AMT gear engaging control method and AMT gear engaging control device

Abstract

The invention provides an AMT gear engaging control method and an AMT gear engaging control device. In the current gear shifting process of the AMT, if the maximum pressure value is larger than the first pressure value, the duty ratio output by a gear shifting motor is adjusted to the duty ratio when gear shifting is completed last time through forward speed regulation of the motor, so that the maximum value in the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure is equal to the second pressure value, and gear engaging is completed; the maximum pressure value is the maximum value in the absolute value of the first intertooth pressure and the absolute value of the second intertooth pressure; and if the maximum pressure value is smaller than or equal to the first pressure value, the duty ratio output by the gear shifting motor is adjusted to the duty ratio when the last gear shifting is completed through motor forward speed regulation or motor forward speed regulation and motor reverse speed regulation, and gear engaging is completed. According to the scheme, the problem that in the prior art, the gear engaging success rate is low due to improper control over the inter-tooth force in the AMT gear shifting process is solved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and more particularly, to an AMT gear shifting control method, an AMT gear shifting control device, a computer-readable storage medium, and an AMT gear shifting control system. Background Technique

[0002] An automated mechanical transmission (AMT) is an automatic control mechanism with an electronic unit added while keeping the basic structure of the original mechanical manual transmission unchanged. It replaces the operations originally completed manually by the driver, such as clutch disengagement and engagement, gear shifting, and adjustment of the engine and motor speed and torque, to achieve automatic control of the shifting process.

[0003] The shifting process of AMT is usually divided into four stages: torque clearing, gear disengaging, speed adjusting, and gear engaging. Among them, during the torque clearing and gear disengaging stages, precise control of the motor torque and speed is required to ensure a smooth transition to the neutral gear. In the prior art, during the torque clearing stage of AMT control, the torque is directly cleared to zero or to a certain target value without considering the relative movement between gears. Since the sudden removal of torque may cause an instantaneous increase in the reaction force between gears, this reaction force sometimes acts in the opposite direction to the relative movement of the gears, resulting in additional resistance, requiring a greater force to disengage the gear, which may lead to difficult or failed gear disengagement, and further affect the success rate of gear engagement. Summary of the Invention

[0004] The main objective of the present application is to provide an AMT gear shifting control method, an AMT gear shifting control device, a computer-readable storage medium, and an AMT gear shifting control system to at least solve the problem of low gear engagement success rate caused by improper control of the force between gears during the AMT shifting process in the prior art.

[0005] To achieve the above object, according to one aspect of the present application, there is provided an AMT gear shifting control method, including: during the current gear shifting process of the AMT, obtaining a first inter-tooth pressure and a second inter-tooth pressure, where the first inter-tooth pressure is the inter-tooth pressure between the gear disengaging tooth and the target tooth located on the first side of the gear disengaging tooth, and the second inter-tooth pressure is the inter-tooth pressure between the gear disengaging tooth and the target tooth located on the second side of the gear disengaging tooth; when the maximum value of the pressure is greater than the first pressure value, adjusting the duty ratio output by the shifting motor to the duty ratio at the end of the previous gear shifting by forward speed regulation of the motor, so that the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure is equal to the second pressure value to complete the gear shifting, where the first pressure value is greater than the second pressure value, and the maximum value of the pressure is the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure; when the maximum value of the pressure is less than or equal to the first pressure value, adjusting the duty ratio output by the shifting motor to the duty ratio at the end of the previous gear shifting by forward speed regulation of the motor, or adjusting the duty ratio output by the shifting motor to the duty ratio at the end of the previous gear shifting by forward speed regulation and reverse speed regulation of the motor to complete the gear shifting.

[0006] Optionally, the method further includes: during the gear shifting process before the previous one, recording the top tooth positions of the target tooth and the gear disengaging tooth, where the top tooth position is the position where the tooth top of the target tooth contacts and aligns with the tooth top of the gear disengaging tooth but the target tooth and the gear disengaging tooth are not yet engaged; during the previous gear shifting process, when the gear shifting position exceeds the top tooth position and the gear shifting position does not change within a preset time period, increasing the duty ratio of the shifting motor, where the gear shifting position is the position reached by the target tooth; after increasing the duty ratio of the shifting motor, obtaining the first pressure value and the second pressure value.

[0007] Optionally, after increasing the duty ratio of the shifting motor, obtaining the first pressure value includes: if the duty ratio of the shifting motor has reached 100% and the gear shifting position still does not change, adjusting the speed of the shifting motor to reduce the maximum value of the pressure; after the maximum value of the pressure decreases, until the gear shifting position starts to change, determining the maximum value of the absolute value of the current first inter-tooth pressure and the absolute value of the current second inter-tooth pressure as the first pressure value.

[0008] Optionally, after increasing the duty ratio of the shift motor, obtaining the second pressure value includes: after increasing the duty ratio of the shift motor until the shift position starts to change, determining the current shift position as the shift position at the end of the last shift, determining the duty ratio output by the current shift motor as the duty ratio at the end of the last shift, and determining the maximum value between the absolute value of the current first inter-tooth pressure and the absolute value of the current second inter-tooth pressure as the second pressure value.

[0009] Optionally, before the shift position exceeds the top dead center position, the method further includes: during the last shift process, the AMT sequentially performs torque clearing, gear disengagement, speed regulation, and gear engagement operations until the target tooth and the disengaged tooth reach the top dead center position.

[0010] Optionally, when the maximum pressure value is less than or equal to the first pressure value, adjusting the duty ratio output by the shift motor to the duty ratio at the end of the last shift by forward speed regulation of the motor, or adjusting the duty ratio output by the shift motor to the duty ratio at the end of the last shift by forward speed regulation and reverse speed regulation of the motor to complete gear engagement, including: when the maximum pressure value is less than or equal to the first pressure value, first performing forward speed regulation of the motor to determine whether the maximum pressure value decreases after the forward speed regulation of the motor; when the maximum pressure value decreases after the forward speed regulation of the motor, adjusting the duty ratio output by the shift motor to the duty ratio at the end of the last shift to complete gear engagement; when the maximum pressure value does not decrease after the forward speed regulation of the motor, adjusting the duty ratio output by the shift motor to the duty ratio at the end of the last shift by reverse speed regulation of the motor to complete gear engagement.

[0011] Optionally, the method further includes: after each gear engagement is completed, updating the shift position, the duty ratio output by the shift motor, and the maximum pressure value to the storage unit.

