Vehicle gear shifting control method and device
By adopting a fusion positioning method of displacement sensors and target sensors with different accuracy in the vehicle shift control system, the problem of high accuracy and cost of shift control in the prior art is solved, low-cost and accurate shift control are achieved, and the vehicle driving quality is improved.
Patent Information
- Application Number
- CN202311544198.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-17
- Publication Date
- 2025-05-20
AI Technical Summary
In the prior art, gear shift control is difficult to ensure accuracy, and the cost of high-precision sensors is high, making it difficult to achieve accurate gear shift control on a low cost basis.
The fusion positioning method of displacement sensors and target sensors with different accuracy is adopted. The displacement sensor is responsible for calibrating the neutral reference point and detecting the moving position, and the target sensor is responsible for detecting the position increment, thereby achieving accurate control of shifting.
By reducing the cost of the displacement sensor to calibrate the neutral reference point and detect the moving position, and using the high-precision target sensor to detect the position increment, accurately control the shifting is achieved, and the vehicle driving quality during the shifting process is improved.
Smart Images
Figure CN120020413A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of vehicles, and particularly to a vehicle shift control method and device. Background Art
[0002] Hybrid vehicles have two types of driving force sources, namely an engine and an electric motor. Based on this, the vehicle can have different power modes, such as pure electric mode, series mode, parallel mode, etc.
[0003] In practical applications, the vehicle controller can flexibly select a more suitable power mode among multiple power modes according to different driving conditions, so as to better serve the current driving condition and improve the driving quality. Therefore, it is necessary to use a hybrid transmission to achieve the shift between different gears in different power modes. Usually, the shift between gears can be realized by a shift mechanism, and the shift mechanism can be driven by a shift motor.
[0004] In order to achieve accurate shift control, it is necessary to accurately obtain the position information of the shift mechanism. However, the shift control methods adopted in the related art are difficult to ensure the accurate progress of shift control. Summary of the Invention
[0005] In order to solve the above technical problems, the present application provides a vehicle shift control method and device. Based on a fusion positioning method of displacement sensors and target sensors with different precisions, their action stages are different. The displacement sensor with lower precision is responsible for calibrating the neutral reference point and detecting the movement position to the calibration position, and the target sensor with higher precision is responsible for detecting the position increment, so as to achieve the purpose of reducing costs and accurately controlling shifts.
[0006] The embodiments of the present application disclose the following technical solutions:
[0007] On the one hand, the embodiments of the present application provide a vehicle shift control method, and the method includes:
[0008] When the vehicle controller is powered on, if it is determined that neither the displacement sensor corresponding to the shift mechanism of the vehicle nor the shift motor corresponding to the shift mechanism has a fault, use the shift motor to drive the shift mechanism to move;
[0009] During the movement, use the displacement sensor to detect the movement position of the shift mechanism until the detected movement position is the calibration position of the neutral reference point; the calibration position is determined by calibrating the shift mechanism using the displacement sensor;
[0010] During the shift, use the target sensor associated with the shift motor to detect the position increment of the shift mechanism; the detection precision of the target sensor is higher than that of the displacement sensor;
[0011] Determine the target position of the shift mechanism based on the calibrated position and the position increment; the target position is used for shift control.
[0012] On the other hand, an embodiment of the present application provides a vehicle shift control device, which includes a driving unit, a detection unit, and a determination unit:
[0013] The driving unit is configured to, when the vehicle controller is powered on, if it is determined that neither the displacement sensor corresponding to the shift mechanism of the vehicle nor the shift motor corresponding to the shift mechanism has a fault, drive the shift mechanism to move by using the shift motor;
[0014] The detection unit is configured to, during the movement process, detect the movement position of the shift mechanism by using the displacement sensor until the detected movement position is the calibrated position of the neutral reference point; the calibrated position is determined by calibrating the shift mechanism by using the displacement sensor;
[0015] The detection unit is further configured to, during the shift process, detect the position increment of the shift mechanism by using the target sensor associated with the shift motor; the detection accuracy of the target sensor is higher than that of the displacement sensor;
[0016] The determination unit is configured to determine the target position of the shift mechanism based on the calibrated position and the position increment; the target position is used for shift control.
