gear shifting.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a self-learning method, device and equipment for a gear shift actuator. Background Art

[0002] A PRND toothed plate is designed inside the vehicle gearbox. The toothed plate moves around the rotating shaft, and the roller on the spring sheet moves in the toothed plate groove. The toothed plate has four PRND grooves. Drive the toothed plate shaft, and when the spring sheet roller falls into the corresponding PRND groove bottom, the PRND shift is realized. Due to the application of the electronic shifting system, the PRND rotation action of the gearbox is driven by the motor actuator. The overall action is: when the driver shifts to P gear, the motor shift actuator needs to drive the gearbox toothed plate into P gear and lock the transmission system; when the driver shifts to RND gear, the motor shift actuator needs to drive the gearbox toothed plate into the corresponding groove bottom, unlock the transmission system, and combine the corresponding power control. The relationship between the motor shift actuator and the gearbox toothed plate is as follows: Figure 1 The actuator is connected to the gearbox toothed plate shaft through a connecting rod mechanism, and the motor drives the toothed plate to move back and forth in PRND through forward and reverse rotation, which has the PRND shift function.

[0003] The main task of the actuator is to drive the actuator plate to make the spring sheet roller fall accurately into the bottom of the PRND groove, the more accurate the better. When the shift actuator is assembled on the gearbox, due to the objective existence of factors such as long drive chain and cumulative assembly error, there is an error between the theoretical value and the actual value. If the actuator only drives the motor to the four PRND positions according to the theoretical value, due to the accumulation of assembly errors, it is inevitable that the roller cannot be guaranteed to fall accurately into the groove bottom. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a self-learning method, device and equipment for a gear shift actuator to achieve accurate calibration of each gear position of the vehicle, so that the roller can accurately fall into the bottom position of the groove corresponding to the gear during the gear shifting process.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] A self-learning method for a shift actuator, comprising:

[0007] Get the target gear position;

[0008] Acquiring a theoretical value position matching the target gear position;

[0009] Driving the actuator plate to make the spring sheet roller enter the theoretical value position;

[0010] The motor of the actuator plate is driven within a preset time period by a motor jitter control method, so that the roller moves back and forth;

[0011] Obtaining the stroke center position of the roller during the reciprocating movement;

[0012] The stroke center position is used as the calibration value of the target gear position.

[0013] Optionally, in the above-mentioned gear shift actuator self-learning method, after obtaining the target gear position, the method further includes:

[0014] Get the current gear position;

[0015] Determining whether the current gear is the target gear;

[0016] If the current gear position is not the target gear position, then executing the action: obtaining a theoretical value position matching the target gear position;

[0017] If the current gear is the target gear, an action is performed: the execution plate driving motor is driven within a preset time period by a motor vibration control method, so that the roller moves back and forth.

[0018] Optionally, in the above-mentioned self-learning method for the shift actuator, driving the actuator plate drive motor within a preset time length by a motor jitter control method includes:

[0019] Using a motor jitter control method to drive the actuator board drive motor within a preset time using a preset drive current;

[0020] Determining whether the travel of the roller is symmetrical;

[0021] When the stroke of the roller is symmetrical, a subsequent action is performed: obtaining the stroke center position of the roller during the reciprocating movement;

[0022] When the stroke of the roller is asymmetric, the preset driving current is increased based on a preset step length until the stroke of the roller is symmetric.

[0023] Optionally, in the above-mentioned self-learning method for the shift actuator, judging whether the stroke of the roller is symmetrical includes:

[0024] Obtaining a travel trajectory of the roller in a cycle before the end time of the preset time length, where each reciprocating motion of the ball is recorded as one cycle;

[0025] Determine whether the travel trajectory of the roller is symmetrical.

[0026] Optionally, in the above-mentioned gear shift actuator self-learning method, obtaining the target gear position includes:

[0027] All gears of the vehicle are traversed, and the traversed gear is used as the target gear.

[0028] A self-learning device for a gear shift actuator, comprising:

[0029] A target gear position obtaining unit, for obtaining a target gear position;

[0030] A gear switching unit, used to obtain a theoretical value position matching the target gear position, and drive the actuator plate to make the spring sheet roller enter the theoretical value position;

[0031] A motor driving unit, used to drive the actuator driving motor within a preset time period by a motor jitter control method, so that the roller moves back and forth;

[0032] The calibration unit is used to obtain the stroke center position of the roller during the reciprocating movement, and use the stroke center position as the calibration value of the target gear position.