[0012] According to another aspect of the present application, there is provided an AMT gear shifting control device, including: a first acquisition unit configured to acquire a first inter-tooth pressure and a second inter-tooth pressure during the current gear shifting process of the AMT, wherein the first inter-tooth pressure is the inter-tooth pressure between the gear disengaging tooth and the target tooth located on the first side of the gear disengaging tooth, and the second inter-tooth pressure is the inter-tooth pressure between the gear disengaging tooth and the target tooth located on the second side of the gear disengaging tooth; a first adjustment unit configured to, when the maximum pressure value is greater than the first pressure value, adjust the duty cycle output by the shifting motor to the duty cycle at the completion of the previous gear shifting by forward speed regulation of the motor, so that the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure is equal to the second pressure value to complete the gear shifting, wherein the first pressure value is greater than the second pressure value, and the maximum pressure value is the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure; a second adjustment unit configured to, when the maximum pressure value is less than or equal to the first pressure value, adjust the duty cycle output by the shifting motor to the duty cycle at the completion of the previous gear shifting by forward speed regulation of the motor, or adjust the duty cycle output by the shifting motor to the duty cycle at the completion of the previous gear shifting by forward speed regulation and reverse speed regulation of the motor to complete the gear shifting.

[0013] According to still another aspect of the present application, there is provided a computer-readable storage medium, the computer-readable storage medium including a stored program, wherein when the program runs, it controls the device where the computer-readable storage medium is located to execute any one of the above-mentioned AMT gear shifting control methods.

[0014] According to yet another aspect of the present application, there is provided an AMT gear shifting control system, including: two pressure sensors, namely a first pressure sensor and a second pressure sensor, wherein the first pressure sensor is installed between the gear disengaging tooth and the target tooth located on the first side of the gear disengaging tooth, and the second pressure sensor is installed between the gear disengaging tooth and the target tooth located on the second side of the gear disengaging tooth; a controller configured to execute any one of the above-mentioned AMT gear shifting control methods, and the controller is electrically connected to the first pressure sensor and the second pressure sensor.

[0015] Applying the technical solution of the present application, during the current gearshift process of AMT, the first inter-tooth pressure and the second inter-tooth pressure are obtained, where the first inter-tooth pressure is the inter-tooth pressure between the gear disengaging tooth and the target tooth located on the first side of the gear disengaging tooth, and the second inter-tooth pressure is the inter-tooth pressure between the gear disengaging tooth and the target tooth located on the second side of the gear disengaging tooth; when the maximum pressure is greater than the first pressure value, the duty ratio output by the shift motor is adjusted to the duty ratio at the end of the previous gearshift by forward speed regulation of the motor, so that the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure is equal to the second pressure value to complete gear engagement, where the first pressure value is greater than the second pressure value, and the maximum pressure is the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure; when the maximum pressure is less than or equal to the first pressure value, the duty ratio output by the shift motor is adjusted to the duty ratio at the end of the previous gearshift by forward speed regulation of the motor, or the duty ratio output by the shift motor is adjusted to the duty ratio at the end of the previous gearshift by forward speed regulation and reverse speed regulation of the motor to complete gear engagement. In this solution, by monitoring the inter-tooth pressure between the target tooth and the gear disengaging tooth and dynamically adjusting the duty ratio and speed of the shift motor according to the inter-tooth pressure between the target tooth and the gear disengaging tooth, the problem of low gear engagement success rate caused by improper control of the inter-tooth force during the AMT gearshift process in the prior art is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings forming a part of this application are used to provide a further understanding of the application. The illustrative embodiments of the application and their descriptions are used to explain the application and do not constitute an improper limitation of the application. In the drawings:

[0017] Figure 1 A flowchart showing a method for controlling AMT gear engagement according to an embodiment of the present application is shown;

[0018] Figure 2 A phase diagram of the gear disengaging gear for a method for controlling AMT gear engagement according to an embodiment of the present application is shown;

[0019] Figure 3 A schematic diagram of the actual gear engagement position curve for a method for controlling AMT gear engagement according to an embodiment of the present application is shown;

[0020] Figure 4 A schematic diagram of a general AMT gearshift process for a method for controlling AMT gear engagement according to an embodiment of the present application is shown;

[0021] Figure 5 A flowchart showing a specific method for controlling AMT gear engagement according to an embodiment of the present application is shown;

[0022] Figure 6The flowchart shows the acquisition of the first pressure value and the second pressure value of a specific AMT gear shifting control method provided according to an embodiment of the present application;

[0023] Figure 7 The block diagram shows the structure of an AMT gear shifting control device provided according to an embodiment of the present application. Detailed implementation manners

[0024] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0025] 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 with reference to 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 making creative efforts shall fall within the protection scope of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so as to describe the embodiments of the present application here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these process, method, product or device.

[0027] As introduced in the background art, in the prior art, during the clutch clearance stage of AMT control, the torque is directly cleared to zero or to a certain target value without considering the relative movement between gears, which may lead to difficult gear disengagement or even gear disengagement failure, and further affect the success rate of gear shifting. To solve the problem of low gear shifting success rate caused by improper control of the inter-tooth force during the AMT gear shifting process in the prior art, the embodiments of the present application provide an AMT gear shifting control method, an AMT gear shifting control device, a computer-readable storage medium, and an AMT gear shifting control system.

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0029] In this embodiment, an AMT gear shifting control method running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0030] Figure 1 It is a schematic flowchart of the AMT gear shifting control method according to an embodiment of the present application. As Figure 1 shown, the method includes the following steps:

[0031] Step S101, during the current gear shifting process of the AMT, obtain the first inter-tooth pressure and the second inter-tooth pressure, where the first inter-tooth pressure is the inter-tooth pressure between the disengaging gear and the target gear located on the first side of the disengaging gear, and the second inter-tooth pressure is the inter-tooth pressure between the disengaging gear and the target gear located on the second side of the disengaging gear;

[0032] Specifically, during the gear shifting process of an Automated Mechanical Transmission (AMT), real-time obtaining of the pressure information between the target gear and the disengaging gear is the key to achieving smooth and efficient gear shifting. During the gear shifting process of the AMT, that is, when disengaging from one gear and attempting to engage into another gear, complex interactions occur between the gears, and it is necessary to monitor the pressure changes between the disengaging gear (the gear to be removed) and the target gear (the next gear to be engaged) in real time. In this embodiment, the first inter-tooth pressure and the second inter-tooth pressure are obtained by pressure sensors installed on both sides of the disengaging gear. For the schematic diagram of the disengaging gear phase, see Figure 2 , the first inter-tooth pressure refers to the inter-tooth pressure between the disengaging gear and the target gear located on one side (the first side) of it, and the second inter-tooth pressure refers to the inter-tooth pressure between the disengaging gear and the target gear located on the other side (the second side) of it.

