A neutral position dynamic learning method

Abstract

The application provides a kind of idle position dynamic learning method, the idle position of fork current on screw rod is first idle position, comprising: control fork moves from first idle position to first gear direction, the position of fork when the speed variation rate of driving motor is greater than first preset variation rate is first fork position;Control fork moves from first idle position to second gear direction, the position of fork when the speed variation rate of driving motor is greater than second preset variation rate is second fork position, second gear and first gear corresponding opposite direction;Second idle position is determined according to first fork position and second fork position;At least according to second idle position to determine target idle position.Through monitoring and dynamic learning to idle position, can be well adapted to gear position change caused by wear and other factors in the whole life cycle process of gear shifting assembly, ensure the accuracy of idle position, improve the safety of driving.

Description

Technical Field

[0001] This application relates to the field of vehicle application technology, and in particular to a dynamic learning method for neutral position. Background Technology

[0002] When a user is driving a vehicle, gear shifting causes wear and tear, which greatly affects the position of each gear, with neutral being the most affected. This causes a deviation between the theoretical neutral position and the actual neutral position, leaving the shift fork in an unknown state. If the shift fork is not in the actual neutral position of the shift assembly, it will cause varying degrees of wear and tooth breakage to the gears, synchronizers, and shift forks, resulting in irreversible damage to the shift assembly. At the same time, if the shift fork is biased towards the high-ratio end of the low gear, the drive motor will be dragged at a high speed for a long time, even exceeding the maximum allowable speed of the motor. In severe cases, this can lead to vehicle fire and affect passenger safety. Therefore, determining the neutral position is very important.

[0003] Currently, traditional methods for determining the neutral position are mostly based on the theoretical position derived from the structural dimensions of the gearbox gears, and rely on static learning. This method cannot monitor or dynamically update the neutral position, resulting in low gear shifting accuracy and low driving safety. Summary of the Invention

[0004] This application proposes a dynamic learning method for neutral position. By monitoring and dynamically learning the neutral position, it can effectively adapt to changes in gear position caused by wear and other factors throughout the entire life cycle of the gear shift assembly, ensuring the accuracy of the neutral position and improving driving safety.

[0005] In a first aspect, embodiments of this application propose a dynamic learning method for neutral position, 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. The current neutral position of the shift fork on the lead screw is a first neutral position. The method includes:

[0006] When the shift fork is controlled to move from the first neutral position to the first gear position, and the speed change rate of the drive motor is greater than the first preset change rate, the position of the shift fork is the first shift fork position.

[0007] The shift fork is controlled to move from the first neutral position to the second gear position. When the rate of change of the speed of the drive motor is greater than the second preset rate of change, the position of the shift fork is the second shift fork position, which corresponds to the opposite direction of the first gear position.

[0008] The second neutral position is determined based on the first shift fork position and the second shift fork position;

[0009] The target gap position is determined at least based on the second gap position, and the target gap position is the updated gap position.

[0010] In one specific embodiment, controlling the shift fork to move from the first neutral position to the first gear position includes: controlling the shift fork to move repeatedly from the first neutral position to the first gear position multiple times, wherein the first shift fork position is the average of the shift fork positions corresponding to the repeated movements; and / or controlling the shift fork to move from the first neutral position to the second gear position includes: controlling the shift fork to move repeatedly from the first neutral position to the second gear position multiple times, wherein the second shift fork position is the average of the shift fork positions corresponding to the repeated movements.

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

[0012] In one specific embodiment, determining the second neutral position based on the first shift fork position and the second shift fork position includes: determining that the position of the shift fork is the second neutral position when the rotational speed of the drive motor is at its minimum between the first shift fork position and the second shift fork position.

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

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

[0015] S i =S i-1 ×a1+S0×(1-a1)

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

[0017] In one specific embodiment, when i is 1, the S i-1The initial neutral position corresponds to L / 2, where L is the length of the lead screw.

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

[0019] Secondly, embodiments of this application provide an electronic device including a processor, a memory, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, the one or more programs including instructions for performing the steps in the method described above.

[0020] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program that is executed by a processor to implement the steps of the method described above.