[0033] Optionally, in the above-mentioned gear shift actuator self-learning device, the gear switching unit is further used for:

[0034] Get the current gear position;

[0035] Determining whether the current gear is the target gear;

[0036] If the current gear position is not the target gear position, then executing the action: obtaining a theoretical value position matching the target gear position;

[0037] If the current gear is the target gear, an action is performed: the execution plate driving motor is driven within a preset time period by a motor vibration control method, so that the roller moves back and forth.

[0038] Optionally, in the above-mentioned shift actuator self-learning device, when the motor drive unit drives the actuator plate drive motor within a preset time length by the motor jitter control method, it is specifically used to:

[0039] Using a motor jitter control method to drive the actuator board drive motor within a preset time using a preset drive current;

[0040] Determining whether the travel of the roller is symmetrical;

[0041] When the stroke of the roller is symmetrical, a subsequent action is performed: obtaining the stroke center position of the roller during the reciprocating movement;

[0042] When the stroke of the roller is asymmetric, the preset driving current is increased based on a preset step length until the stroke of the roller is symmetric.

[0043] A gear shift actuator self-learning device, further comprising:

[0044] Memory and processor;

[0045] The memory is used to store programs;

[0046] The processor is used to execute the program to implement each step of the shift actuator self-learning method described in any one of the above items.

[0047] Optionally, in the above-mentioned gear shift actuator self-learning device, the self-learning device is an on-board computer.

[0048] Based on the above technical solution, the above solution provided by the embodiment of the present invention, when it is necessary to learn the real position of the target gear, first drive the actuator plate to make the spring sheet roller enter the theoretical value position, drive the actuator plate drive motor within a preset time length through the motor jitter control method, so that the roller reciprocates, and then obtain the stroke center position of the roller during the reciprocating movement, and use the stroke center position as the calibration value of the target gear. Thereby, the calibration of the actual position of the target gear is realized, and then it is ensured that when shifting gears, the roller can accurately fall into the groove bottom of the target gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0050] Figure 1 It is a structural schematic diagram of the electronic shift system;

[0051] Figure 2 The connection relationship between the shift actuator and the gearbox toothed plate;

[0052] Figure 3 A schematic diagram of a flow chart of an actuator self-learning method disclosed in an embodiment of the present application;

[0053] Figure 4 A schematic flow chart of an actuator self-learning method disclosed in another embodiment of the present application;

[0054] Figure 5 A schematic diagram of the learning result of the actuator self-learning for the D gear;

[0055] Figure 6 A schematic diagram of the learning result of the actuator self-learning for the R gear;

[0056] Figure 7 A schematic diagram of the learning result of the actuator self-learning for the N gear;

[0057] Figure 8 A schematic diagram of the learning result of the actuator self-learning for the D gear;

[0058] Fig. 9 A schematic diagram of the structure of an actuator self-learning device disclosed in an embodiment of the present application;

[0059] Fig.10 A schematic diagram of the structure of an actuator self-learning device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0061] The electronic shift system (Shift By Wire, hereinafter referred to as SBW) consists of three parts: the shift mechanism, the shift controller SCU, and the motor shift actuator. The internal sensor of the shift mechanism can collect the driver's PRND driving request and transmit it to the SCU. The SCU controls the motor shift actuator to perform four PRND actions to realize the P gear parking and RND shifting functions of the gearbox. Figure 2 This patent mainly introduces a method for realizing self-learning of a shift actuator to ensure stable, accurate and safe shifting of the vehicle.

[0062] This patent proposes an actuator self-learning method to eliminate the assembly error caused by the mass production of the actuator and ensure the accurate driving of the actuator PRND. For details, see Figure 3 The shift actuator self-learning method disclosed in the embodiment of the present application may include:

[0063] Step S101: Obtain the target gear position.

[0064] In this step, the gear that needs to be self-learned is used as the target gear. For example, in this solution, the PRND gears of the vehicle can all be used as the target gears, and the user can select any gear in the PRND gear as the target gear based on his or her own needs.

[0065] Step S102: Acquire a theoretical value position matching the target gear position.

[0066] In this solution, after the vehicle is assembled, the theoretical position of the roller corresponding to each gear of the vehicle will be pre-stored in the vehicle control system. In the existing solution, when the vehicle shifts gears, the position of the roller is adjusted based on the theoretical value position. After the target gear is determined, the theoretical position of the roller corresponding to the target gear that is initially calibrated can be obtained from the vehicle control system.

[0067] Step S103: driving the execution plate to make the spring sheet roller enter the theoretical value position.

[0068] After determining the theoretical value position of the target gear, the actuator is controlled to drive the actuator plate based on the theoretical value position, so that the spring sheet roller accurately falls into the theoretical value position corresponding to the target gear.