[0033] The first inter-tooth pressure and the second inter-tooth pressure obtained in real time are used to adjust the duty cycle of the output of the shifting motor subsequently, ensuring gear meshing under appropriate conditions and reducing the probability of gear shifting failure. In addition, excessive inter-tooth pressure can cause gear damage or motor stalling. Through inter-tooth pressure monitoring, such risks can be adjusted and avoided in a timely manner, and the service life of the gear assembly can be extended.

[0034] Step S102, when the maximum pressure is greater than the first pressure value, adjust the duty ratio output by the shift motor to the duty ratio at the end of the previous shift through forward speed regulation of the motor, so that the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure is equal to the second pressure value, thereby completing gear shifting. Herein, the first pressure value is greater than the second pressure value, and the maximum pressure is the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure;

[0035] Specifically, the maximum pressure refers to the larger one of the absolute values of the first inter-tooth pressure and the second inter-tooth pressure monitored during the current gear shifting process, which reflects the maximum intensity of the contact force between gears when shifting out of gear and attempting to shift gears. The first pressure value is a value obtained based on previous gear shifting processes. When the maximum pressure exceeds the first pressure value, it means that the current motor output is insufficient to overcome the resistance between gears or causes excessive pressure on the gear assembly, which is detrimental to the normal meshing of gears. Then, adjust the duty ratio output by the shift motor to reduce the inter-tooth pressure to a more appropriate level, that is, the second pressure value. The second pressure value is a value obtained based on previous gear shifting processes. The second pressure value is less than the first pressure value because a smaller pressure can reduce the impact during gear meshing and improve the success rate of gear shifting.

[0036] The specific process is to adjust the duty ratio output by the shift motor to the duty ratio at the end of the previous shift through forward speed regulation of the motor. The duty ratio is the ratio of the duration of the high level to the cycle time in the motor drive signal, which affects the output torque and speed of the motor. Adjusting to the duty ratio at the previous successful shift means using the parameters that were verified to be effective in the previous successful shift to control the motor to achieve a similar pressure control effect, thereby optimizing the current gear shifting process. The ultimate goal of the entire adjustment process is to make the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure equal to the second pressure value. The key to the above process is to find a balance through motor speed regulation and duty ratio adjustment, so that the inter-tooth pressure is neither too large to cause gear shifting failure nor too small to prevent the gears from meshing smoothly. The setting of the second pressure value is aimed at ensuring that the gears enter the meshing state under appropriate pressure to achieve successful gear shifting.

[0037] In short, when the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure is too large (exceeding the first pressure value), the output torque of the motor is reduced, and the pressure is reduced to a more suitable level (equal to the second pressure value) by adjusting the output duty cycle of the shift motor to the duty cycle of the previous successful shift, so as to facilitate successful gear shifting. This control strategy based on real-time monitoring of inter-tooth pressure and dynamic adjustment of motor output can significantly improve the smoothness and reliability of AMT shifting, especially when the vehicle load changes or the road conditions are not ideal, and can more effectively avoid gear shifting failure and damage to the gear assembly.

[0038] Step S103, when the above-mentioned maximum pressure value is less than or equal to the above-mentioned first pressure value, the duty cycle of the above-mentioned shift motor output is adjusted to the duty cycle when the above-mentioned gear shift is completed through the forward speed regulation of the motor, or the duty cycle of the above-mentioned shift motor output is adjusted to the duty cycle when the above-mentioned gear shift is completed through the forward speed regulation of the motor and the reverse speed regulation of the motor to complete the gear shift.

[0039] Specifically, the above content explains how to adjust the output of the motor to ensure smooth gear shifting when the inter-tooth pressure is relatively small or within an acceptable range. Specifically, when the maximum pressure is less than or equal to the first pressure value, this indicates that the inter-tooth pressure in the current gear shifting process (i.e., the larger of the absolute values ​​of the first inter-tooth pressure and the second inter-tooth pressure) does not exceed the safety value (the first pressure value). In this case, the contact force between the gears is relatively small and is unlikely to cause obstacles to the gear shifting process, but additional force may be required to ensure accurate alignment and meshing of the gears. In order to ensure that the gears can be smoothly shifted, even if the current inter-tooth pressure level is within an acceptable range, the output torque of the motor will be increased. This is usually achieved by increasing the output duty cycle of the shifting motor. The increase in duty cycle can enable the motor to output greater force, which helps to overcome any slight resistance between the gears and promote accurate alignment and meshing of the gears.

[0040] After adjusting the output duty cycle of the shift motor, continue to monitor the inter-tooth pressure. If the maximum pressure decreases further after the motor is forward speeded, this indicates that the adjustment direction is correct, the relative movement between the gears has been improved, and the shifting conditions tend to be better, that is, the maximum pressure is reduced to a safer and more suitable level (that is, the second pressure value). Then adjust the output duty cycle of the shift motor to the duty cycle when the last shift was completed. That is, use the past successful shifting experience to guide the current shifting operation to improve efficiency and success rate.

[0041] The purpose of the control flow in step S103 is to promote the smooth meshing of the gears through appropriate torque adjustment while ensuring that the motor output does not cause excessive stress on the gear assembly. By controlling the maximum pressure at the second pressure value (a suitable level that does not cause gear shifting failure), it can be ensured that under the current gear shifting conditions, the gears can be accurately engaged to complete power transmission, while protecting the motor and gears from damage. In short, when the inter-tooth pressure is relatively small or within the safety threshold, at least through the forward speed regulation of the motor, combined with real-time pressure monitoring and dynamic adjustment of the output duty ratio of the shifting motor, it is ensured that the gears are engaged with the minimum necessary force, avoiding ineffective operations or damage to system components caused by excessive speed regulation. This adaptive control strategy improves the gear shifting efficiency while enhancing the stability and reliability of the system.

[0042] Through this embodiment, by obtaining and analyzing the pressure changes between the disengaging gear and the target gears on both sides in real time, it is possible to intelligently judge the gear shifting conditions and avoid gear shifting failure or motor damage caused by improper pressure. When the detected maximum pressure exceeds the safety range (i.e., is greater than the first pressure value), through the forward speed regulation control of the motor, the pressure is adjusted to the appropriate second pressure value to ensure smooth meshing of the gears; while when the pressure is within the acceptable range (i.e., less than or equal to the first pressure value), by monitoring the change trend of the pressure after the motor speed regulation, the duty ratio is adjusted to the configuration at the time of the most recent successful gear shift, which not only promotes the completion of gear shifting but also avoids unnecessary over-driving of the motor. This method significantly improves the stability of AMT gear shifting, not only reducing the wear of the gears and the motor but also increasing the gear shifting success rate, thus solving the problem of low gear shifting success rate caused by improper control of the inter-tooth force in the prior art during AMT gear shifting.