[0021] Fourthly, embodiments of this application provide a computer program product including computer instructions that are executed by a processor to implement the steps of the method described above.

[0022] Fifthly, embodiments of this application propose a vehicle including electronic equipment as described in the second aspect.

[0023] As can be seen, in this example, the current neutral position of the shift fork on the lead screw is the first neutral position. When the shift motor controls the shift fork to move from the first neutral position towards the first gear, and the rate of change of the drive motor's speed is greater than a first preset rate of change, the position of the shift fork is the first neutral position. Then, the shift fork is controlled to move from the first neutral position towards the second gear. When the rate of change of the drive motor's speed is greater than a second preset rate of change, the position of the shift fork is the second neutral position. The second gear corresponds to the opposite direction of the first gear. Then, the second neutral position is determined based on the first and second shift fork positions. Finally, at least based on the second neutral position, the target neutral position is determined, which is the updated neutral position. In this way, by monitoring and dynamically learning the neutral position, it can effectively adapt to changes in gear position caused by wear and other factors throughout the entire life cycle of the shift assembly, ensuring the accuracy of the neutral position and improving driving safety. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0026] Figure 2 This is a flowchart illustrating a dynamic learning method for gap positions provided in an embodiment of this application;

[0027] Figure 3 This is a schematic diagram illustrating the speed variation of a drive motor according to an embodiment of this application;

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

[0029] Figure 5 This is a schematic flowchart illustrating the process of determining the position of the first shift fork and the position of the second shift fork, provided in an embodiment of this application.

[0030] Figure 6 This is a schematic diagram illustrating the position change of a shift fork according to an embodiment of this application;

[0031] Figure 7 This is a flowchart illustrating a method for determining a target gap position according to an embodiment of this application;

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

[0033] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0034] Figure 10 This is a schematic diagram of the composition of a vehicle provided in an embodiment of this application. Detailed Implementation

[0035] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0036] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0037] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

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

[0039] In this embodiment, the symbol " / " can indicate that the preceding and following objects are in an "or" relationship. Alternatively, the symbol " / " can also represent a division sign, i.e., performing a division operation. For example, A / B can mean A divided by B.

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

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

[0042] The gear shift assembly refers to the combination of the gear shifting mechanism and related components in a vehicle's transmission. It mainly consists of the gear lever, cable, gear selection and shifting mechanism, shift fork, and synchronizer. The gear lever is operated by the driver, and the gear position is adjusted by controlling the cable position via the lever's movement. The shift fork and synchronizer function to engage or disengage the gears.

[0043] Currently, traditional methods for determining the neutral position are mostly based on the theoretical position derived from the structural dimensions of the gearbox gears, and rely on static learning. This method cannot monitor or dynamically update the neutral position, resulting in low gear shifting accuracy and low driving safety.

[0044] To address the aforementioned issues, this application proposes a dynamic learning method for gap positions. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0045] Please refer to Figure 1 , Figure 1 This is a schematic diagram illustrating the composition of a shift motor provided in an embodiment of this application. For example... Figure 1 As shown, the shift motor 10 includes a drive motor 101, a lead screw 102, and a shift fork 103. The shift motor 10 is a key component for controlling the movement of gears and shafts within the transmission, thus enabling vehicle gear shifting. The drive motor 101 provides power to move the shift fork 103. This 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 signals to control the direction and speed of rotation, so that the shift fork moves at the appropriate time and position, thereby achieving vehicle gear shifting. The lead screw 102 is a mechanical device used to convert the rotational motion of the drive motor into linear motion to push or pull the shift fork. The lead screw can consist of a threaded shaft and a nut (i.e., a lead screw fixing bolt 104). When the threaded shaft rotates, the nut moves along the axis due to the thread. The drive motor can drive the rotation of the lead screw through a mechanical transmission device (e.g., a gearbox or belt drive) connected to the lead screw, thereby achieving linear movement of the shift fork. Figure 1 As shown, the shift fork 103 can be a robotic arm mounted on the lead screw, which can control the position of gears and shafts through contact with the shifting mechanism (e.g., a selector fork or other mechanical component inside the transmission). When the shift fork moves, it engages or disengages the gear teeth with the corresponding shafts, thereby achieving gear shifting in the vehicle. The shift fork can be designed with specific shapes and dimensions to ensure that the correct force is applied at the correct time and position, thus achieving smooth gear shifting. It should be noted that the drive motor and the lead screw can also be connected via a motor drive shaft and a transmission gear plate.

