Shift actuator self-learning method, device and equipment

Abstract

The application provides a gear shift actuator self-learning method, device and equipment. When the real position of a target gear needs to be learned, first, a driving plate is driven to make a spring sheet roller enter a theoretical value position. A motor shaking control method is used to drive the driving plate driving motor within a preset time length, so that the roller reciprocates, and then the stroke center position of the roller in the reciprocating process is obtained, and the stroke center position is taken as a calibration value of the target gear. Thus, the calibration of the actual position of the target gear is realized, and then it is ensured 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's 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, PRND shifting is achieved. 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 gear plate shaft of the gearbox through a connecting rod mechanism. The forward and reverse rotation of the motor drives the gear plate to move back and forth on the PRND, which is the PRND shift function.

[0003] The actuator's primary task is to drive the actuator plate so that the spring roller precisely settles into the bottom of the PRND groove, with the highest possible precision. However, when the shift actuator is assembled on the transmission, factors such as the long drive chain and cumulative assembly errors can lead to discrepancies between theoretical and actual values. If the actuator drives the motor to the four PRND positions according to theoretical values, the accumulated assembly errors will inevitably prevent the roller from accurately settling into the groove. 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 shift 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;

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

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

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

[0011] Obtaining the center position of the roller during its 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;

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

[0016] If the current gear is not the target gear, then perform the following actions: obtain a theoretical value position that matches the target gear;

[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 period by using a motor vibration control method includes:

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

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

[0021] When the travel of the roller is symmetrical, performing the subsequent action: obtaining the travel 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 size until the stroke of the roller becomes symmetric.

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

[0024] Obtaining a travel trajectory of the roller in a cycle before the end 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 self-learning method for the gear shift actuator, obtaining the target gear position includes:

[0027] Traverse all gears of the vehicle and use the traversed gear 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 shift unit is used to obtain a theoretical value position that matches the target gear position and drive the actuator plate to move the spring sheet roller into the theoretical value position;

[0031] a motor drive unit, configured to drive the actuator plate drive motor within a preset time period by using 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.

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

[0034] Get the current gear;

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

[0036] If the current gear is not the target gear, then perform the following actions: obtain a theoretical value position that matches the target gear;

[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 gear shift actuator self-learning device, when the motor drive unit drives the actuator plate drive motor within a preset time period using the motor vibration control method, it is specifically used to:

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

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

[0041] When the travel of the roller is symmetrical, performing the subsequent action: obtaining the travel 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 size until the stroke of the roller becomes 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.

[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 embodiment of the present invention provides the above solution. When the actual position of the target gear needs to be learned, the actuator plate is first driven to cause the spring roller to enter the theoretical value position. The actuator plate drive motor is then driven within a preset time period using a motor vibration control method to cause the roller to reciprocate. The center position of the roller during this reciprocating movement is then obtained and used as the calibration value of the target gear. This achieves calibration of the actual position of the target gear, thereby ensuring that the roller accurately falls into the groove bottom of the target gear during gear shifting. 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

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

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

[0052] Figure 3 A flowchart of an actuator self-learning method disclosed in an embodiment of the present application;

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

[0054] Figure 5 Schematic diagram of the learning results of the actuator self-learning for the D gear;

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

[0056] Figure 7 Schematic diagram of the learning results of the actuator self-learning for N gear;

[0057] Figure 8 Schematic diagram of the learning results of the actuator self-learning for the D gear;

[0058] Figure 9 This is a schematic structural diagram of an actuator self-learning device disclosed in an embodiment of the present application;

[0059] Figure 10 This is a structural diagram of an actuator self-learning device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0061] The electronic shift by wire (SBW) system 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 the four PRND actions to realize the P gear parking and RND shift functions of the transmission. 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 batch 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 target gears, and the user can select any one of the PRND gears as the target gear based on his or her own needs.

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

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

[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 drive motor within a preset time period using 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 execution plate 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 vibration 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 moves back and forth 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 to 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 needs to be learned, first, the spring sheet roller is driven into the theoretical value position by the execution plate, the execution plate driving motor is driven by the motor jitter control method within a preset time length, so that the roller reciprocates, and then the stroke center position of the roller in the reciprocating process is obtained as the calibration value of the target gear. Thus, the calibration of the actual position of the target gear is realized, and then it is ensured that the roller can accurately fall into the groove bottom of the target gear during gear shifting.