[0069] Step S104: driving the actuator plate drive motor within a preset time period by a motor vibration control method, so that the roller moves back and forth.

[0070] In this solution, after the roller accurately falls into the theoretical value position corresponding to the target gear, in order to make the roller accurately fall into the bottom of the groove corresponding to the target gear, the motor vibration control method can be used to drive the actuator drive motor within a preset time. At this time, the ball moves back and forth driven by the motor. The process of the ball moving back and forth is also a process of finding the bottom of the groove corresponding to the target gear.

[0071] When the motor jitter control method drives the actuator plate drive motor, a fixed drive current is specifically used to drive the actuator plate drive motor in a closed loop in forward and reverse directions, and the forward and reverse drive durations are the same.

[0072] Step S105: obtaining the stroke center position of the roller during the reciprocating movement.

[0073] In this step, after the roller reciprocates for a period of time, the ball will find the bottom of the groove of the target gear. At this time, the ball will reciprocate with the bottom of the groove as the center. Therefore, the center position of the roller during the reciprocating movement is the bottom of the groove of the target gear, and this position is the actual position corresponding to the target gear.

[0074] Step S106: taking the stroke center position as a calibration value of the target gear position.

[0075] After determining the stroke center position, the stroke center position is used as the calibration value of the target gear and can be written into the on-board computer or SCU memory. When writing into the on-board computer or SCU memory, you can choose to overwrite the theoretical value position corresponding to the target gear, or you can choose not to overwrite the theoretical value position corresponding to the target gear. At this time, it is necessary to set the priority of the stroke center position to be higher than the theoretical value position, so that in the subsequent driving process, when the user needs to control the vehicle to switch to the target gear, the stroke center position is used as the actual position of the target gear.

[0076] In the above scheme, when the real position of the target gear position needs to be learned, the actuator plate is first driven to make the spring sheet roller enter the theoretical value position, and the actuator plate driving motor is driven within a preset time length by the motor jitter control method to make the roller reciprocate, and then the stroke center position of the roller in the process of reciprocating movement is obtained, and the stroke center position is used as the calibration value of the target gear position. In this way, the actual position of the target gear position is calibrated, and then it is ensured that when shifting gears, the roller can accurately fall into the groove bottom of the target gear position.

[0077] In the technical solution disclosed in another embodiment of the present application, considering that the vehicle must be in a certain gear position in the PRND, if the target gear position needs to be self-learned, it can be first determined whether the current gear position of the vehicle is the same as the target gear position. If the current gear position is the same as the target gear position, then there is no need to perform the action "obtaining the theoretical value position matching the target gear position; driving the actuator plate to make the spring sheet roller enter the theoretical value position", and directly perform the action "driving the actuator plate drive motor within a preset time length through the motor jitter control method so that the roller moves back and forth". If the current gear position of the vehicle is not the target gear position, then continue to perform the action of taking the theoretical value position matching the target gear position and subsequent actions. For example, if the vehicle is in P gear, if the target gear position is P gear, then perform the action "driving the actuator plate drive motor within a preset time length through the motor jitter control method so that the roller moves back and forth", and if the target gear position is R gear, then "obtaining the theoretical value position matching the R gear; driving the actuator plate to make the spring sheet roller enter the theoretical value position".

[0078] In the technical solution disclosed in another embodiment of the present application, considering that during the rolling process of the ball, if it is restricted by factors such as the smoothness of the guide rail, the ball may reciprocate at a position other than the bottom of the groove. At this time, if the stroke center position during the reciprocating movement is used as the calibration value of the gear position, it is inaccurate. Based on this situation, the applicant further studied the solution and found that if the ball reciprocates at a position other than the bottom of the groove, in this case, the stroke of the ball is an asymmetric figure, and if the ball reciprocates at the bottom of the groove, the stroke of the ball is a symmetric figure. Based on this, see Figure 4 In the above embodiment of the present application, the motor jitter control method is used to drive the actuator drive motor within a preset time, which may specifically include:

[0079] Step 201: using a motor jitter control method to drive the actuator drive motor with a preset drive current for a preset time period.

[0080] In this embodiment, the driving current of the actuator drive motor during the shaking process is limited. At the beginning of the shaking, it is set to a preset driving current. In this solution, considering that different gearboxes have different eases in controlling the movement of the ball when shifting, different types of driving currents can be configured for different gearboxes. For example, different driving currents are configured for large trucks and small family cars. In the solution disclosed in this embodiment, the value of the preset driving current can be set to 1A.

[0081] Among them, the preset duration is a set duration. The longer the duration is, the more reliable the final marking result is, but relatively speaking, the execution cycle of this solution is also longer. If the execution cycle of the solution is too long, it will seriously affect the user experience. Therefore, the designer can set the length of the preset duration based on experience or test results. In this solution, the preset duration can be set to 3 seconds.

[0082] Step 202: Determine whether the travel of the roller is symmetrical.

[0083] When the preset time is reached, the travel trajectory of the roller in the process is obtained, and then the travel trajectory of the roller in a cycle before the end of the preset time is obtained. Each reciprocating motion of the ball is recorded as a cycle, and the travel trajectory is further analyzed to determine whether the travel of the roller is symmetrical. If it is symmetrical, it indicates that the roller has found the corresponding bottom position of the groove. If it is asymmetrical, it indicates that the roller has not yet found the corresponding bottom position of the groove.

[0084] When the stroke of the roller is symmetrical, a subsequent action is performed: obtaining the stroke center position of the roller during the reciprocating movement.

[0085] Step 203: When the stroke of the roller is asymmetric, increase the preset driving current based on a preset step length until the stroke of the roller is symmetric.

[0086] When the stroke of the roller is asymmetrical, it may be because the jitter amplitude of the actuator drive motor is too small, so that the ball cannot obtain enough kinetic energy to obtain a symmetrical stroke result (i.e., obtain the position of the bottom of the groove). Therefore, in order to make the jitter symmetrical, it is necessary to increase the preset drive current based on the preset step size to increase the kinetic energy of the ball during reciprocating movement, and continuously increase the preset drive current until the symmetry of the roller stroke is detected. In this solution, the size of the preset step size can be set according to user needs. For example, in this solution, the preset step size can be 1A, that is, each time the preset drive current is increased, 1A is added to the original drive current.

[0087] In the scheme disclosed in this embodiment, when the user feels that the theoretical value position corresponding to a certain gear of the vehicle is unreliable, the gear can be used as the target gear, and the technical scheme disclosed in the above embodiment of this application can be executed. When the user needs to self-learn all gears, when obtaining the target gear, all gears of the vehicle can be traversed and the traversed gear can be used as the target gear. The traversal order of the gears can be set according to the user's needs. For example, the gear traversal order can be PRND.

[0088] In a specific test scenario of this application, the learning results of the self-learning of the gear position of the PRND gear can be found in Figure 5-Figure 8 . Figure 5-Figure 8 The initial assembly position in is the theoretical value position corresponding to the gear position, and the position obtained by self-learning is the calibration value of the target gear position. Assembly deviation to the right refers to the situation where the theoretical value position is biased to the right relative to the bottom of the slot due to assembly or other factors. Assembly deviation to the left refers to the situation where the theoretical value position is biased to the left relative to the bottom of the slot due to assembly or other factors.

[0089] In this embodiment, a gear shift actuator self-learning device is disclosed. For the specific working contents of each unit in the device, please refer to the contents of the above method embodiment.

[0090] The shift actuator self-learning device provided by an embodiment of the present invention is described below. The shift actuator self-learning device described below and the shift actuator self-learning method described above can be referred to each other.

[0091] See also Fig. 9 The shift actuator self-learning device disclosed in the embodiment of the present application may include:

[0092] A target gear position acquisition unit A, which corresponds to step S101 in the above method, acquires the target gear position;

[0093] The gear shift unit B corresponds to step S102-step S103 in the above method, and is used to obtain a theoretical value position matching the target gear position, and drive the actuator plate to make the spring sheet roller enter the theoretical value position;

[0094] The motor drive unit C corresponds to step S104 in the above method, and is used to drive the actuator drive motor within a preset time length by a motor jitter control method, so that the roller moves back and forth;

[0095] The calibration unit D corresponds to step S105-step S106 in the above method, and is used to obtain the stroke center position of the roller during the reciprocating movement, and use the stroke center position as the calibration value of the target gear position.

[0096] In the above device, the specific working process of the target gear acquisition unit A, the gear switching unit B, the motor drive unit C and the calibration unit D can be found in the introduction of the above method embodiment, and the details will not be repeated here.

[0097] Fig.10 The hardware structure diagram of the gear shift actuator self-learning device provided in the embodiment of the present invention, the gear shift actuator self-learning device can be a driving computer, see Fig.10 As shown, it may include: at least one processor 100, at least one communication interface 200, at least one memory 300 and at least one communication bus 400;

[0098] In the embodiment of the present invention, the number of the processor 100, the communication interface 200, the memory 300, and the communication bus 400 is at least one, and the processor 100, the communication interface 200, and the memory 300 communicate with each other through the communication bus 400; obviously, Fig.10 The communication connections shown for the processor 100, the communication interface 200, the memory 300, and the communication bus 400 are merely optional;

[0099] Optionally, the communication interface 200 may be an interface of a communication module, such as an interface of a GSM module;

[0100] The processor 100 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0101] The memory 300 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0102] The processor 100 is specifically used to execute each step disclosed in any one of the above-mentioned shift actuator self-learning method embodiments of the present application.

[0103] For example, the processor 100 is specifically configured to execute:

[0104] Get the target gear position;

[0105] Acquiring a theoretical value position matching the target gear position;

[0106] Driving the actuator plate to make the spring sheet roller enter the theoretical value position;

[0107] The motor of the actuator plate is driven within a preset time period by a motor jitter control method, so that the roller moves back and forth;

[0108] Obtaining the stroke center position of the roller during the reciprocating movement;

[0109] The stroke center position is used as the calibration value of the target gear position.

[0110] For the convenience of description, the above system is described as being divided into various modules according to their functions. Of course, when implementing the present invention, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0111] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0112] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0113] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0114] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0115] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A self-learning method for a gear shift actuator, characterized in that: include: Get the target gear position; Acquiring a theoretical value position matching the target gear position; Driving the actuator plate to make the spring sheet roller enter the theoretical value position; The motor of the actuator plate is driven within a preset time period by a motor jitter control method, so that the roller moves back and forth; Obtaining the stroke center position of the roller during the reciprocating movement; The stroke center position is used as the calibration value of the target gear position.

2. The shift actuator self-learning method according to claim 1, characterized in that: After obtaining the target gear, it also includes: Get the current gear position; Determining whether the current gear is the target gear; If the current gear position is not the target gear position, then executing the action: obtaining a theoretical value position matching the target gear position; If the current gear is the target gear, an action is performed: the execution plate driving motor is driven within a preset time period by a motor vibration control method, so that the roller moves back and forth.

3. The shift actuator self-learning method according to claim 1, characterized in that: The motor driving method is used to drive the actuator board driving motor within a preset time period, including: Using a motor jitter control method to drive the actuator board drive motor within a preset time using a preset drive current; Determining whether the travel of the roller is symmetrical; When the stroke of the roller is symmetrical, a subsequent action is performed: obtaining the stroke center position of the roller during the reciprocating movement; When the stroke of the roller is asymmetric, the preset driving current is increased based on a preset step length until the stroke of the roller is symmetric.

4. The shift actuator self-learning method according to claim 3, characterized in that: Determining whether the travel of the roller is symmetrical includes: Obtaining a travel trajectory of the roller in a cycle before the end time of the preset time length, where each reciprocating motion of the ball is recorded as one cycle; Determine whether the travel trajectory of the roller is symmetrical.

5. The shift actuator self-learning method according to claim 1, characterized in that: Get the target gear, including: All gears of the vehicle are traversed, and the traversed gear is used as the target gear.

6. A self-learning device for a gear shift actuator, characterized in that: include: A target gear position obtaining unit, for obtaining a target gear position; A gear switching unit, used to obtain a theoretical value position matching the target gear position, and drive the actuator plate to make the spring sheet roller enter the theoretical value position; A motor driving unit, used to drive the actuator driving motor within a preset time period by a motor jitter control method, so that the roller moves back and forth; The calibration unit is used to obtain the stroke center position of the roller during the reciprocating movement, and use the stroke center position as the calibration value of the target gear position.

7. The shift actuator self-learning device according to claim 6, characterized in that: The gear switching unit is also used for: Get the current gear position; Determining whether the current gear is the target gear; If the current gear position is not the target gear position, then executing the action: obtaining a theoretical value position matching the target gear position; If the current gear is the target gear, an action is performed: the execution plate driving motor is driven within a preset time period by a motor vibration control method, so that the roller moves back and forth.

8. The shift actuator self-learning device according to claim 6, characterized in that: When the motor drive unit drives the actuator drive motor within a preset time period by using the motor jitter control method, it is specifically used to: Using a motor jitter control method to drive the actuator board drive motor within a preset time using a preset drive current; Determining whether the travel of the roller is symmetrical; When the stroke of the roller is symmetrical, a subsequent action is performed: obtaining the stroke center position of the roller during the reciprocating movement; When the stroke of the roller is asymmetric, the preset driving current is increased based on a preset step length until the stroke of the roller is symmetric.

9. A gear shift actuator self-learning device, characterized in that: Also includes: Memory and processor; The memory is used to store programs; The processor is used to execute the program to implement each step of the shift actuator self-learning method as described in any one of claims 1-5.

10. The gear shift actuator self-learning device according to claim 9, characterized in that: The self-learning device is a vehicle computer.

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