[0046] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating a dynamic learning method for gap positions provided in an embodiment of this application. Figure 2 As shown, the method includes the following steps.

[0047] S201, control 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 the first preset change rate, the position of the shift fork is the first shift fork position.

[0048] S202, control 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 the second preset change rate, the position of the shift fork is the second shift fork position.

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

[0050] The directions of the first and second gears can be opposite. A two-speed shift assembly can have three gears: high gear (H), neutral (N), and low gear (L). The first and second gears can be high and low gears, respectively. Specifically, the first gear can be high gear and the second gear can be low gear, or vice versa.

[0051] The first shift fork position can be a position where the rate of change of the drive motor's speed is greater than a first preset rate of change, and the second shift fork position can be a position where the rate of change of the drive motor's speed is greater than a second preset rate of change. The first and second preset rates of change can be the same or different. Please refer to [reference needed]. Figure 3 , Figure 3 This is a schematic diagram illustrating the speed variation of a drive motor according to an embodiment of this application. Figure 3 As shown in the diagram, the horizontal change represents the position of the shift fork, and the vertical change represents the speed of the drive motor. Figure 3 In the process, when the shift fork moves towards the L position, at position A, the motor speed changes from basically unchanged to a sudden increase. Position A can be called the inflection point where the drive motor speed increases significantly. When the shift fork moves towards the H position, at position B, the motor speed changes from basically unchanged to a sudden increase. Position B can also be called the inflection point where the drive motor speed increases significantly. Correspondingly, position A can be the first shift fork position and 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 the second neutral position based on the first shift fork position and the second shift fork position.

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

[0054] The second neutral position can be determined based on the positions of the first and second shift forks. For the shift assembly, at the factory, the neutral position can be set at the midpoint between low and high gears, or the neutral position can be the same distance from both high and low gears. Therefore, in Figure 3 In the middle, the second gap position can be the midpoint between position A and position B, i.e., position C.

[0055] Specifically, determining the second neutral position based on the first shift fork position and the second shift fork position includes: determining that the position corresponding to the shift fork is the second neutral position when the rotational speed of the drive motor is at its minimum between the first shift fork position and the second shift fork position.

[0056] The speed change curve of the drive motor can be presented as a parabola. When the shift fork is in the neutral position, the drive motor speed is relatively low. Therefore, the shift fork position corresponding to the minimum speed of the drive motor can be considered the second neutral position. Please refer to [link / reference]. Figure 4 , Figure 4 This is a schematic diagram illustrating another change in the speed of a drive motor provided in an embodiment of this application. For example... Figure 4 As shown in the figure, the horizontal change represents the position of the shift fork, and the vertical change represents the speed of the drive motor. The speed of the drive motor changes with the position of the shift fork. The relationship between the speed of the drive motor and the position of the shift fork in the figure presents a curve similar to a parabola. At position C, the speed of the drive motor is the minimum. Therefore, it can be determined that the second neutral position can be position C.

[0057] The target gap position can be determined by integrating the first and second gap positions, or by selecting the second gap position. For example, if the first and second gap positions are close within a certain range, they can be integrated to obtain the target gap position; if they are far apart, the second gap position can be directly used as the target gap position. Supervised and dynamic learning of the gap position improves its accuracy.

[0058] S204, at least the target neutral position is determined based on the second neutral position.

[0059] The target gap position is the updated gap position.

[0060] The target neutral position can 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 can also be determined based on the first neutral position and the second neutral position.