[0077] In another embodiment of the technical scheme disclosed in the present application, considering that the vehicle is necessarily in one of the gears in PRND, if self-learning of the target gear is needed, it can be first judged whether the current gear of the vehicle is the same as the target gear. If the current gear is the same as the target gear, the action of "obtaining the theoretical value position matched with the target gear; driving the spring sheet roller into the theoretical value position by the execution plate" is not needed to be performed, and the action of "driving the execution plate driving motor to reciprocate the roller by the motor jitter control method within a preset time length" can be directly performed. If the current gear of the vehicle is not the target gear, the action of obtaining the theoretical value position matched with the target gear and the subsequent actions are continued to be performed. For example, if the vehicle is in P gear, if the target gear is P gear, the action of "driving the execution plate driving motor to reciprocate the roller by the motor jitter control method within a preset time length" is performed, and if the target gear is R gear, the actions of "obtaining the theoretical value position matched with the R gear; driving the spring sheet roller into the theoretical value position by the execution plate" are performed.

[0078] In another embodiment of the technical scheme disclosed in the present application, considering that the roller may reciprocate in a non-groove bottom position due to the limitation of factors such as the smoothness of the guide rail during rolling. At this time, if the stroke center position in the reciprocating process is taken as the calibration value of the gear, it is inaccurate. Based on this situation, the applicant further studies the scheme. The applicant finds that if the roller reciprocates in a non-groove bottom position, the stroke of the roller is an asymmetric figure. If the roller reciprocates in a groove bottom position, the stroke of the roller is a symmetric figure. Based on this, referring to Figure 4 In the above embodiment of the present application, the execution plate driving motor is driven by the motor jitter control method within a preset time length, which can specifically include:

[0079] Step 201: The execution plate driving motor is driven by the motor jitter control method within a preset time length by using a preset driving current.

[0080] In this embodiment, the drive current of the actuator drive motor during the dithering process is limited. At the beginning of the dithering process, it is set to a preset drive current. In this solution, different types of drive currents can be configured for different gearboxes, taking into account the varying ease with which the control ball moves during shifting. For example, different drive currents can be configured for large trucks and small family cars. In the solution disclosed in this embodiment, the preset drive current value can be set to 1A.

[0081] Among them, the preset duration is a set duration. The longer the duration, the more reliable the final marking result. However, 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, designers 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. 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 groove bottom position. If it is asymmetrical, it indicates that the roller has not found the corresponding groove bottom position.

[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 travel of the roller is asymmetric, increase the preset driving current based on a preset step size until the travel of the roller becomes symmetric.

[0086] When the roller's stroke is asymmetrical, it may be because the vibration amplitude of the actuator drive motor is too small, so that the ball cannot obtain enough kinetic energy to achieve a symmetrical stroke (i.e., obtain the position of the bottom of the groove). Therefore, in order to make the vibration 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. In this way, the preset drive current is continuously increased until the symmetry of the roller's 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 solution disclosed in this embodiment, if the user feels that the theoretical position corresponding to a certain gear of the vehicle is unreliable, the gear can be used as the target gear and the technical solution disclosed in the above embodiment of this application can be implemented. If 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 gear traversal order can be set according to user needs, for example, the gear traversal order can be PRND.

[0088] In a specific test scenario of this application, the self-learning results 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 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 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 position is biased to the left relative to the bottom of the slot due to assembly or other factors.

[0089] In this embodiment, a self-learning device for a gear shift actuator 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 refer to each other.

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

[0092] The target gear position obtaining unit A corresponds to step S101 in the above method and obtains the target gear position;

[0093] The gear shift unit B corresponds to steps S102 and S103 in the above method, and is used to obtain a theoretical position that matches the target gear, and drive the actuator plate to move the spring roller into the theoretical 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 period by using a motor vibration control method to make the roller reciprocate;

[0095] The calibration unit D corresponds to step S105 to 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.

[0096] The specific working processes of the target gear acquisition unit A, the gear switching unit B, the motor driving unit C and the calibration unit D in the device are described in the above method embodiments, and are not repeated here.

[0097] Figure 10 A hardware structure diagram of the shift actuator self-learning device provided in the embodiment of the application can be a car computer, as shown in Figure 10 The shift actuator self-learning device can 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 application, 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 complete communication with each other through the communication bus 400. Figure 10 The communication connection between the processor 100, the communication interface 200, the memory 300 and the communication bus 400 shown in the figure is optional.

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

[0100] The processor 100 can be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiment of the application.

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

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

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

[0104] Acquire a target gear;

[0105] Acquire a theoretical value position matched with the target gear;

[0106] Drive the execution plate to make the spring sheet roller enter the theoretical value position;

[0107] Drive the execution plate driving motor through the motor jitter control method within a preset time length, so that the roller reciprocates;

[0108] Obtaining the center position of the roller during its 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. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple. For relevant parts, 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 can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without expending 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 above description has generally described the components and steps of each example according to their functions. 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 beyond the scope of the present invention.

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

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

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

Claims

1. A self-learning method for a shift actuator, characterized in that: include: Get the target gear; Obtaining a theoretical value position matching the target gear position; Driving the execution plate to make the spring sheet roller enter the theoretical value position; The motor is driven by the actuator plate within a preset time period by a motor vibration control method, so that the roller moves back and forth; Obtaining the center position of the roller during its reciprocating movement; Taking the stroke center position as the calibration value of the target gear position; The motor is driven by the actuator within a preset time period by a motor jitter control method, including: Using a motor jitter control method to drive the actuator drive motor using a preset drive current for a preset time period; Determining whether the travel of the roller is a symmetrical figure; When the travel of the roller is a symmetrical figure, performing subsequent actions: obtaining the travel center position of the roller during the reciprocating movement; When the travel of the roller is an asymmetrical pattern, increasing the preset driving current based on a preset step size until the travel of the roller is a symmetrical pattern; Determining whether the travel of the roller is a symmetrical figure includes: Obtaining a travel trajectory of the roller in a cycle before the end of the preset time length, where each reciprocating motion of the roller is recorded as one cycle; Determine whether the travel trajectory of the roller is a symmetrical figure.

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; Determining whether the current gear is the target gear; If the current gear is not the target gear, then perform the following actions: obtain a theoretical value position that matches the target gear; 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: Get the target gear, including: Traverse all gears of the vehicle and use the traversed gear as the target gear.

4. A self-learning device for a shift actuator, characterized in that: include: A target gear position obtaining unit, for obtaining a target gear position; A gear shift unit is used to obtain a theoretical value position that matches the target gear position and drive the actuator plate to move the spring sheet roller into the theoretical value position; a motor drive unit, configured to drive the actuator plate drive motor within a preset time period by using a motor jitter control method, so that the roller moves back and forth; a calibration unit, configured to obtain a stroke center position of the roller during its reciprocating movement, and use the stroke center position as a calibration value of the target gear position; The motor is driven by the actuator within a preset time period by a motor jitter control method, including: Using a motor jitter control method to drive the actuator drive motor using a preset drive current for a preset time period; Determining whether the travel of the roller is a symmetrical figure; When the travel of the roller is a symmetrical figure, performing subsequent actions: obtaining the travel center position of the roller during the reciprocating movement; When the travel of the roller is an asymmetrical pattern, increasing the preset driving current based on a preset step size until the travel of the roller is a symmetrical pattern; Determining whether the travel of the roller is a symmetrical figure includes: Obtaining a travel trajectory of the roller in a cycle before the end of the preset time length, where each reciprocating motion of the roller is recorded as one cycle; Determine whether the travel trajectory of the roller is a symmetrical figure.

5. The shift actuator self-learning device according to claim 4, characterized in that: The gear switching unit is further used for: Get the current gear; Determining whether the current gear is the target gear; If the current gear is not the target gear, then perform the following actions: obtain a theoretical value position that matches the target gear; 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.

6. A self-learning device for a gear shift actuator, 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 according to any one of claims 1 to 3.

7. The shift actuator self-learning device according to claim 6, characterized in that: The self-learning device is a vehicle computer.

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