[0043] In the specific implementation process, the above method further includes: during the penultimate gear shifting process, recording the top tooth positions of the above target gear and the above disengaging gear, where the top tooth position is the position where the tooth tops of the above target gear and the above disengaging gear are in contact and aligned but the above target gear and the above disengaging gear have not yet meshed; during the above last gear shifting process, when the gear engaging position exceeds the above top tooth position and the gear engaging position does not change within a preset time period, increasing the duty ratio of the shifting motor, where the gear engaging position is the position reached by the above target gear; after increasing the duty ratio of the shifting motor, obtaining the above first pressure value and the above second pressure value.

[0044] Specifically, during the penultimate gear shifting process, the top tooth positions of the target gear and the disengaging gear are recorded. The top tooth position refers to a specific position where the tooth tops of the two gears are in contact and aligned but have not yet entered the actual meshing state. Recording the top tooth position is of great importance for subsequent gear engaging control because the top tooth position provides an initial reference point for gear alignment, enabling more accurate judgment of when to increase the motor output and when to adjust the inter-tooth pressure.Figure 3 It is a schematic diagram of the actual gear shifting position curve. The top gear position can be referred to Figure 3 , and it is updated in real time by recording the top gear position during gear shifting. When shifting from the in-gear position to Figure 3 the top gear position, there is an obvious "step", and then pressure logic judgment is carried out.

[0045] During the previous gear shifting process, when the gear shifting position (i.e., the actual position reached by the target gear) exceeds the top gear position (indicating that the gear starts to attempt to enter the meshing state), and the gear shifting position does not change within a preset time period, the duty ratio of the shifting motor is increased. The preset time period is set to identify whether the tooth-to-tooth contact may cause gear shifting stagnation, that is, when the gear attempts to mesh but the position does not change for a long time, it may be due to excessive tooth-to-tooth pressure, resulting in gear jamming. After increasing the motor duty ratio, the first pressure value and the second pressure value are obtained. This is to evaluate the change in tooth-to-tooth pressure after increasing the motor output and determine whether the conditions are more favorable for gear shifting.

[0046] By recording the top gear position, the alignment state of the gear can be more accurately identified, timely responses can be made to avoid gear shifting stagnation, thereby improving the gear shifting efficiency. Dynamically monitoring the tooth-to-tooth pressure and adjusting the motor output as needed effectively prevents the gear from being damaged due to excessive pressure, and at the same time protects the motor and avoids ineffective or overloaded driving. Using the top gear position record as a reference, the motor parameters can be intelligently adjusted according to historical data and current working conditions to achieve more efficient gear shifting control. In summary, by recording the top gear position and dynamically adjusting the motor output and tooth-to-tooth pressure, this embodiment can effectively improve the efficiency and safety of gear shifting, and at the same time achieve more stable gear shifting control through intelligent optimization.

[0047] In some embodiments of the present application, after increasing the duty ratio of the above-mentioned shifting motor, obtaining the above-mentioned first pressure value includes: if the duty ratio of the above-mentioned shifting motor has reached 100% and the above-mentioned gear shifting position still has not changed, adjusting the speed of the shifting motor to reduce the above-mentioned maximum pressure value; after the above-mentioned maximum pressure value is reduced, until the above-mentioned gear shifting position starts to change, determining the maximum value of the absolute value of the current first tooth-to-tooth pressure and the absolute value of the current second tooth-to-tooth pressure as the above-mentioned first pressure value.

[0048] The above is the process of obtaining the first pressure value. Specifically, when overcoming the gear shifting resistance by increasing the duty cycle of the shifting motor, if the duty cycle of the shifting motor has reached the maximum value (100%) and the gear shifting position still remains unchanged, this indicates that simply increasing the duty cycle is not sufficient to solve the problem. It may be because the pressure between the teeth is too large, exceeding the range that the motor can handle. In the face of the situation where the pressure between the teeth is too large, another strategy is adopted, that is, by adjusting the rotational speed of the shifting motor to reduce the pressure between the teeth, so that the maximum pressure value decreases. This is because when the rotational speed of the motor changes, the torque generated by the motor also changes. By appropriately reducing the rotational speed, the pressure exerted by the motor on the gear can be indirectly reduced, which is beneficial to the gear shifting of the gear.

[0049] Continuously monitor the change in the pressure between the teeth until it is detected that the gear shifting position begins to change, which indicates that the pressure adjustment strategy has taken effect and the gear begins to overcome the resistance to move or shift gears. Once the gear shifting position changes, record the current first pressure between the teeth and the current second pressure between the teeth, and determine the maximum value of the absolute value of the current first pressure between the teeth and the absolute value of the current second pressure between the teeth as the first pressure value. The first pressure value reflects the actual pressure level when successfully overcoming the resistance between the teeth for gear shifting, and will be used as a benchmark for guiding the output adjustment of the motor in the subsequent process.

[0050] By adopting the method of adjusting the rotational speed to reduce the pressure between the teeth when the duty cycle of the motor reaches the upper limit and gear shifting still cannot be achieved, it ensures that the gear moves and shifts gears within a safe pressure range. In addition, by recording the maximum value of the absolute value of the first pressure between the teeth and the absolute value of the second pressure between the teeth when successful gear shifting occurs, it can better handle future gear shifting problems, reduce ineffective actions, protect the gear and the motor from damage, and at the same time improve the gear shifting efficiency and success rate. This method not only improves the smoothness of the gear shifting process, reduces the vehicle jitter or impact, but also enhances the adaptability of the AMT to complex road conditions and load conditions through an intelligent control strategy.

[0051] In some other embodiments of the present application, after increasing the duty cycle of the above-mentioned shifting motor, obtaining the above-mentioned second pressure value includes: after increasing the duty cycle of the above-mentioned shifting motor until the gear shifting position begins to change, determining the current gear shifting position as the gear shifting position at the end of the last gear shifting, determining the duty cycle output by the current shifting motor as the duty cycle at the end of the last gear shifting, and determining the maximum value of the absolute value of the current first pressure between the teeth and the absolute value of the current second pressure between the teeth as the above-mentioned second pressure value.

[0052] The above is the process of obtaining the second pressure value. Specifically, after increasing the duty cycle of the shift motor, if it is detected that the shift position starts to change, this indicates that the additional output of the shift motor has begun to take effect, prompting the target gear and the disengagement gear to overcome the resistance and enter the meshing state. Record the current shift position as a reference point for the next shift process. This shift position reflects the physical position when the gear actually engages under specific pressure and motor output conditions. At the same time, record the duty cycle of the current shift motor output as a reference value for the next shift process. The significance of updating the duty cycle is that it can remember the motor output intensity required for successful shifting under specific inter-gear pressure conditions. This helps to quickly adjust the motor output to an effective range in the face of similar inter-gear pressure scenarios, avoiding ineffective or excessive actions. When shifting is successful, record the maximum value among the absolute value of the current first inter-gear pressure and the absolute value of the current second inter-gear pressure. This maximum value is the second pressure value.

[0053] By continuously recording and updating key shift parameters, namely the shift position, the duty cycle of the shift motor output, the maximum value among the absolute value of the first inter-gear pressure and the absolute value of the second inter-gear pressure, it is possible to adaptively adjust the motor output and inter-gear pressure control strategies based on historical data and current working conditions, improving the processing ability and efficiency for different shift scenarios. Based on the parameter update of the last successful shift, when facing similar resistance, it is possible to find a suitable motor output and pressure adjustment scheme more quickly, significantly increasing the success rate of shifting and reducing shifting failures caused by inappropriate inter-gear pressure. In addition, determining the second pressure value as a reference pressure threshold helps to avoid the motor from being in an ineffective or over-driven situation, thus protecting the motor, extending its service life, and at the same time optimizing the motor's performance and energy consumption. In summary, by dynamically updating key shift parameters, the adaptability and control accuracy of the AMT are enhanced, and the success rate of shifting and the overall system performance are improved.

[0054] In the specific implementation process, before the shift position exceeds the above-mentioned top gear position, the above method further includes: in the above-mentioned last shift process, the above AMT sequentially performs operations of torque clearing, gear disengagement, speed adjustment, and gear engagement until the above target gear and the above disengagement gear reach the above top gear position.

[0055] Specifically, in the last shift process, the above AMT sequentially performs operations of torque clearing, gear disengagement, speed adjustment, and gear engagement, as Figure 4 shown. Figure 4It is a schematic diagram of the general AMT shifting process. First, the torque clearing operation is performed. The purpose of this operation is to eliminate the possible torque inside the gearbox, ensuring that the gears are in a state without prestress when shifting, which is beneficial for the gears to smoothly enter the next gear. After the torque clearing is completed, the gear disengagement operation is carried out, that is, the currently engaged gears are disengaged. This step is a key link in the shifting process, providing the physical space and conditions for the subsequent gear alignment and gear engagement operations. After gear disengagement, the motor speed is adjusted according to the current state of the vehicle (such as vehicle speed, engine speed, etc.) to optimize the gear alignment process, ensuring that before the gears enter the gear engagement stage, their speed and position have been adjusted to a state conducive to smooth gear engagement. The accuracy of the speed adjustment operation directly affects the smoothness and success rate of gear engagement. After the gear speed adjustment is completed, the gear engagement operation is started, that is, the target gear is pushed to align with the disengaged gear and enter the engaged state. The gear engagement operation is the last step of the entire shifting process and is also the key step to achieve shifting. During the execution of the torque clearing, gear disengagement, speed adjustment, and gear engagement operations, the movement states of the target gear and the disengaged gear are continuously monitored until the two gears reach the top dead center position. At this time, there is enough information to evaluate whether it is necessary to increase the motor duty ratio and how to adjust the inter-tooth pressure to ensure smooth gear engagement.

[0056] By sequentially performing the torque clearing, gear disengagement, speed adjustment, and gear engagement operations until reaching the top dead center position before the gear engagement position, the AMT can ensure that all preparatory work before gear engagement is finely completed, thereby improving the shifting success rate. That is, before the gears enter the gear engagement stage, they are in the best alignment and speed adjustment state, which is beneficial for improving the shifting success rate and reducing the possibility of gear engagement failure; it also helps to reduce the inter-tooth impact. Since the movement state of the gears has been optimized through the speed adjustment operation before gear engagement, the inter-tooth impact can be effectively reduced, extending the service life of the gears and the gearbox; by completing all necessary shifting preparatory operations before the top dead center position, potential safety hazards caused by improper gear engagement conditions can be avoided, such as motor damage or gear jamming caused by excessive inter-tooth pressure. In short, by performing this series of operations of torque clearing, gear disengagement, speed adjustment, and gear engagement and before the target gear and the disengaged gear reach the top dead center position, the efficiency, smoothness, and safety of the gear engagement process are ensured, further optimizing the overall performance of the AMT.

[0057] Further, when the maximum pressure value is less than or equal to the first pressure value, the duty cycle output by the shift motor is adjusted to the duty cycle at the time of the last shift completion through forward speed regulation of the motor, or the duty cycle output by the shift motor is adjusted to the duty cycle at the time of the last shift completion through forward speed regulation and reverse speed regulation of the motor to complete gear shifting, including: when the maximum pressure value is less than or equal to the first pressure value, first judge whether the maximum pressure value decreases after forward speed regulation of the motor through forward speed regulation of the motor; when the maximum pressure value decreases after forward speed regulation of the motor, adjust the duty cycle output by the shift motor to the duty cycle at the time of the last shift completion to complete gear shifting; when the maximum pressure value does not decrease after forward speed regulation of the motor, adjust the duty cycle output by the shift motor to the duty cycle at the time of the last shift completion through reverse speed regulation of the motor to complete gear shifting.

[0058] Specifically, if the maximum pressure value is less than or equal to the first pressure value, first further reduce the maximum pressure value through forward speed regulation of the motor. Forward speed regulation means adjusting the output of the motor so that the torque direction is consistent with the gear shifting direction, in order to reduce the friction between teeth and make the maximum pressure value decrease. After forward speed regulation of the motor, check whether the maximum pressure value decreases as expected. If the maximum pressure value does decrease after forward speed regulation of the motor, it indicates that the direction and intensity of the motor speed regulation are correct, and the duty cycle output of the shift motor will be adjusted to the duty cycle level at the time of the last successful gear shift to complete the gear shifting process. This is because the duty cycle at the time of the last successful gear shift has proven to be able to overcome the pressure between teeth and ensure successful gear shifting. However, if the maximum pressure value does not decrease after forward speed regulation of the motor, it means that the current torque direction may not be conducive to reducing the pressure between teeth, and the strategy of reverse speed regulation of the motor will be adopted instead. Reverse speed regulation means adjusting the output direction of the motor to be opposite to the gear shifting direction to try to reduce the pressure between teeth, and finally adjust the motor output to the duty cycle at the time of the last successful gear shift to complete gear shifting.

[0059] By dynamically adjusting the motor output, it is possible to more accurately control the pressure between teeth, avoid gear shifting failure caused by excessive pressure, and improve the overall gear shifting success rate; achieve the purpose of reducing the pressure between teeth with the smallest motor output adjustment, avoid unnecessary energy waste, and at the same time protect the motor from excessive loss; the flexible strategies of forward speed regulation and reverse speed regulation of the motor enhance the adaptability to different pressure conditions between teeth and can intelligently select the best speed regulation direction according to real-time pressure changes. All in all, by introducing the strategies of motor speed regulation and pressure evaluation, it is ensured that during the gear shifting process, the motor output can be intelligently and efficiently adjusted to reduce the pressure between teeth and complete the gear shifting action, thus realizing more accurate and reliable AMT gear shifting control.

[0060] In some embodiments, the above method further includes: after each gear shifting is completed, updating the gear shifting position, the duty ratio output by the shift motor, and the maximum pressure to a storage unit.

[0061] Specifically, the storage unit records the gear shifting position as a reference point in future gear shifting processes, which helps to more accurately predict and adjust the movement trajectory of the gears when encountering similar working conditions, thereby improving the accuracy of gear shifting. After the gear shifting is completed, the duty ratio of the motor output at the time of successful gear shifting is updated to the storage unit. The recording of this parameter is crucial for adjusting the motor output force in subsequent gear shifting, which can help quickly find an effective control point and reduce the ineffective trial-and-error process. Updating the maximum pressure to the storage unit means remembering the inter-tooth pressure condition at the time of successful gear shifting, which provides important reference data for future inter-tooth pressure control. Among them, the storage unit can be an Electrically Erasable Programmable Read-Only Memory (EEPROM).

[0062] By continuously updating the gear shifting position, the motor output duty ratio, and the maximum pressure to the storage unit, it is possible to continuously accumulate actual data under gear shifting conditions and form a self-learning mechanism. This enables adaptive adjustment of parameters based on the analysis of historical data to cope with different driving environments and load conditions, improving the flexibility and efficiency of gear shifting. When encountering a similar gear shifting scenario, the updated parameters provide a more accurate decision-making basis. Decisions can be made faster based on the data in the storage unit, avoiding ineffective motor actions, reducing inter-tooth impacts, and making it easier to locate the cause of faults when the inter-tooth pressure is abnormal for preventive maintenance. The updated data in the storage unit helps the system to more accurately control the motor output and inter-tooth pressure in future gear shifting processes, thereby increasing the success rate of gear shifting and reducing gear shifting failures caused by improper parameter selection.

[0063] In this embodiment, an intelligent prediction method based on machine learning can also be introduced to predict the most suitable gear shifting timing. By using historical driving data, including vehicle speed, engine speed, road condition information, driver habits, etc., a prediction model can be trained to proactively trigger the gear shifting action before the inter-tooth pressure is generated or when the pressure value is at a relatively low level, avoiding the adverse effects during the gear disengagement and engagement processes. By using big data and machine learning algorithms, the most suitable gear shifting timing can be predicted according to the current working conditions and driving behavior; the prediction model can learn and adapt to the habits of different drivers, adjust the prediction logic, and provide more personalized gear shifting control, enhancing the driving experience and vehicle performance; by intelligently predicting the gear shifting timing, gear shifting can be performed at a time that is more beneficial to the state of the gearbox and the motor, reducing inter-tooth friction and ineffective motor actions, and extending the system life.

[0064] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the AMT gear shifting control method of the present application will be described in detail below in combination with specific embodiments.

[0065] This embodiment relates to a specific AMT gear shifting control method. As Figure 5 shown, during the current gear shifting process of the AMT, the first inter-tooth pressure and the second inter-tooth pressure are obtained; it is judged whether the maximum pressure value is greater than the first pressure value, where the maximum pressure value is the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure; in the case where the maximum pressure value is greater than the first pressure value, the motor is speeded up forward to reduce the maximum pressure value to the second pressure value; the duty ratio is output according to the previously recorded gear position, the duty ratio output by the shift motor, and the second pressure value to complete the gear shifting. In the case where the maximum pressure value is less than or equal to the first pressure value, first perform forward motor speed regulation. After the forward motor speed regulation, it is judged whether the maximum pressure value decreases; if the maximum pressure value decreases, the motor is speeded up forward to reduce the maximum pressure value to the second pressure value, and the duty ratio is output according to the previously recorded gear position, the duty ratio output by the shift motor, and the second pressure value to complete the gear shifting; if the maximum pressure value does not decrease, the motor is speeded up backward to reduce the maximum pressure value to the second pressure value, and the duty ratio is output according to the previously recorded gear position, the duty ratio output by the shift motor, and the second pressure value to complete the gear shifting.

[0066] For the flow chart of obtaining the first pressure value and the second pressure value, see Figure 6 . During the gear shifting process, the top gear position is recorded when shifting gears and stored in the EEPROM for use during subsequent gear shifting. When changing to this gear position next time, if there is a duty ratio in the shift motor and top gear occurs, that is, when the shift position does not change, at this time, re-speed regulation is required because the teeth are opposite to each other at this time, and increasing the duty ratio will cause impact or hardware damage. If the shift position exceeds the top gear position, that is, the teeth may contact each other. If the shift position changes at this time and the gear is successfully engaged, the gear shifting is completed; if the shift position does not change at this time, then record the first inter-tooth pressure and the second inter-tooth pressure at this time, increase the duty ratio of the shift motor. If the shift position changes, then record the shift position, duty ratio, and second pressure value at this time for use when the next gear shifting is stuck. If the shift position does not change when the duty ratio of the shift motor reaches 100%, it means that the force of the shift motor at this time is not sufficient to overcome the friction between the teeth. At this time, motor speed regulation is required to reduce the maximum pressure value, and record the first pressure value when the shift position starts to move at this time until the gear shifting is completed. The first pressure value is reserved for use during the next gear shifting.

[0067] During the gear shifting process of this embodiment, by installing pressure sensors between the teeth, the pressure value between the teeth is obtained in real time. Input side control and adjustment are performed based on the pressure value, and the gear shifting timing is judged according to the pressure value. At the same time, the recording of the tooth jamming position during gear engagement is considered as the basis for logical selection, avoiding the problem of gear shifting failure caused by failed gear engagement. It can prevent the ineffective operation of the motor caused by excessive force between the teeth, effectively protect the motor, prevent motor damage, and is more likely to locate the cause of the failure when the gear engagement is abnormal. Specifically speaking, this embodiment monitors the gear disengagement process, has quantitative indicators, improves the gear engagement success rate, and improves driving safety; records the tooth jamming position during gear engagement for use in judging the gear engagement process, and makes logical selection accordingly. First, try to engage the gear. If the gear engagement is successful, the gear shifting is successful and the process ends. If the gear engagement position exceeds the tooth jamming position and the gear shifting motor has a duty cycle and the gear engagement position does not change, it is convenient to use according to the pressure value between the gear teeth, the gear engagement position, and the duty cycle that can make it act when the position does not change next time; if the maximum value of the absolute values of the pressure values on both sides is too large, then the motor speed is adjusted to adjust the pressure to a range where the gear engagement position can change.

[0068] In order to further improve the accuracy and reliability of gear engagement control, this embodiment can fuse the pressure sensor data with other sensor data to construct a multi-sensor fusion control system. Specifically, in addition to the pressure sensor, a speed sensor (monitoring the speeds of the engine and the transmission), a temperature sensor (monitoring the gear oil temperature), and an acceleration sensor (monitoring the vehicle acceleration change) can also be introduced to obtain more comprehensive vehicle operating state information. Through a pre-designed fusion algorithm, the data from multiple sensors are processed and analyzed in real time to comprehensively judge the gear shifting timing, the optimal duty cycle of the motor output, and the speed regulation strategy. For example, when it is detected that the gear oil temperature is too high, the motor output can be appropriately reduced to reduce the generation of frictional heat; or when the vehicle is accelerating, the gear shifting demand can be predicted in advance to avoid too long power interruption time. Through multi-sensor fusion, the operating state of the vehicle can be more comprehensively sensed, including the pressure between the teeth, speed, temperature, and acceleration, etc., which provides a richer data basis for intelligent control and improves the intelligence and reliability of control. The fusion algorithm can make intelligent decisions based on multi-source data, adjust the duty cycle of the motor output and the speed regulation strategy, and complete the gear engagement action in an optimal way while optimizing the entire gear shifting process.

[0069] The embodiment of the present application further provides an AMT gear shifting control device. It should be noted that the AMT gear shifting control device in the embodiment of the present application can be used to execute the AMT gear shifting control method provided by the embodiment of the present application. This device is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated here. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0070] The following introduces the AMT gear shifting control device provided by the embodiment of the present application.

[0071] Figure 7 is a structural block diagram of the AMT gear shifting control device according to the embodiment of the present application. As Figure 7 shown, the device includes a first acquisition unit 10, a first adjustment unit 20, and a second adjustment unit 30. Among them, the first acquisition unit 10 is used to acquire a first inter-tooth pressure and a second inter-tooth pressure during the current gear shift of the AMT. The first inter-tooth pressure is the inter-tooth pressure between the gear disengaging tooth and the target tooth located on the first side of the gear disengaging tooth, and the second inter-tooth pressure is the inter-tooth pressure between the gear disengaging tooth and the target tooth located on the second side of the gear disengaging tooth. The first adjustment unit 20 is used to adjust the duty cycle output by the shift motor to the duty cycle at the end of the previous gear shift by forward speed regulation of the motor when the maximum pressure value is greater than the first pressure value, so that the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure is equal to the second pressure value to complete the gear shift. The first pressure value is greater than the second pressure value, and the maximum pressure value is the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure. The second adjustment unit 30 is used to adjust the duty cycle output by the shift motor to the duty cycle at the end of the previous gear shift by forward speed regulation of the motor when the maximum pressure value is less than or equal to the first pressure value, or to adjust the duty cycle output by the shift motor to the duty cycle at the end of the previous gear shift by forward speed regulation and reverse speed regulation of the motor to complete the gear shift.

[0072] Specifically, during the AMT gear shifting process, obtaining the pressure information between the target gear and the disengaged gear in real time is the key to achieving smooth and efficient gear shifting. During the AMT gear shifting process, that is, when disengaging from one gear and attempting to engage another gear, complex interactions occur between the gears, and it is necessary to monitor the pressure changes between the disengaged gear (the gear to be removed) and the target gear (the next gear to be engaged) in real time. In this embodiment, the first inter-gear pressure and the second inter-gear pressure are obtained by installing pressure sensors on both sides of the disengaged gear. The first inter-gear pressure and the second inter-gear pressure obtained in real time are used to adjust the duty cycle of the output of the shift motor subsequently, ensuring gear engagement under appropriate conditions and reducing the probability of gear shifting failure. In addition, excessive inter-gear pressure can cause gear damage or motor stalling. Through inter-gear pressure monitoring, such risks can be adjusted and avoided in a timely manner, extending the service life of the gear assembly.

[0073] Specifically, the maximum pressure refers to the larger of the absolute values of the first inter-gear pressure and the second inter-gear pressure monitored during the current gear shifting process, reflecting the maximum intensity of the contact force between the gears when disengaging and attempting to engage gears. The first pressure value is a value obtained based on previous gear shifting processes. When the maximum pressure exceeds the first pressure value, it means that the current motor output is insufficient to overcome the resistance between the gears or causes excessive pressure on the gear assembly, which is detrimental to the normal engagement of the gears. Then, the duty cycle of the output of the shift motor is adjusted to reduce the inter-gear pressure to a more appropriate level, that is, the second pressure value. The second pressure value is a value obtained based on previous gear shifting processes. The second pressure value is less than the first pressure value because a smaller pressure can reduce the impact during gear engagement and improve the success rate of gear shifting.

[0074] The specific process is to adjust the duty cycle of the output of the shift motor to the duty cycle at the end of the previous gear shift by forward speed regulation of the motor. The duty cycle is the ratio of the high-level duration to the cycle time in the motor drive signal, which affects the output torque and speed of the motor. Adjusting to the duty cycle at the previous successful gear shift means using the parameters verified to be effective in the previous successful gear shift to control the motor to achieve a similar pressure control effect, thereby optimizing the current gear shifting process. The ultimate goal of the entire adjustment process is to make the maximum of the absolute values of the first inter-gear pressure and the second inter-gear pressure equal to the second pressure value. The key to the above process is to find a balance through motor speed regulation and duty cycle adjustment, so that the inter-gear pressure is neither too large to cause gear shifting failure nor too small to prevent the gears from meshing smoothly. The setting of the second pressure value is aimed at ensuring that the gears enter the meshing state under appropriate pressure and achieving successful gear shifting.

[0075] In short, when the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure is too large (exceeding the first pressure value), the output torque of the motor is reduced, and the pressure is reduced to a more suitable level (equal to the second pressure value) by adjusting the output duty cycle of the shift motor to the duty cycle of the previous successful shift, so as to facilitate successful gear shifting. This control strategy based on real-time monitoring of inter-tooth pressure and dynamic adjustment of motor output can significantly improve the smoothness and reliability of AMT shifting, especially when the vehicle load changes or the road conditions are not ideal, and can more effectively avoid gear shifting failure and damage to the gear assembly.

[0076] When the maximum pressure value is less than or equal to the first pressure value, this indicates that the inter-tooth pressure in the current gear shifting process (i.e., the larger of the absolute values ​​of the first inter-tooth pressure and the second inter-tooth pressure) has not exceeded the safety value (the first pressure value). In this case, the contact force between the gears is relatively small and is unlikely to cause obstacles to the gear shifting process, but additional force may be required to ensure accurate alignment and meshing of the gears. To ensure that the gears can be smoothly shifted, even if the current inter-tooth pressure level is within an acceptable range, the output torque of the motor will be increased. This is usually achieved by increasing the output duty cycle of the shifting motor. The increase in the duty cycle can make the motor output greater force, which helps to overcome any slight resistance between the gears and promote accurate alignment and meshing of the gears.

[0077] After adjusting the output duty cycle of the shift motor, continue to monitor the inter-tooth pressure. If the maximum pressure decreases further after the motor is forward speeded, this indicates that the adjustment direction is correct, the relative movement between the gears has been improved, and the shifting conditions tend to be better, that is, the maximum pressure is reduced to a safer and more suitable level (that is, the second pressure value). Then adjust the output duty cycle of the shift motor to the duty cycle when the last shift was completed. That is, use the past successful shifting experience to guide the current shifting operation to improve efficiency and success rate.

[0078] By controlling the maximum pressure to the second pressure value (a suitable level that will not cause shift failure), it can be ensured that the gear can be accurately engaged under the current shifting conditions to complete power transmission, while protecting the motor and gear from damage. In short, when the inter-tooth pressure is relatively small or within the safety threshold, at least through the positive speed control motor, combined with real-time pressure monitoring and dynamic adjustment of the output duty cycle of the shifting motor, it is ensured that the gear is engaged under the action of the minimum necessary force, avoiding invalid operation or damage to system components caused by excessive speed regulation. This adaptive control strategy improves the shifting efficiency while enhancing the stability and reliability of the system.

[0079] Through this embodiment, by obtaining and analyzing the pressure changes between the shift-out gear and the target gears on both sides in real time, the shift conditions can be intelligently judged, avoiding gear shifting failures or motor damages caused by improper pressure. When the detected maximum pressure exceeds the safe range (i.e., is greater than the first pressure value), through the forward speed control of the motor, the pressure is adjusted to the appropriate second pressure value to ensure smooth meshing of the gears; while when the pressure is within the acceptable range (i.e., is less than or equal to the first pressure value), by monitoring the change trend of the pressure after the motor speed regulation, the duty cycle is adjusted to the configuration at the last successful gear shift in a timely manner, which not only promotes the completion of gear shifting but also avoids unnecessary over-driving of the motor. This method significantly improves the stability of AMT gear shifting, reduces the wear of gears and motors, and improves the gear shifting success rate, thus solving the problem of low gear shifting success rate caused by improper control of the force between teeth in the prior art during AMT gear shifting.

[0080] In the specific implementation process, the above device further includes a recording unit, an increasing unit, and a second obtaining unit. Among them, the recording unit is used to record the top tooth positions of the above target gear and the above shift-out gear during the penultimate gear shift process, where the above top tooth position is the position where the tooth top of the above target gear contacts and aligns with the tooth top of the above shift-out gear but the above target gear and the above shift-out gear have not yet meshed; the increasing unit is used to increase the duty cycle of the shift motor during the above last gear shift process when the gear shifting position exceeds the above top tooth position and the gear shifting position does not change within a preset time period, where the above gear shifting position is the position reached by the above target gear; the second obtaining unit is used to obtain the above first pressure value and the above second pressure value after increasing the duty cycle of the above shift motor.

[0081] Specifically, during the penultimate gear shift process, the top tooth positions of the target gear and the shift-out gear are recorded. The top tooth position refers to a specific position where the tooth tops of the two gears contact and align but have not yet entered the actual meshing state. Recording the top tooth position plays an important role in subsequent gear shifting control because the top tooth position provides an initial reference point for gear alignment, enabling more accurate judgment of when to increase the motor output and when to adjust the pressure between teeth.

[0082] During the last gear shift process, when the gear shifting position (i.e., the position actually reached by the target gear) exceeds the top tooth position (indicating that the gears start to attempt to enter the meshing state) and the gear shifting position does not change within a preset time period, the duty cycle of the shift motor is increased. The setting of the preset time period is to identify whether the contact between teeth may cause gear shifting stagnation, that is, when the gears attempt to mesh but the position does not change for a long time, it may be due to excessive pressure between teeth, resulting in gear jamming. After increasing the motor duty cycle, the first pressure value and the second pressure value are obtained. This is to evaluate the change in the pressure between teeth after increasing the motor output and judge whether more favorable conditions for gear shifting are achieved.

[0083] By recording the position of the top teeth, the alignment state of the gear can be more accurately identified, and timely responses can be made to avoid gear shifting stagnation, thereby improving the gear shifting efficiency. Dynamically monitoring the pressure between teeth and adjusting the motor output as needed effectively prevents the gear from being damaged due to excessive pressure, and at the same time protects the motor from ineffective or overloaded driving. Using the recorded top tooth position as a reference, the motor parameters can be intelligently adjusted according to historical data and current working conditions to achieve more efficient gear shifting control. In summary, by recording the top tooth position and dynamically adjusting the motor output and the pressure between teeth, this embodiment can effectively improve the efficiency and safety of gear shifting, and at the same time achieve more stable gear shifting control through intelligent optimization.

[0084] In some embodiments of the present application, the above-mentioned second acquisition unit includes a first adjustment module and a first determination module. Among them, the first adjustment module is used to adjust the rotation speed of the shift motor to reduce the maximum pressure value when the duty ratio of the shift motor has reached 100% and the gear shifting position has not changed after increasing the duty ratio of the shift motor; the first determination module is used to determine the maximum value of the absolute value of the current first pressure between teeth and the absolute value of the current second pressure between teeth as the first pressure value after the maximum pressure value decreases until the gear shifting position starts to change.

[0085] Specifically, when overcoming the gear shifting resistance by increasing the duty ratio of the shift motor, if the duty ratio of the shift motor has reached the maximum value (100%) and the gear shifting position has not changed, it indicates that increasing the duty ratio alone is not sufficient to solve the problem, possibly because the pressure between teeth is too large and beyond the range that the motor can handle. In the face of excessive pressure between teeth, another strategy is adopted, that is, by adjusting the rotation speed of the shift motor to reduce the pressure between teeth, that is, to reduce the maximum pressure value, because when the motor rotation speed changes, the torque generated by the motor will also change. By appropriately reducing the rotation speed, the pressure exerted by the motor on the gear can be indirectly reduced, which is beneficial to the gear shifting of the gear.

[0086] Continuously monitor the change in the pressure between teeth until it is detected that the gear shifting position starts to change, which indicates that the pressure adjustment strategy has taken effect and the gear starts to overcome the resistance to move or shift gears. