Neutral position dynamic learning method

Abstract

The invention provides a neutral position dynamic learning method, which is characterized in that the neutral position of a shifting fork on a screw rod is a first neutral position, and comprises the following steps: controlling the shifting fork to move from the first neutral position to a first gear direction, and when the rotating speed change rate of a driving motor is greater than a first preset change rate, the position of the shifting fork is a first shifting fork position; the shifting fork is controlled to move from the first neutral position to the second gear position, when the rotating speed change rate of the driving motor is larger than a second preset change rate, the position where the shifting fork is located is the second shifting fork position, and the second gear and the first gear correspond to the opposite direction; determining a second neutral position according to the first shifting fork position and the second shifting fork position; and determining a target neutral position at least according to the second neutral position. The neutral position is monitored and dynamically learned, so that gear position changes caused by abrasion and other factors in the whole life cycle process of a gear shifting assembly can be well adapted, the accuracy of the neutral position is guaranteed, and the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle application technology, and in particular to a method for dynamically learning a neutral position. Background Art

[0002] When the user is driving the vehicle, gear switching will cause wear, and this wear will most likely affect the position of each gear, with the greatest impact on the neutral gear, causing a deviation between the original theoretical neutral position and the actual neutral position, which will place the position of the gear fork in an unknown state. If the gear fork is not in the actual neutral position of the shift assembly, it will cause varying degrees of wear and tooth knocking on the gears, synchronizers, and shift forks, causing irreversible harm to the shift assembly. At the same time, if the position of the gear fork is biased toward the low-speed gear and high-speed ratio end, the motor speed at the drive end will be reversed and maintained at a high speed for a long time, even exceeding the maximum speed allowed by the motor, which may result in a burnout of the vehicle and affect the safety of the passengers. Therefore, it is very important to determine the position of the neutral gear.

[0003] At present, the traditional confirmation of neutral position is mostly based on the theoretical position obtained from the structural dimensions of the transmission gear for neutral control and static learning. The neutral position cannot be monitored and dynamically learned and updated, resulting in low gear shifting accuracy and low driving safety. Summary of the invention

[0004] The present application proposes a dynamic learning method for the neutral position. By monitoring and dynamically learning the neutral position, it can well adapt to the changes in the gear position caused by wear and other factors during the entire life cycle of the shift assembly, ensure the accuracy of the neutral position, and improve driving safety.

[0005] In a first aspect, an embodiment of the present application proposes a neutral position dynamic learning method, which is applied to a shift motor, wherein the shift motor further includes a drive motor and a screw rod, and a shift fork located on the screw rod, and the current neutral position of the shift fork on the screw rod is a first neutral position, and the method includes:

[0006] Controlling the shift fork to move from the first neutral position to the first gear position, when the speed change rate of the drive motor is greater than a first preset change rate, the position of the shift fork is the first shift fork position;

[0007] Controlling the shift fork to move from the first neutral position to the second gear position, when the speed change rate of the drive motor is greater than a second preset change rate, the position of the shift fork is the second shift fork position, and the second gear position corresponds to the opposite direction of the first gear position;

[0008] determining a second neutral position according to the first shift fork position and the second shift fork position;

[0009] A target neutral position is determined at least based on the first neutral position and the second neutral position, the target neutral position being the updated neutral position.

[0010] In a specific embodiment, controlling the shift fork to move from the first neutral position toward the first gear direction includes: controlling the shift fork to move repeatedly multiple times from the first neutral position toward the first gear direction, the first shift fork position being an average value of the shift fork positions corresponding to the repeated multiple movements; and / or controlling the shift fork to move from the first neutral position toward the second gear direction includes: controlling the shift fork to move repeatedly multiple times from the first neutral position toward the second gear direction, the second shift fork position being an average value of the shift fork positions corresponding to the repeated multiple movements.

[0011] In a specific embodiment, the second neutral position is a midpoint between the first fork position and the second fork position.

[0012] In a specific embodiment, determining the second neutral position according to the first fork position and the second fork position includes: determining that when the rotation speed of the drive motor between the first fork position and the second fork position is the smallest, the position of the fork is the second neutral position.

[0013] In a specific embodiment, determining the target neutral position based on the first neutral position and the second neutral position includes: if the difference between the second neutral position and the first neutral position is greater than the preset difference, the second neutral position is the target neutral position; if the difference between the second neutral position and the first neutral position is not greater than the preset difference, the value after filtering based on the first neutral position and the second neutral position is the target neutral position.

[0014] In a specific embodiment, when the difference between the second neutral position and the first neutral position is not greater than the preset difference, the target neutral position satisfies the following formula:

[0015] S i =S i-1 ×a1+S0×(1-a1)

[0016] Among them, the S i is the target neutral position, S i-1 is the first neutral position, a1 is the weight of the first neutral position, a1 is a value less than or equal to 1, S0 is the second neutral position, and i is an integer greater than or equal to 1.

[0017] In a specific embodiment, when the i is 1, the S i-1Corresponding to the initial neutral position, the initial neutral position is L / 2, where L is the length of the screw rod.

[0018] In a specific embodiment, before controlling the shift fork to move from the first neutral position to the first gear direction, the method also includes: the target vehicle satisfies one or more of the following conditions: the speed of the drive motor is less than a preset speed; or the speed of the target vehicle is greater than a preset speed; or the shift fork is located in the first neutral position; or the drive motor is not in a speed regulation state; or and the electric vehicle controller VCU requests the target to be in neutral.

[0019] In a second aspect, an embodiment of the present application proposes an electronic device, comprising a processor, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the processor, and the one or more programs include instructions for executing the steps in the method as described above.

[0020] In a third aspect, an embodiment of the present application proposes a computer-readable storage medium storing a computer program, which is executed by a processor to implement the steps of the method described above.

[0021] In a fourth aspect, an embodiment of the present application proposes a computer program product, including computer instructions, which are executed by a processor to implement the steps of the method described above.

[0022] In a fifth aspect, an embodiment of the present application proposes a vehicle, comprising the electronic device as described in the second aspect.

[0023] It can be seen that in this example, the current neutral position of the shift fork on the screw rod is the first neutral position. When the shift motor controls the shift fork to move from the first neutral position to the first gear direction and the speed change rate of the driving motor is greater than the first preset change rate, the position of the shift fork is the first neutral position; then the shift fork is controlled to move from the first neutral position to the second gear direction, and when the speed change rate of the driving motor is greater than the second preset change rate, the position of the shift fork is the second neutral position, and the second gear corresponds to the opposite direction of the first gear, and then the second neutral position is determined according to the first shift fork position and the second shift fork position; finally, the target neutral position is determined based on at least the second neutral position, and the target neutral position is the updated neutral position. In this way, by monitoring and dynamically learning the neutral position, it is possible to adapt well to the gear position changes caused by wear and other factors during the entire life cycle of the shift assembly, ensure the accuracy of the neutral position, and improve driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application 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 some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a schematic diagram of the composition of a shift motor provided in an embodiment of the present application;

[0026] Figure 2 It is a flowchart of a method for dynamic learning of a neutral position provided in an embodiment of the present application;

[0027] Figure 3 is a schematic diagram of a change in the speed of a driving motor provided in an embodiment of the present application;

[0028] Figure 4 is a schematic diagram of another driving motor speed change provided in an embodiment of the present application;

[0029] Figure 5 is a schematic diagram of a process for determining a first fork position and a second fork position provided in an embodiment of the present application;

[0030] Figure 6 is a schematic diagram of a shift fork position change provided in an embodiment of the present application;

[0031] Figure 7 is a schematic diagram of a process for determining a target neutral position provided by an embodiment of the present application;

[0032] Figure 8 This is a schematic diagram of a process for triggering dynamic learning provided by an embodiment of the present application;

[0033] Fig. 9 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0034] Fig.10 It is a schematic diagram of the composition of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. 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 limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0037] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0038] In the embodiments of the present application, "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B can represent the following three situations: A exists alone; A and B exist at the same time; B exists alone. Among them, A and B can be singular or plural.

[0039] In the embodiment of the present application, the symbol " / " can indicate that the objects associated with each other are in an "or" relationship. In addition, the symbol " / " can also indicate a division sign, that is, performing a division operation. For example, A / B can indicate A divided by B.

[0040] In the embodiments of the present application, "equal to" can be used in conjunction with greater than, and is applicable to the technical solution adopted when greater than, and can also be used in conjunction with less than, and is applicable to the technical solution adopted when less than. When equal to is used in conjunction with greater than, it is not used in conjunction with less than; when equal to is used in conjunction with less than, it is not used in conjunction with greater than.

[0041] To facilitate understanding of this scheme, some names need to be explained.

[0042] Shift assembly: refers to the combination of the shift mechanism and related parts in the vehicle transmission, mainly composed of the shift lever, suspension cable, gear selection and shift mechanism, shift fork and synchronous control device. The shift lever is operated by the driver, and the gear is adjusted according to the position of the suspension cable of the gear lever; the function of the shift fork and synchronous control device is to combine or separate the gear transmission gear.

[0043] At present, the traditional confirmation of neutral position is mostly based on the theoretical position obtained from the structural dimensions of the transmission gear for neutral control and static learning. The neutral position cannot be monitored and dynamically learned and updated, resulting in low gear shifting accuracy and low driving safety.

[0044] In view of the above problems, an embodiment of the present application proposes a dynamic learning method for a neutral position, which is described in detail below in conjunction with the accompanying drawings.

[0045] Please refer to Figure 1 , Figure 1 Schematic diagram of the composition of a shift motor provided in an embodiment of the present application. Figure 1 As shown, the shift motor 10 includes a drive motor 101, a screw rod 102, and a shift fork 103. The shift motor 10 can be used to control the movement of gears and shafts in the transmission, thereby realizing one of the key components of vehicle shifting. The drive motor 101 can provide power to move the shift fork 103. The drive motor can be an electric DC motor that rotates in different directions according to a control signal. The drive motor can be controlled by a control unit (e.g., an electronic control unit) to send a signal to control the rotation direction and speed so that the shift fork moves at an appropriate time and position, thereby realizing vehicle shifting; the screw rod 102 is a mechanical device that can be used to convert the rotational motion of the drive motor into linear motion to push or pull the shift fork. The screw rod can be composed of a threaded shaft and a nut (i.e., a screw rod fixing bolt 104). When the threaded shaft rotates, due to the presence of the thread, the nut moves along the axis under the action of the thread. The drive motor can drive the rotation of the screw rod through a mechanical transmission device connected to the screw rod (e.g., a gear box or belt drive), thereby realizing the linear movement of the shift fork; as shown in FIG. Figure 1 As shown, the shift fork 103 can be a mechanical arm mounted on the screw rod, which can control the position of the gear and the shaft by contacting with the shift mechanism (e.g., the selector fork or other mechanical parts inside the transmission). When the shift fork moves, it connects or separates the gear teeth with the corresponding shaft, thereby achieving the vehicle's shifting. The shift fork can be designed to have a specific shape and size to ensure that the correct force is applied at the right time and position, thereby achieving a smooth shifting operation. It should be noted that the drive motor and the screw rod can also be connected through a motor transmission shaft and a transmission gear plate.

[0046] Please refer to Figure 2 , Figure 2 is a flow chart of a method for dynamic learning of a neutral position provided in an embodiment of the present application. Figure 2 As shown, the method includes the following steps.

[0047] S201, controlling the shift fork to move from the first neutral position toward the first gear position, when the speed change rate of the drive motor is greater than a first preset change rate, the position of the shift fork is the first shift fork position.

[0048] S202, controlling the shift fork to move from the first neutral position toward the second gear position, and when the speed change rate of the drive motor is greater than a second preset change rate, the position of the shift fork is the second shift fork position.

[0049] The first neutral position may be the original neutral position set when the vehicle leaves the factory, or may be the neutral position determined during the last neutral position learning.

[0050] The direction of the first gear position and the direction of the second gear position may be opposite. In a two-speed shift assembly, there may be three gear positions, namely, a high-speed gear (H gear), a neutral gear (N gear) and a low-speed gear (L gear). The first gear position and the second gear position may be a high-speed gear and a low-speed gear, respectively. Specifically, the first gear position may be a high-speed gear and the second gear position may be a low-speed gear, or the first gear position may be a low-speed gear and the second gear position may be a high-speed gear.

[0051] The first fork position may be a position where the speed change rate of the drive motor is greater than a first preset change rate, and the second fork position may be a position where the speed change rate of the drive motor is greater than a second preset change rate. The first preset change rate and the second preset change rate may be the same or different. Figure 3 , Figure 3 Schematic diagram of a driving motor speed change provided in an embodiment of the present application. Figure 3 As shown in the figure, the horizontal change is the fork position, and the vertical change is the drive motor speed. Figure 3 In the figure, when the shift fork position moves toward the L gear, at position A, the motor speed changes from basically unchanged to suddenly increased, and this position A can be called the inflection point where the speed of the drive motor obviously increases; when the shift fork position moves toward the H gear, at position B, the motor speed changes from basically unchanged to suddenly increased, and this position B can be called the inflection point where the speed of the drive motor obviously increases. Correspondingly, position A can be the first shift fork position, position B can be the second shift fork position, or position A can be the second shift fork position, and position B can be the first shift fork position.

[0052] S203: Determine a second neutral position according to the first shift fork position and the second shift fork position.

[0053] Specifically, the second neutral position is a midpoint between the first fork position and the second fork position.

[0054] The second neutral position can be determined based on the first fork position and the second fork position. As for the shift assembly, when the vehicle leaves the factory, the neutral position can be set at the midpoint between the low gear and the high gear, or the neutral position is the same distance from the high gear and the low gear. Figure 3 In the embodiment, the second neutral position may be the midpoint between position A and position B, namely position C.

[0055] Specifically, determining the second neutral position according to the first fork position and the second fork position includes: determining that when the rotation speed of the drive motor between the first fork position and the second fork position is the smallest, the position corresponding to the fork is the second neutral position.

[0056] The speed change curve of the driving motor may be presented in the form of a parabola. When the shift fork is in the neutral position, the speed of the driving motor is relatively low. Therefore, when the speed of the driving motor reaches the minimum, the corresponding shift fork position may be the second neutral position. Figure 4 , Figure 4 FIG. 1 is another schematic diagram of the change in the speed of a driving motor provided in an embodiment of the present application. Figure 4 As shown in the figure, the lateral change is the fork position, and the vertical change is the drive motor speed. The speed of the drive motor changes with the change of the fork position. In the figure, the relationship between the speed of the drive motor and the fork position presents a parabola-like curve. At position C, the speed of the drive motor is the smallest, thereby determining that the second neutral position can be position C.

[0057] The target neutral position can be determined by integrating the first neutral position and the second neutral position or selecting the second neutral position. For example, if the first neutral position and the second neutral position may be close to each other within a certain range, the first neutral position and the second neutral position can be integrated to obtain the target neutral position. If the first neutral position and the second neutral position may be far apart, the second neutral position can be directly used as the target neutral position. The neutral position is supervised and dynamically learned to improve the accuracy of the neutral position.

[0058] S204: Determine a target neutral position at least according to the second neutral position.

[0059] The target neutral position is an updated neutral position.

[0060] The target neutral position may be determined based on the second neutral position, in which case the first neutral position and the second neutral position are the same; the target neutral position may also be determined based on the first neutral position and the second neutral position.

[0061] It can be seen that in this example, the processor can monitor and dynamically learn the neutral position, and can well adapt to the changes in gear position caused by wear and other factors during the entire life cycle of the shift assembly, thereby ensuring the accuracy of the neutral position and improving driving safety.

[0062] In a specific embodiment, controlling the shift fork to move from a first neutral position toward a first gear position includes: controlling the shift fork to move repeatedly from the first neutral position toward the first gear position multiple times, and the first shift fork position is an average value of the shift fork positions corresponding to the repeated multiple movements; and / or controlling the shift fork to move from the first neutral position toward the second gear position includes: controlling the shift fork to move repeatedly from the first neutral position toward the second gear position multiple times, and the second shift fork position is an average value of the shift fork positions corresponding to the repeated multiple movements.

[0063] Among them, please refer to Figure 5 , Figure 5 is a schematic diagram of a process for determining a first fork position and a second fork position provided in an embodiment of the present application. Figure 5 As shown, the shift fork is controlled to move from the first neutral position toward the first gear position; then the shift fork position corresponding to the turning point of the driving motor speed is recorded as the turning point H1; it returns to the first neutral position; the above action is repeated twice to obtain the turning point H2 and the turning point H3, and the three results are averaged to obtain the turning point H, that is, the turning point H1, the turning point H2 and the turning point H3 are summed and averaged, H = (turning point H1 + turning point H2 + turning point H3) / 3; the shift fork is controlled to move from the first neutral position toward the second gear position; the shift fork position of the turning point of the driving motor speed is recorded as L1; it returns to the first neutral position; the above action is repeated twice to obtain the turning point L2 and the turning point L3, and the three results are averaged to obtain the turning point L, that is, the turning point L1, the turning point L2 and the turning point L3 are summed and averaged, L = (turning point L1 + turning point L2 + turning point L3) / 3. It should be noted that the turning point of the driving motor speed can be the point where the driving motor speed increases significantly. Please refer to Figure 6 , Figure 6 Schematic diagram of a shift fork position change provided in an embodiment of the present application. Figure 6 As shown in the figure, the horizontal direction can represent time, and the vertical direction can represent the position of the shift fork. When the shift fork is in the neutral position, the shift fork is first controlled to move toward the high gear direction to obtain the corresponding speed change inflection point, i.e., X1, and then the shift fork is controlled to return to the neutral position, and the shift fork is controlled to move toward the high gear direction again to obtain the corresponding speed change inflection point, i.e., X2, and the shift fork is returned to the neutral position again; similarly, the shift fork is then controlled to move toward the low gear direction to obtain the corresponding speed change inflection point, i.e., Y1, and then the shift fork is controlled to return to the neutral position, and the shift fork is controlled to move toward the low gear direction again to obtain the corresponding speed change inflection point, i.e., Y2, and finally the shift fork is controlled to return to the neutral position. X1 and X2 can be added and then averaged to obtain the first shift fork position. Similarly, Y1 and Y2 can be added and then averaged to obtain the second shift fork position.

[0064] It should be noted that the number of times the control fork moves from the first neutral position toward the first gear position and the number of times the control fork moves from the first neutral position toward the second gear position may be the same or different.

[0065] It can be seen that in this example, the shift fork can be actively controlled to repeatedly move in the first gear direction and the second gear direction when the shift fork is in the neutral position, and the sudden change in speed can be monitored to identify the synchronization point position of the gear mechanism and obtain the corresponding shift fork position. By repeating the experiment, the accuracy of the first shift fork position and the second shift fork position is improved, thereby improving the accuracy of the target neutral position confirmation and improving safe driving.

[0066] In a possible embodiment, the target neutral position is determined based on at least the second neutral position, including: if the difference between the second neutral position and the first neutral position is greater than a preset difference, the second neutral position is determined to be the target neutral position; if the difference between the second neutral position and the first neutral position is not greater than the preset difference, the value after filtering based on the first neutral position and the second neutral position is the target neutral position.

[0067] The preset difference may be a user-defined value, or may be a value generated based on comprehensive consideration of factors affecting the change in the neutral position, such as gear shift wear, years of use, or excessive mileage.

[0068] The second neutral position may be a neutral position learned based on the first fork position and the second fork position, and needs to be compared and learned with the first neutral position to determine the final target neutral position. Figure 7 , Figure 7 is a schematic diagram of a process for determining a target neutral position provided by an embodiment of the present application. Figure 7 As shown, first obtain the difference between the second neutral position and the first neutral position; then determine whether the difference is greater than the threshold. If the difference is greater than the threshold, it means that the second neutral position and the second neutral position are very different, then the second neutral position can be used as the target neutral position and stored in Dflash. If the difference is less than or equal to the threshold, it means that the second neutral position and the first neutral position are not much different, then the first neutral position and the second neutral position can be processed by first-order filtering as the target neutral position and stored in Dflash. Dflash is Data flash, usually FlexNVM, which can be divided into EEPROM backup and Dataflash. If it is Dataflash, it can coexist with the main flash. When the main program memory is running, everyone can erase and write, and can be used to store bootloader code or large data blocks.

[0069] Among them, for Figure 3The motor speed shown in is linear data, so the filtering process can be a simple filtering algorithm, and the filtering algorithm can be in various forms, such as first-order filtering, mean filtering, median filtering, or Kalman filtering. Since the input of the filtering algorithm in this example is the first neutral position and the second neutral position, the effects of mean filtering and median filtering in this example are similar.

[0070] Specifically, when the difference between the second neutral position and the first neutral position is not greater than the preset difference, the target neutral position satisfies the following formula:

[0071] S i =S i-1 ×a1+S0×(1-a1)

[0072] Among them, S i is the target neutral position, S i-1 is the first neutral position, a1 is the weight of the first neutral position, a1 is a value less than or equal to 1, S0 is the second neutral position, and i is an integer greater than or equal to 1.

[0073] Among them, the filtering algorithm can be a first-order filtering, which is equivalent to weighted summing the new sampling result and the previous filtering result, and the weight sum is 1. In the above formula, the value of a1 determines the sensitivity of the algorithm. The smaller a1 is, the greater the weight of the second neutral position is, the more sensitive the algorithm is, but the smoothness is poor; on the contrary, the larger a1 is, the smaller the weight of the second neutral position is, the poor sensitivity of the algorithm is, but the smoothness is good.

[0074] Specifically, when i is 1, S i-1 Corresponding to the initial neutral position, the initial neutral position is L / 2, where L is the length of the screw rod.

[0075] Among them, when i is 1, it means that the neutral position at this time can be the neutral position set when the vehicle leaves the factory, and the vehicle does not have any loss. a1 can be 0. The neutral position can be determined according to the theoretical value and can be half the length of the screw rod, that is, S0=L / 2.

[0076] It can be seen that in this example, the final target neutral position can be determined by the first neutral position and the second neutral position, and the neutral position can be supervised and dynamically learned, which can well adapt to the changes in gear position caused by wear and other factors during the entire life cycle of the shift assembly, ensure the accuracy of the neutral position, and improve driving safety.

[0077] In a possible embodiment, before controlling the shift fork to move from the first neutral position to the first gear direction, the method also includes: the target vehicle satisfies one or more of the following conditions: the dynamic learning condition includes that the speed of the drive motor is less than the preset speed; or the speed of the target vehicle is greater than the preset speed; or the shift fork is located in the first neutral position; or the drive motor is not in the speed regulation state; or the electric vehicle whole vehicle controller VCU requests that the target is in neutral.

[0078] Among them, the speed of the drive motor at low speed will be very low, which is not conducive to the determination of the speed inflection point, so it is necessary to ensure that the speed of the target vehicle is greater than a certain value, for example, the speed needs to be greater than 10km / h (kilometers per hour); when the shift fork is in the neutral position, the drive motor does not actively output torque, and the motor speed will not be very high, so it is necessary to ensure that the shift fork is in the neutral position; ensuring that the drive motor speed is not in the speed regulation state is to avoid the torque control intervention of the vehicle controller unit (VCU) of the electric vehicle. Please refer to Figure 8 , Figure 8 is a flowchart of triggering dynamic learning provided by an embodiment of the present application. Figure 8 As shown, first determine whether the speed of the drive motor is less than 200 revolutions per minute (RPM). If the speed of the drive motor is greater than or equal to 200RPM, the process ends; if the speed of the drive motor is less than 200RPM, determine whether the vehicle speed is greater than a certain value. If the vehicle speed is less than or equal to a certain value, the process ends; if the vehicle speed is less than or greater than a certain value, determine whether the current shift fork position is neutral. If the current shift fork position is not neutral, the process ends; if the current shift fork position is neutral, determine whether the current VCU request target is neutral. If the current VCU request target is not neutral, the process ends; if the current VCU request target is neutral, determine whether the drive motor has not received a speed control command. If the drive motor has received a speed control command, the process ends; if the drive motor has not received a speed control command, the process enters neutral dynamic self-learning. It should be noted that judging that the motor speed is less than 200RPM is to prevent the situation that even if the shift fork is in the neutral position, the speed of the drive motor has not dropped to a certain value, so that the speed is too high and the speed inflection point cannot be determined; judging whether the current VCU request target is neutral is to prevent the occurrence of gear engagement or gear shifting during the process of confirming the neutral position.

[0079] It can be seen that in this example, it is necessary to determine whether the target vehicle meets the dynamic learning conditions, which include that the speed of the drive motor is less than the preset speed, the speed of the target vehicle is greater than the preset speed, the shift fork is in the first neutral position, the drive motor is not in the speed regulation state, and the electric vehicle controller VCU requests the target to be in neutral. Ensuring that the target vehicle confirms the neutral position under certain conditions, automatically monitors the neutral position and performs dynamic learning can well adapt to the gear position changes caused by wear and other factors during the entire life cycle of the shift assembly, ensure the accuracy of the neutral position, and improve driving safety.

[0080] It should be noted that the neutral position learning method proposed in this application is applicable to the shift mechanism of the two-speed shift assembly. This method is different from determining the neutral position based entirely on theoretical dimensions, and does not take into account the wear of the box after a certain mileage, and the neutral position will change.

[0081] The embodiment of the present application provides an electronic device, including a processor, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the one or more programs include instructions for executing the steps in the above method. Fig. 9 , Fig. 9 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig. 9 As shown, the electronic device 80 can be an electronic device with computing capabilities, and the electronic device 80 can include various other processing devices, as well as various forms of personal computers, servers, network devices, etc. The electronic device 80 includes a processor 801, a memory 802, a communication interface 803, and one or more programs 804. The one or more programs 804 are stored in the memory 802 and are configured to be executed by the processor 801. The one or more programs 804 include steps for executing any of the following schemes. In a specific implementation, the processor 801 is used to execute the steps in any of the methods in the above method embodiments, and when performing data transmission such as sending, the communication interface 803 can be selectively called to complete the corresponding operation.

[0082] The processor 801 may be a central processing unit (CPU), a general purpose processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor 801 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0083] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the execution process on the method side. It is understandable that, in order to realize the above functions, the electronic device includes a hardware structure and a software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can 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 application.

[0084] The embodiment of the present application can divide the electronic device into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0085] The present application also provides a vehicle, wherein the vehicle includes the above electronic device. Fig.10 , Fig.10 Schematic diagram of a vehicle provided in an embodiment of the present application. Fig.10 As shown, vehicle 90 includes electronic device 80 .

[0086] An embodiment of the present application also provides a computer program product, which includes computer instructions. The computer program product can be operated to enable a computer to execute part or all of the steps of any method recorded in the above method embodiments.

[0087] An embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program enables a computer to execute part or all of the steps of any method recorded in the above method embodiments.

[0088] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0089] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0090] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0091] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0092] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0093] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or CD-ROM and other media that can store program codes.

[0094] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

[0095] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present application, and can make various changes and modifications, including the combination of the above-mentioned different functions and implementation steps, including software and hardware implementation methods, all of which are within the scope of protection of the present application.

Claims

1. A method for dynamic learning of neutral position, characterized in that: Applied to a shift motor, the shift motor further includes a drive motor and a lead screw, and a shift fork located on the lead screw, and the current neutral position of the shift fork on the lead screw is a first neutral position, the method includes: Controlling the shift fork to move from the first neutral position to the first gear position, when the speed change rate of the drive motor is greater than a first preset change rate, the position of the shift fork is the first shift fork position; Controlling the shift fork to move from the first neutral position to the second gear position, when the speed change rate of the drive motor is greater than a second preset change rate, the position of the shift fork is the second shift fork position, and the second gear position corresponds to the opposite direction of the first gear position; determining a second neutral position according to the first shift fork position and the second shift fork position; A target neutral position is determined based on at least the second neutral position, and the target neutral position is an updated neutral position.

2. The method according to claim 1, characterized in that: The controlling the shift fork to move from the first neutral position to the first gear direction comprises: controlling the shift fork to move from the first neutral position to the first gear direction repeatedly for multiple times, the first shift fork position being an average value of shift fork positions corresponding to the repeated multiple movements; and / or The controlling the shift fork to move from the first neutral position to the second gear position direction includes: controlling the shift fork to move from the first neutral position to the second gear position direction repeatedly for multiple times, and the second shift fork position is an average value of the shift fork positions corresponding to the repeated multiple movements.

3. The method according to claim 1, characterized in that The second neutral position is a midpoint between the first fork position and the second fork position.

4. The method according to claim 1, characterized in that The determining the second neutral position according to the first shift fork position and the second shift fork position comprises: When it is determined that the rotation speed of the driving motor between the first shift fork position and the second shift fork position is the minimum, the position of the shift fork is the second neutral position.

5. The method according to claim 1, characterized in that The step of determining a target neutral position at least according to the second neutral position comprises: If the difference between the second neutral position and the first neutral position is greater than a preset difference, the second neutral position is the target neutral position; If the difference between the second neutral position and the first neutral position is not greater than the preset difference, a value obtained by filtering the first neutral position and the second neutral position is the target neutral position.

6. The method according to claim 5, characterized in that When the difference between the second neutral position and the first neutral position is not greater than the preset difference, the target neutral position satisfies the following formula: S i =S i-1 ×a1+S0×(1-a1) Among them, the S i is the target neutral position, S i-1 is the first neutral position, a1 is the weight of the first neutral position, a1 is a value less than or equal to 1, S0 is the second neutral position, and i is an integer greater than or equal to 1.

7. The method according to claim 6, characterized in that When i is 1, the S i-1 Corresponding to the initial neutral position, the initial neutral position is L / 2, where L is the length of the screw rod.

8. The method according to any one of claims 1 to 7, characterized in that: Before controlling the shift fork to move from the first neutral position to the first gear position, the method further includes: the target vehicle satisfies one or more of the following conditions: The rotation speed of the driving motor is less than a preset rotation speed; or The speed of the target vehicle is greater than a preset speed; or The shift fork is located in the first neutral position; or The driving motor is not in a speed regulating state; or The electric vehicle controller VCU requests the target to be neutral.

9. An electronic device, characterized in that: The method comprises a processor, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the one or more programs include instructions for executing the steps in the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: A computer program is stored, and the computer program is executed by a processor to implement the steps of the method according to any one of claims 1 to 8.

11. A computer program product, characterized in that The method comprises computer instructions, wherein the computer instructions are executed by a processor to implement the steps of the method according to any one of claims 1 to 8.

12. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 9.

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