[0017] As can be seen from the above technical solution, when the vehicle controller is powered on, if it is determined that there are no faults in the displacement sensor corresponding to the shift mechanism of the vehicle and the shift motor corresponding to the shift mechanism, it indicates that the vehicle can start and perform shift control. At this time, the shift motor can be used to drive the shift mechanism to move. During the movement, the displacement sensor can be used to detect the movement position of the shift mechanism until the calibrated position of the neutral reference point is detected. Among them, the calibrated position is determined by calibrating the shift mechanism using the displacement sensor. Based on this, using the displacement sensor detection can achieve controlling the shift mechanism to move to the calibrated position where the vehicle gear is in neutral. Then, during the shift process, the target sensor associated with the shift motor can be used to detect the position increment of the shift mechanism. Since the detection accuracy of the target sensor is higher than that of the displacement sensor, using the displacement sensor with lower accuracy to calibrate the neutral reference point and detect the movement position can help save costs, while for the position increment that affects the shift control, the target sensor with higher accuracy can be used for detection, which is beneficial to ensuring the accuracy of the shift control, thereby ensuring the vehicle driving quality during the shift process. Finally, based on the calibrated position and the position increment, the target position of the shift mechanism can be determined. Based on this, the shift degree of the gear to be shifted compared to neutral can be determined, that is, the target position can be used for shift control to facilitate controlling the vehicle to complete the shift. It can be seen that the present application provides a fusion positioning method based on displacement sensors and target sensors with different accuracies. Their action stages are different. The displacement sensor with lower accuracy is responsible for calibrating the neutral reference point and detecting the movement position to the calibrated position, and the target sensor with higher accuracy is responsible for detecting the position increment, so as to achieve the purpose of reducing costs and accurately controlling the shift. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.
[0019] Figure 1 Schematic diagram of the transmission configuration of a vehicle provided by an embodiment of the present application;
[0020] Figure 2 Flowchart of a vehicle shift control method provided by an embodiment of the present application;
[0021] Figure 3 Schematic diagram of the determination process of a calibrated position provided by an embodiment of the present application;
[0022] Figure 4A logic schematic diagram of a vehicle shift control method provided by an embodiment of the present application;
[0023] Figure 5 A structural diagram of a vehicle shift control device provided by an embodiment of the present application. Detailed implementation manners
[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
[0025] In practical applications, the vehicle controller can flexibly select a more suitable power mode among multiple power modes according to different driving conditions, so as to better serve the current driving condition and improve the driving quality. Therefore, it is necessary to use a hybrid transmission to achieve the shift between different gears in different power modes. Usually, the shift between gears can be realized by a shift mechanism, and the shift mechanism can be driven by a shift motor. For better understanding, reference can be made to Figure 1 , Figure 1 which shows a schematic diagram of the transmission configuration of a vehicle. Specifically, the Integrated Starter and Generator (ISG) and the Traction Motor (TM) are the sources of motor-driven forces of the vehicle, and together with the engine, they provide two driving forces for the vehicle. In terms of connection, the TM motor is fixedly connected to the output shaft through multiple gears. The shaft where the TM motor is located is called input shaft 1. Input shaft 1 is connected to intermediate shaft 2 at a fixed speed ratio. Intermediate shaft 2 is fixedly connected to the output shaft. The ISG motor and the engine are connected through a single-stage gear. The shaft where the engine is located is called input shaft 2. The shaft where the synchronizer is located is called intermediate shaft 1. There are two speed ratios between intermediate shaft 1 and input shaft 2. The switching of the two speed ratios and the neutral gear can be achieved through the synchronizer. Intermediate shaft 1 is fixedly connected to input shaft 1. When driving the vehicle in pure electric mode, the ISG motor and the engine are not in gear and the engine is not started. Only the TM motor drives the vehicle. When driving the vehicle in series mode, the ISG motor and the engine are not in gear and the engine is started. The ISG motor generates electricity, and only the TM motor drives the vehicle. When driving the vehicle in parallel mode, it is necessary to drive the shift mechanism, that is, the synchronizer, to engage into the first gear or the second gear. The engine and the TM motor drive the vehicle. At this time, it is necessary to accurately feedback the current actual gear position and the gear engagement depth to achieve accurate shift control and ensure the driving quality of the vehicle.
[0026] In practical applications, the hybrid transmission of a vehicle can use a shift motor to drive a shift mechanism to shift gears. Among them, the shift motor can be, for example, a brushless direct current motor (BLDC), and the shift mechanism can be, for example, Figure 1 the synchronizer shown in Figure 1 . Among them, the sensor associated with the shift mechanism is used for motor control. When detecting, it can only detect the position increment and cannot determine the absolute position. This makes it necessary to rely on another sensor during shift control to facilitate the determination of the absolute position. Since the shift control process has certain requirements for control accuracy in order to ensure driving quality, etc., it makes the accuracy of the sensor to be relied on relatively high. However, the cost corresponding to high-precision sensors is too high. It can be seen that the control method adopted in the related technology is difficult to ensure the accurate shift control on the basis of low cost.
[0027] Therefore, the present application provides a vehicle shift control method and device, specifically providing a fusion positioning method based on displacement sensors and target sensors with different accuracies. Their action stages are different. The displacement sensor with lower accuracy is responsible for calibrating the neutral reference point and detecting the movement position to the calibrated position, and the target sensor with higher accuracy is responsible for detecting the position increment, so as to achieve the purpose of reducing costs and accurately controlling gear shifting.
[0028] The vehicle shift control method provided by the embodiments of the present application can be implemented by a computer device. The computer device can be a terminal device or a server. Among them, the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. Terminal devices include, but are not limited to, mobile phones, computers, intelligent voice interaction devices, smart home appliances, vehicle-mounted terminals, etc. The terminal device and the server can be directly or indirectly connected through wired or wireless communication methods, and the present application does not make any restrictions on this.
[0029] Specifically, it is described through the following embodiments:
[0030] Figure 2 FIG. 15 is a flowchart of a vehicle shift control method provided by an embodiment of the present application. Taking the terminal device as the aforementioned computer device as an example, the method includes S201 - S203:
[0031] S201: When the vehicle controller is powered on, if it is determined that neither the displacement sensor corresponding to the shift mechanism of the vehicle nor the shift motor corresponding to the shift mechanism has a fault, use the shift motor to drive the shift mechanism to move.
[0032] When the vehicle controller is powered on, it indicates that the vehicle needs to be started for driving. At this time, if it is determined that there are no faults in the displacement sensor corresponding to the shift mechanism of the vehicle and the shift motor corresponding to the shift mechanism, it indicates that the shift motor can be used to control the vehicle to shift gears. Therefore, the shift motor can be used to drive the shift mechanism to move. Among them, the shift motor can be used to drive the shift mechanism to achieve shift control. For example, the shift motor can be the aforementioned brushless DC motor BLDC.
[0033] S202: During the movement, use the displacement sensor to detect the movement position of the shift mechanism until the detected movement position is the calibration position of the neutral reference point.
[0034] Among them, the calibration position can be determined by calibrating the shift mechanism using the displacement sensor. The calibration position can be used to identify the position when the vehicle gear is in neutral. In practical applications, the calibration position can be determined in the following way:
[0035] When the vehicle's transmission is in the offline state, use the shift motor to drive the shift mechanism to move to the first gear hard stop point and the second gear hard stop point corresponding to the transmission respectively. Among them, the first gear hard stop point and the second gear hard stop point are the two hardware endpoints on both sides of the transmission. Specifically, refer to Figure 3 as shown. For example, the vehicle's transmission can be a two-speed hybrid transmission. Then, the shift motor can be used to drive the shift mechanism to move to the midpoint corresponding to the first gear hard stop point and the second gear hard stop point. Then, the displacement sensor can be used to detect the position of the midpoint as the calibration position, and the midpoint is the neutral reference point. Based on this, the calibration of the position of the neutral reference point is completed to determine the calibration position.
[0036] In practical applications, the above calibration process can also be called the vehicle transmission offline detection (End Of Line, EOL). Specifically, EOL can be performed when the vehicle's transmission is in the offline state to obtain the neutral reference point of the transmission and other necessary geometric parameters. Among them, the most important ones are the neutral reference point and the gear EndStop length. As Figure 3 shown, the EOL process needs to first control the shift mechanism to move from the current position (such as any position) to the hardware endpoints on both sides, that is, to move to the first gear hard stop point and the second gear hard stop point. The gear hard stop point can be called the EndStop point. Then, the shift mechanism can be controlled to move to the midpoint of the two EndStop points (that is, Figure 3 the EndStop midpoint shown), and the position of the EndStop midpoint is used as the calibration position of the neutral reference point of the transmission.
[0037] In practical applications, after determining the calibration position, in order to facilitate subsequent use in the shift control, the calibrated position of the neutral reference point can also be stored in the electrically erasable programmable read only memory (EEPORM) corresponding to the vehicle controller. Correspondingly, before the aforementioned S203, the calibration position can also be obtained from the EEPORM. In this way, the calibration position can be determined before executing S203, so that during the execution of S203, the shift mechanism can be controlled to move to the calibration position by means of displacement sensor detection, and the neutral reference point can be determined.
[0038] In the process of calibrating the position of the neutral reference point, the gear shift depth of the vehicle's gearbox can also be determined at the same time. The gear shift depth can be used to reflect the gear shift limit distance that the gearbox can support, and can be used to guide more accurate control of the vehicle's gear shifting to ensure the driving experience. In specific implementation, when determining the first gear hard stop point and the second gear hard stop point, the corresponding gear shift depth of the gearbox can be determined based on the corresponding motion stroke of the gear shift mechanism driven by the gear shift motor, wherein the gear shift depth can be used to characterize the distance between the gear shift mechanism from the neutral reference point to the first gear hard stop point or the second gear hard stop point. In addition, the gear shift depth can also be stored using EEPORM for easy recall in subsequent gear shift control processes. Such as Figure 3 As shown in the figure, the shift depth can be called the EndStop depth, which specifically refers to the distance from the midpoint of the EndStop to the hardware endpoints on both sides.
[0039] S203: During the gear shifting process, the target sensor associated with the gear shifting motor is used to detect the position increment of the gear shifting mechanism.
[0040] S204: Determine the target position of the shift mechanism based on the calibration position and the position increment.
[0041] During the gear shifting process, the target sensor associated with the gear shifting motor can be used to detect the position increment of the gear shifting mechanism. The position increment can identify the movement distance of the gear shifting mechanism in the gear shifting direction. Taking the gear shifting motor as a brushless DC motor BLDC as an example, the target sensor can be the Hall sensor that comes with the BLDC. Then, the target position of the gear shifting mechanism can be determined based on the calibrated position and the position increment. Based on this, the degree of shifting to the gear position compared to the neutral gear can be determined, that is, the target position can be used for gear shifting control to facilitate the control of the vehicle to complete the gear shifting.
[0042] Since the detection accuracy of the target sensor is higher than that of the displacement sensor, it is beneficial to save costs by using the displacement sensor with lower accuracy to calibrate the neutral reference point and detect the motion position. For the position increment that affects the shift control, the target sensor with higher accuracy can be used for detection, which is beneficial to ensure the accuracy of the shift control and thus ensure the vehicle driving quality during the shifting process. It can be seen that the present application provides a fusion positioning method based on displacement sensors and target sensors with different accuracies. Their action stages are different. The displacement sensor with lower accuracy is responsible for calibrating the neutral reference point and detecting the motion position to the calibrated position, and the target sensor with higher accuracy is responsible for detecting the position increment, so as to achieve the purpose of reducing costs and accurately controlling the shift.
[0043] It should be noted that the present application does not make any limitation on the method for determining the position increment. For the convenience of understanding, the following method is provided as an example in the embodiments of the present application:
[0044] In a possible implementation manner, when it is determined that the motion position is the calibrated position, the initial position number of the target sensor can be recorded. Then, during the shifting process, the target position number of the target sensor corresponding to the position where the shift mechanism is located is recorded. Finally, the position increment corresponding to the shift mechanism can be determined based on the target position number and the initial position number. Based on this, the position increment can be quickly determined by using the position number. Taking the target sensor as a Hall sensor as an example, in practical applications, when it is determined that the motion position is the calibrated position, that is, when the neutral reference point search process is completed, the position of the current Hall coordinate system can be set to 0 mm at this time, that is, the counter number output by the Hall sensor at this time is used as the initial position number, and the position increment is determined based on the counter number output by the Hall sensor in real time and the initial counter number to determine the actual position where the shift mechanism is located for subsequent shift control.
[0045] Since the shift mechanism can accurately reach the pre-calibrated neutral reference point is detected by the position sensor, and the position increment is determined based on the target sensor, when the vehicle controller is powered on, if it is determined that there is no fault in both the displacement sensor and the shift motor corresponding to the shift mechanism, it indicates that the vehicle shift can be controlled by the shift motor, so the aforementioned S201 can be started to perform the shift control. In addition, for the case of faults, the embodiments of the present application also provide corresponding control methods, specifically:
[0046] In a possible implementation, if it is determined that the shift motor has a fault, it indicates that there is no power source to drive the shift mechanism, so it is impossible to achieve shift control by driving the shift mechanism. At this time, the torque output of the corresponding driving motor of the vehicle can be controlled. The driving motor is used to provide driving force for the vehicle, for example, it can be the aforementioned ISG motor. During the process of controlling the torque output of the driving motor, if it is determined that the driving motor and the engine end corresponding to the vehicle are in a rotatable state, a first prompt message can be generated. The first prompt message is used to prompt the owner user of the vehicle to start the vehicle in a series mode or an all-electric mode, and the first prompt message is displayed through the vehicle's display screen. Based on this, although it is impossible to achieve shift control by using the shift mechanism, a feasible vehicle start-up solution can still be provided to the owner user to improve the user experience.
[0047] Correspondingly, during the process of controlling the torque output of the driving motor, if it is determined that the driving motor and the engine end corresponding to the vehicle are in a non-rotatable state, a second prompt message can be generated. The second prompt message can be used to prompt the owner user that the vehicle cannot be started, and the second prompt message is displayed through the display screen. Based on this, in the case where the vehicle cannot be started, the owner user can also be informed in a timely manner to avoid damage to vehicle components caused by starting the vehicle without the owner user's knowledge.
[0048] Through the above embodiments, the situation where the shift motor has a fault is introduced. Next, the embodiments of the present application will exemplify the situation where the shift motor has no fault but the displacement sensor has a fault:
[0049] In yet another possible implementation, if it is determined that the shift motor is free of faults and the displacement sensor is faulty, it indicates that although the shift mechanism can be driven to move, its movement position cannot be detected, that is, the shift mechanism cannot be controlled to move to the calibrated position of the neutral reference point. However, to ensure that the transmission is not in gear, at this time, a temporary reference point can be determined first. The method for determining the temporary reference point is the same as the method for calibrating the neutral reference point, that is, the temporary reference point is the midpoint between the first gear hard stop and the second gear hard stop corresponding to the transmission. The temporary reference point is determined during the process of using the shift motor to drive the shift mechanism to the midpoint. If the temporary reference point is determined, it indicates that the shift mechanism can be driven to reach the midpoint, that is, the temporary reference point can ensure that the gear is not in gear, and it can be considered that the neutral reference point search during power-on is successful and the vehicle power-on can be supported. However, due to wear of the shift mechanism, the temporary reference point is different from the neutral reference point calibrated during EOL, that is, the position of the current temporary reference point is not the calibrated position of the neutral reference point, so shift control cannot be supported. At this time, the vehicle only supports driving in series or pure electric mode. Correspondingly, a third prompt message can be generated. The third prompt message can be used to prompt the vehicle owner user to start the vehicle in series mode or pure electric mode, and the third prompt message is displayed through the vehicle's display screen. Based on this, for the situation where the shift motor is free of faults but the displacement sensor is faulty, the vehicle owner user can also be informed in a timely manner of a feasible vehicle start-up plan to improve the user experience. On the contrary, if the temporary reference point cannot be determined, it indicates that the transmission may still be in gear. At this time, a second prompt message can be generated to prompt the vehicle owner user that the vehicle cannot be started.
[0050] It can be seen from the above technical solution that when the vehicle controller is powered on, if it is determined that the displacement sensor corresponding to the vehicle's shift mechanism and the shift motor corresponding to the shift mechanism are both fault-free, it indicates that the vehicle can be started and shifted, and the shift motor can be used to drive the shift mechanism to move. During the movement process, the displacement sensor can be used to detect the movement position of the shift mechanism until the movement position is detected to be the calibration position of the neutral reference point, wherein the calibration position is determined by calibrating the shift mechanism using the displacement sensor. Based on this, the displacement sensor detection can be used to control the shift mechanism to move to the calibration position that can make the vehicle gear position in neutral. Then, during the shifting process, the target sensor associated with the shift motor can be used to detect the position increment of the shift mechanism. Since the detection accuracy of the target sensor is higher than that of the displacement sensor, the use of a lower-precision displacement sensor to calibrate the neutral reference point and detect the movement position can help save costs, and for the position increment that affects the shift control, a higher-precision target sensor can be used for detection, which is conducive to ensuring the accuracy of the shift control, thereby ensuring the driving quality of the vehicle during the shifting process. Finally, the target position of the shift mechanism can be determined based on the calibration position and the position increment, based on which the degree of shifting of the gear to be shifted compared to the neutral gear can be determined, that is, the target position can be used for shifting control to facilitate the control of the vehicle to complete the shifting. It can be seen that the present application provides a fusion positioning method based on displacement sensors and target sensors with different accuracies. The two have different action stages. The displacement sensor with lower accuracy is responsible for calibrating the neutral gear reference point and detecting the moving position to the calibration position, and the target sensor with higher accuracy is responsible for detecting the position increment, thereby achieving the purpose of reducing costs and accurately controlling the shifting.
[0051] For better understanding, the embodiment of the present application takes the vehicle's gearbox as a two-speed hybrid gearbox, the shift motor as a brushless DC motor BLDC, and the target sensor as a Hall sensor provided by the BLDC as an example, and provides the following Figure 4 The example shown is as follows, specifically:
[0052] After starting, it is determined that the vehicle's controller is powered on, and it is judged that both the displacement sensor and the BLDC motor are fault-free. If it is determined that both are fault-free, the shift mechanism is controlled to move to the neutral reference point, indicating that the search for the neutral reference point is completed, the vehicle power-on can be supported, and shift control can be supported. Conversely, if the BLDC motor has a fault, the ISG motor is controlled to output torque. Then, it is judged whether the ISG motor and the engine can rotate freely. If they can rotate freely, it indicates that the gear is not in gear at this time, and it is considered that the search for the neutral reference point for power-on is successful, and the vehicle power-on can be supported. However, since the current position of the shift mechanism is not the neutral reference point, shift control cannot be supported, and the vehicle only supports driving in series and pure electric modes. If the ISG cannot rotate after outputting torque, it indicates that the gear is in gear at this time, and it is considered that the search for the neutral reference point for power-on fails, the vehicle power-on cannot be supported, and shift control cannot be supported either. For the case where the BLDC motor is fault-free but the displacement sensor has a fault, the shift mechanism can be controlled to move from the current position to the EndStop points on both the left and right sides respectively, and then the shift mechanism is controlled to move to the midpoint of the two EndStop points. The midpoint position at this time can ensure that the gear is not in gear, and it is considered that the search for the neutral reference point for power-on is successful, and the vehicle power-on can be supported. However, due to wear of the shift mechanism, different from the EOL, the current position is not the neutral reference point, so shift control cannot be supported, and the vehicle only supports driving in series and pure electric modes. Finally, it can be ended after the control is completed.
[0053] It can be understood that it basically corresponds to the method embodiment, so the relevant parts can refer to the partial description of the method embodiment.
[0054] Figure 5 The figure is a structural diagram of a vehicle shift control device provided by an embodiment of the present application. The device includes a driving unit 501, a detection unit 502, and a determination unit 503:
[0055] The driving unit 501 is used to, when the vehicle controller is powered on, if it is determined that both the displacement sensor corresponding to the vehicle's shift mechanism and the shift motor corresponding to the shift mechanism are fault-free, drive the shift mechanism to move by using the shift motor;
[0056] The detection unit 502 is used to, during the movement process, detect the movement position of the shift mechanism by using the displacement sensor until the detected movement position is the calibrated position of the neutral reference point; the calibrated position is determined by calibrating the shift mechanism by using the displacement sensor;
[0057] The detection unit 502 is further used to, during the shift process, detect the position increment of the shift mechanism by using the target sensor associated with the shift motor; the detection accuracy of the target sensor is higher than that of the displacement sensor;
[0058] The determining unit 503 is configured to determine the target position of the shift mechanism based on the calibrated position and the position increment; the target position is used for shift control.
[0059] In a possible implementation manner, the calibrated position is determined as follows:
[0060] When the vehicle's transmission is in the off-line state, the shift motor is used to drive the shift mechanism to move to the first gear hard stop point and the second gear hard stop point corresponding to the transmission respectively; the first gear hard stop point and the second gear hard stop point are the two hardware end points of the transmission;
[0061] The shift motor is used to drive the shift mechanism to move to the midpoint corresponding to the first gear hard stop point and the second gear hard stop point;
[0062] The displacement sensor is used to detect the position of the midpoint as the calibrated position; the midpoint is the neutral reference point.
[0063] In a possible implementation manner, the device further includes a storage unit and an acquisition unit:
[0064] The storage unit is configured to store the calibrated position of the neutral reference point in the electrically erasable programmable read-only memory EEPORM corresponding to the vehicle controller;
[0065] The acquisition unit is configured to acquire the calibrated position from the EEPORM.
[0066] In a possible implementation manner, the determining unit is further configured to:
[0067] When determining the first gear hard stop point and the second gear hard stop point, determine the shift depth corresponding to the transmission according to the movement stroke of the shift motor driving the shift mechanism; the shift depth is used to characterize the distance between the shift mechanism from the neutral reference point to the first gear hard stop point or the second gear hard stop point;
[0068] The storage unit is further configured to store the shift depth in the EEPORM.
[0069] In a possible implementation manner, the device further includes a recording unit:
[0070] The recording unit is configured to record the initial position number of the target sensor when determining that the movement position is the calibrated position;
[0071] The recording unit is further configured to record the target position number of the target sensor corresponding to the position where the shift mechanism is located during the shift process;
[0072] The determining unit is further configured to determine a position increment corresponding to the shift mechanism based on the number of target positions and the number of initial positions.
[0073] In a possible implementation, the device further includes a control unit, a generating unit, and a displaying unit:
[0074] The control unit is configured to, if it is determined that the shift motor has a fault, control the driving motor of the vehicle to output torque; the driving motor is used to provide driving force for the vehicle;
[0075] The generating unit is configured to, during the process of controlling the driving motor to output torque, if it is determined that the driving motor and the engine end corresponding to the vehicle are in a rotatable state, generate a first prompt message; the first prompt message is used to prompt the owner user of the vehicle to start the vehicle in a series mode or a pure electric mode;
[0076] The displaying unit is configured to display the first prompt message through the display screen of the vehicle.
[0077] In a possible implementation, the generating unit is further configured to:
[0078] During the process of controlling the driving motor to output torque, if it is determined that the driving motor and the engine end corresponding to the vehicle are in a non-rotatable state, generate a second prompt message; the second prompt message is used to prompt the owner user that the vehicle cannot be started;
[0079] The displaying unit is further configured to display the second prompt message through the display screen.
[0080] In a possible implementation, the generating unit is further configured to:
[0081] If it is determined that the shift motor has no fault and the displacement sensor has a fault, determine a temporary reference point; the temporary reference point is the midpoint between the first gear hard stop point and the second gear hard stop point corresponding to the gearbox, the first gear hard stop point and the second gear hard stop point are the two hardware end points on both sides of the gearbox, and the temporary reference point is determined during the process of driving the shift mechanism to the midpoint by the shift motor;
[0082] If the temporary reference point is determined, generate a third prompt message; the third prompt message is used to prompt the owner user of the vehicle to start the vehicle in a series mode or a pure electric mode;
[0083] The displaying unit is further configured to display the third prompt message through the display screen of the vehicle.
[0084] In a possible implementation, the gearbox of the vehicle is a two-speed hybrid gearbox, the shift motor is a brushless DC motor BLDC, and the target sensor is a Hall sensor provided by the BLDC.
[0085] It can be seen from the above technical solution that when the vehicle controller is powered on, if it is determined that the displacement sensor corresponding to the vehicle's shift mechanism and the shift motor corresponding to the shift mechanism are both fault-free, it means that the vehicle can be started and shifted, and the shift motor can be used to drive the shift mechanism to move. During the movement process, the displacement sensor can be used to detect the movement position of the shift mechanism until the movement position is detected to be the calibration position of the neutral reference point, wherein the calibration position is determined by calibrating the shift mechanism using the displacement sensor. Based on this, the displacement sensor detection can be used to control the shift mechanism to move to the calibration position that can make the vehicle gear position in neutral. Then, during the shifting process, the target sensor associated with the shift motor can be used to detect the position increment of the shift mechanism. Since the detection accuracy of the target sensor is higher than that of the displacement sensor, the use of a lower-precision displacement sensor to calibrate the neutral reference point and detect the movement position can help save costs, and for the position increment that affects the shift control, a higher-precision target sensor can be used for detection, which is conducive to ensuring the accuracy of the shift control, thereby ensuring the driving quality of the vehicle during the shifting process. Finally, the target position of the shift mechanism can be determined based on the calibration position and the position increment, based on which the degree of shifting of the gear to be shifted compared to the neutral gear can be determined, that is, the target position can be used for shifting control to facilitate the control of the vehicle to complete the shifting. It can be seen that the present application provides a fusion positioning method based on displacement sensors and target sensors with different accuracies. The two have different action stages. The displacement sensor with lower accuracy is responsible for calibrating the neutral gear reference point and detecting the moving position to the calibration position, and the target sensor with higher accuracy is responsible for detecting the position increment, thereby achieving the purpose of reducing costs and accurately controlling the shifting.
[0086] Ordinary technicians in this field can understand that all or part of the steps of the above method embodiment can be completed by hardware related to program instructions. The above program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the above storage medium can be at least one of the following media: read-only memory (English: Read-only Memory, abbreviated: ROM), RAM, magnetic disk or optical disk, etc. Various media that can store program codes.
[0087] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the descriptions in the method embodiments. The device embodiments described above are merely illustrative. The units described 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 to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative work.
[0088] It should be noted that in this article, relational terms such as "first" and "second" (if any) are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.
[0089] The above has introduced in detail a vehicle shift control method and device provided by the embodiments of the present application. Specific examples are used herein to elaborate on the principle and implementation manner of the present application. The descriptions of the above embodiments are only used to help understand the method of the present application. At the same time, for those of ordinary skill in the art, there will be changes in the specific implementation manner and application scope according to the method of the present application.
[0090] In summary, the content of this specification should not be construed as a limitation on the present application. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered within the protection scope of the present application. Moreover, based on the implementation manners provided in the above aspects of the present application, further combinations can be made to provide more implementation manners.
Claims
1. A vehicle shift control method, characterized in that: The method comprises: When the vehicle controller is powered on, if it is determined that the displacement sensor corresponding to the gear shift mechanism of the vehicle and the gear shift motor corresponding to the gear shift mechanism are both fault-free, the gear shift mechanism is driven to move by the gear shift motor; During the movement, the movement position of the shift mechanism is detected by using the displacement sensor until the movement position is detected to be a calibration position of a neutral reference point; the calibration position is determined by calibrating the shift mechanism by using the displacement sensor; During the gear shifting process, a target sensor associated with the gear shifting motor is used to detect the position increment of the gear shifting mechanism; the detection accuracy of the target sensor is higher than that of the displacement sensor; Based on the calibrated position and the position increment, a target position of the shift mechanism is determined; the target position is used for shift control.
2. The method according to claim 1, characterized in that The calibration position is determined by: When the gearbox of the vehicle is in an offline state, the gear shifting motor is used to drive the gear shifting mechanism to move to the first gear hard stop point and the second gear hard stop point corresponding to the gearbox respectively; the first gear hard stop point and the second gear hard stop point are the hardware end points on both sides of the gearbox; Using the shift motor to drive the shift mechanism to move to a midpoint corresponding to the first gear hard stop point and the second gear hard stop point; The displacement sensor is used to detect the position of the midpoint as the calibration position; the midpoint is the neutral reference point.
3. The method according to claim 2, characterized in that The method further comprises: Using an electrically erasable programmable read-only memory EEPORM corresponding to the vehicle controller to store the calibrated position of the neutral reference point; During the movement process, the movement position of the shift mechanism is detected by using the displacement sensor until the movement position is detected to be a calibrated position of a neutral reference point, and the method further includes: The calibration position is obtained from the EEPORM.
4. The method according to claim 3, characterized in that The method further comprises: When determining the first gear hard stop point and the second gear hard stop point, determining the corresponding shift depth of the gearbox according to the movement stroke corresponding to the shift mechanism driven by the shift motor; the shift depth is used to characterize the distance between the shift mechanism from the neutral reference point to the first gear hard stop point or the second gear hard stop point; The shift depth is stored using the EEPORM.
5. The method according to claim 1, characterized in that The method further comprises: When the movement position is determined to be the calibration position, recording the initial position number of the target sensor; The method of detecting the position increment of the shift mechanism by using a target sensor associated with the shift motor during the shift process includes: During the gear shifting process, recording the target position number of the target sensor corresponding to the position of the gear shifting mechanism; A position increment corresponding to the shift mechanism is determined based on the target position number and the initial position number.
6. The method according to claim 1, characterized in that The method further comprises: If it is determined that the shift motor has a fault, controlling the driving motor corresponding to the vehicle to output torque; the driving motor is used to provide driving force for the vehicle; In the process of controlling the torque output of the driving motor, if it is determined that the driving motor and the engine end corresponding to the vehicle are in a rotatable state, a first prompt information is generated; the first prompt information is used to prompt the owner of the vehicle to start the vehicle in a series mode or a pure electric mode; The first prompt information is displayed through a display screen of the vehicle.
7. The method according to claim 6, characterized in that The method further comprises: In the process of controlling the torque output of the driving motor, if it is determined that the driving motor and the engine end corresponding to the vehicle are in a state of being unable to rotate, a second prompt message is generated; the second prompt message is used to prompt the vehicle owner that the vehicle cannot be started; The second prompt information is displayed through the display screen.
8. The method according to claim 1, characterized in that The method further comprises: If it is determined that the shift motor does not have a fault and the displacement sensor has a fault, a temporary reference point is determined; the temporary reference point is the midpoint of the first gear hard stop point and the second gear hard stop point corresponding to the gearbox, the first gear hard stop point and the second gear hard stop point are hardware endpoints on both sides of the gearbox, and the temporary reference point is determined in the process of using the shift motor to drive the shift mechanism to move to the midpoint; If the temporary reference point is determined, a third prompt message is generated; the third prompt message is used to prompt the owner of the vehicle to start the vehicle in a series mode or a pure electric mode; The third prompt information is displayed through a display screen of the vehicle.
9. The method according to any one of claims 1 to 8, characterized in that: The gearbox of the vehicle is a two-speed hybrid gearbox, the shift motor is a brushless direct current motor BLDC, and the target sensor is a Hall sensor provided by the BLDC.
10. A vehicle shift control device, characterized in that: The device comprises a driving unit, a detection unit and a determination unit: The driving unit is used to drive the shift mechanism to move by using the shift motor when the vehicle controller is powered on if it is determined that the displacement sensor corresponding to the shift mechanism of the vehicle and the shift motor corresponding to the shift mechanism are both fault-free; The detection unit is used to detect the moving position of the shift mechanism using the displacement sensor during the movement process until the moving position is detected to be a calibrated position of a neutral reference point; the calibrated position is determined by calibrating the shift mechanism using the displacement sensor; The detection unit is further used to detect the position increment of the shift mechanism using the target sensor associated with the shift motor during the shift process; the detection accuracy of the target sensor is higher than that of the displacement sensor; The determination unit is used to determine the target position of the shift mechanism based on the calibrated position and the position increment; the target position is used for shift control.