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

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

[0063] Please refer to the following: Figure 5 , Figure 5 This is a schematic flowchart illustrating the process of determining the positions of the first and second shift forks, as provided in an embodiment of this application. Figure 5 As shown, the control fork moves from the first neutral position towards the first gear; then the fork position corresponding to the inflection point of the drive motor speed is recorded as inflection point H1; it returns to the first neutral position; the above action is repeated twice to obtain inflection points H2 and H3. The average of the three results is taken to obtain the inflection point H, that is, the sum of inflection points H1, H2, and H3 and the average is taken, H = (inflection point H1 + inflection point H2 + inflection point H3) / 3; the control fork moves from the first neutral position towards the second gear; the fork position of the drive motor speed inflection point is recorded as L1; it returns to the first neutral position; the above action is repeated twice to obtain inflection points L2 and L3. The average of the three results is taken to obtain the inflection point L, that is, the sum of inflection points L1, L2, and L3 and the average is taken, L = (inflection point L1 + inflection point L2 + inflection point L3) / 3. It should be noted that the inflection point of the drive motor speed can be the point where the drive motor speed increases significantly. Please refer to... Figure 6 , Figure 6 This is a schematic diagram illustrating the position change of a shift fork according to an embodiment of this application. Figure 6 As shown in the diagram, the horizontal axis represents time, and the vertical axis represents the shift fork position. When the shift fork is in neutral, it is first moved towards higher gears, obtaining the corresponding speed change inflection point, X1. Then, the shift fork is moved back to neutral, and again towards higher gears, obtaining the corresponding speed change inflection point, X2. The shift fork is then moved back to neutral. Similarly, the shift fork is moved towards lower gears, obtaining the corresponding speed change inflection point, Y1. The shift fork is then moved back to neutral, and again towards lower gears, obtaining the corresponding speed change inflection point, Y2. Finally, the shift fork is moved back to neutral. The first shift fork position can be obtained by adding X1 and X2 and taking the average. Similarly, the second shift fork position can be obtained by adding Y1 and Y2 and taking the average.

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

[0065] As can be seen in this example, when the shift fork is in neutral, it can be actively controlled to repeatedly move towards the first gear and the second gear, monitor sudden changes in speed, identify the synchronization point of the gear mechanism, and obtain the corresponding shift fork position. Through repeated experiments, 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 driving safety.

[0066] In one possible embodiment, determining the target gap position based at least on the second gap position includes: if the difference between the second gap position and the first gap position is greater than a preset difference, then determining the second gap position as the target gap position; if the difference between the second gap position and the first gap position is not greater than the preset difference, then the value after filtering based on the first gap position and the second gap position is the target gap position.

[0067] The preset difference can be a user-defined value, or it can be a value generated based on factors that take into account the changes in the neutral position, such as wear and tear on the gear shift, the age of the gear, or excessive mileage.

[0068] The second neutral position can be learned based on the first and second shift fork positions. It needs to be compared and learned with the first neutral position to determine the final target neutral position. Please refer to [link / reference]. Figure 7 , Figure 7 This is a flowchart illustrating a method for determining a target gap location according to an embodiment of this application. For example... Figure 7 As shown, firstly, the difference between the second gap position and the first gap position is obtained; then, it is determined whether the difference is greater than a threshold. If the difference is greater than the threshold, it means that the second gap position and the first gap position are very different, and the second gap position can be used as the target gap position and stored in Dflash. If the difference is less than or equal to the threshold, it means that the second gap position and the first gap position are not very different, and the value after first-order filtering of the first gap position and the second gap position can be used as the target gap position and stored in Dflash. Dflash is Data flash, usually FlexNVM, which can be divided into EEPROM backup and Data flash. If it is Data flash, it can coexist with the main flash. During the main program memory operation, anyone can erase and write it, and it can be used to store bootloader code or large data blocks.

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

[0070] Specifically, if the difference between the second and first gap positions is not greater than a preset difference, the target gap position satisfies the following formula:

[0071] S i =S i-1 ×a1+S0×(1-a1)

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

[0073] The filtering algorithm can be a first-order filter. A first-order filter is equivalent to a weighted sum of the new sampling result and the previous filtering result, with a weight sum of 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 gap position, and the more sensitive the algorithm is, but the poorer its smoothness. Conversely, the larger a1 is, the smaller the weight of the second gap position, and the poorer the sensitivity of the algorithm is, but the better its smoothness.

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

[0075] When i is 1, it means that the neutral position can be the neutral position set when the vehicle leaves the factory, and the vehicle has no wear and tear. a1 can be 0. The neutral position can be determined according to the theoretical value, which can be half the length of the lead screw, i.e., S0 = L / 2.

[0076] As can be seen, in this example, the final target neutral position can be determined by the first neutral position and the second neutral position. By supervising and dynamically learning the neutral position, it can adapt well to changes in gear position caused by wear and other factors throughout the entire life cycle of the gear shift assembly, ensuring the accuracy of the neutral position and improving driving safety.

[0077] In one possible embodiment, before the shift fork moves from the first neutral position to the first gear position, the method further includes: the target vehicle meeting one or more of the following conditions: dynamic learning conditions include the drive motor speed being less than a preset speed; or the target vehicle speed being greater than a preset speed; or the shift fork being in the first neutral position; or the drive motor not being in a speed adjustment state; or the electric vehicle controller (VCU) requesting the target to be in neutral.

[0078] At low vehicle speeds, the drive motor's speed is very low, making it difficult to determine the speed inflection point. Therefore, the target vehicle's speed needs to be greater than a certain value, for example, greater than 10 km / h. When the shift fork is in neutral, the drive motor does not actively output torque, and the motor speed will not be very high. Therefore, it is necessary to ensure that the shift fork is in neutral. Ensuring that the drive motor speed is not in a speed regulation state is to avoid torque control intervention from the Vehicle Controller Unit (VCU). Please refer to [link / reference]. Figure 8 , Figure 8 This is a schematic diagram illustrating a process for triggering dynamic learning, provided in an embodiment of this application. For example... Figure 8 As shown, the process first checks if the drive motor speed is less than 200 revolutions per minute (RPM). If the drive motor speed is greater than or equal to 200 RPM, the process ends. If the drive motor speed is less than 200 RPM, the process checks if 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, the process checks if 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, the process checks if the current VCU's target is neutral. If the current VCU's target is not neutral, the process ends. If the current VCU's target is neutral, the process checks if 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 the neutral dynamic self-learning stage. It is important to note that determining the motor speed to be less than 200 RPM is to prevent situations where the drive motor speed is too high and cannot be determined even if the shift fork is in neutral, but the speed has not yet dropped to a certain value; determining whether the current VCU request target is in neutral is to prevent situations such as engaging or shifting gears during the process of confirming the neutral position.

[0079] As can be seen in this example, it is necessary to determine that the target vehicle meets the dynamic learning conditions. These conditions include the drive motor's speed being less than a preset speed, the target vehicle's speed being greater than a preset speed, the shift fork being in the first neutral position, the drive motor not being in a speed-adjusting state, and the electric vehicle controller (VCU) requesting that the target be in neutral. Ensuring that the target vehicle confirms its neutral position under certain conditions, and achieving automatic monitoring and dynamic learning of the neutral position, can effectively adapt to changes in gear position caused by wear and other factors throughout the entire lifecycle of the shift assembly. This ensures the accuracy of the neutral position and improves driving safety.

[0080] It should be noted that the neutral position learning method proposed in this application is applicable to shifting mechanisms belonging to two-speed shift assemblies. This method differs from methods that determine the neutral position entirely based on theoretical dimensions, without considering the wear and tear on the gearbox after a certain mileage, which would cause the neutral position to change.

[0081] This application provides an electronic device including a processor, a memory, and one or more programs stored in the memory and configured to be executed by the processor. The one or more programs include instructions for performing the steps of the method described above. See also... Figure 9 , Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 9 As shown, electronic device 80 can be a computing-capable electronic device, which may include various other processing devices, as well as various forms of personal computers, servers, network devices, etc. 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 configured to be executed by the processor 801. The one or more programs 804 include steps for performing any of the steps in the following schemes. In specific implementations, processor 801 is used to execute steps in any of the methods in the above method embodiments, and when performing data transmission such as sending, the communication interface 803 may be selectively invoked 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 devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the 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 computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0083] The above mainly describes the solutions of the embodiments of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, the electronic device includes the corresponding hardware structure and software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

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

[0085] This application also provides a vehicle, wherein the vehicle includes the aforementioned electronic equipment. Please refer to... Figure 10 , Figure 10 This is a schematic diagram of the composition of a vehicle provided in an embodiment of this application. For example... Figure 10 As shown, vehicle 90 includes electronic equipment 80.

[0086] This application also provides a computer program product, which includes computer instructions and is operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments.

[0087] This application also provides a computer-readable storage medium storing a computer program that causes a computer to perform some or all of the steps of any of the methods described in the above method embodiments.

[0088] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0089] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

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

[0092] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0093] If the integrated units described above are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, 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. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0094] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0095] While this application discloses the above information, it is not limited thereto. Any person skilled in the art can easily conceive of variations or substitutions without departing from the spirit and scope of this application, and can make various alterations and modifications, including combinations of the different functions and implementation steps described above, as well as software and hardware implementation methods, all of which are within the protection scope of this application.

Claims

1. A dynamic learning method for gap position, characterized in that, The method is applied to a shift motor, which further includes a drive motor and a lead screw, and a shift fork located on the lead screw, wherein the current neutral position of the shift fork on the lead screw is a first neutral position. When the shift fork is controlled to move from the first neutral position to the first gear position, and the speed change rate of the drive motor is greater than the first preset change rate, the position of the shift fork is the first shift fork position. The shift fork is controlled to move from the first neutral position to the second gear position. When the rate of change of the speed of the drive motor is greater than the second preset rate of change, the position of the shift fork is the second shift fork position, which corresponds to the opposite direction of the first gear position. The second neutral position is determined based on the first shift fork position and the second shift fork position; The target gap position is determined at least based on the second gap position, and the target gap position is the updated gap position; Before the shift fork is moved from the first neutral position to the first gear position, the method further includes: the target vehicle meets the following conditions: the rotational speed of the drive motor is less than a preset rotational speed; the vehicle speed of the target vehicle is greater than a preset vehicle speed; the drive motor is not in a speed adjustment state; and the electric vehicle controller (VCU) requests that the target be in neutral.

2. The method according to claim 1, characterized in that, The control of the shift fork moving from the first neutral position to the first gear position includes: controlling the shift fork to move repeatedly from the first neutral position to the first gear position multiple times, wherein the first shift fork position is the average of the shift fork positions corresponding to the repeated movements; and / or The control of the shift fork to move from the first neutral position to the second gear position includes: controlling the shift fork to move repeatedly from the first neutral position to the second gear position multiple times, wherein the second shift fork position is the 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 the midpoint between the first shift fork position and the second shift fork position.

4. The method according to claim 1, characterized in that, Determining the second neutral position based on the first shift fork position and the second shift fork position includes: When the rotational speed of the drive motor is at its minimum between the first shift fork position and the second shift fork position, the position of the shift fork is the second neutral position.

5. The method according to claim 1, characterized in that, Determining the target gap position based at least on the second gap position includes: If the difference between the second gap position and the first gap position is greater than a preset difference, then the second gap position is the target gap position; If the difference between the second gap position and the first gap position is not greater than the preset difference, then the value after filtering based on the first gap position and the second gap position is the target gap position.

6. The method according to claim 5, characterized in that, If the difference between the second gap position and the first gap position is not greater than the preset difference, the target gap position satisfies the following formula: S i =S i-1 ×a1+S0×(1-a1) Wherein, the S i S is the target gap position. i-1 S0 is the first gap position, a1 is the weight of the first gap position, a1 is a value less than or equal to 1, S0 is the second gap 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 The initial neutral position corresponds to L / 2, where L is the length of the lead screw.

8. An electronic device, characterized in that, The method includes a processor, a memory, and one or more programs stored in the memory and configured to be executed by the processor, the one or more programs including instructions for performing the steps of the method as described in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The device contains a computer program that is executed by a processor to implement the steps of the method according to any one of claims 1-7.

10. A computer program product, characterized in that, Includes computer instructions, which are executed by a processor to implement the steps of the method according to any one of claims 1-7.

11. A vehicle, characterized in that, Including the electronic device as described in claim 8.

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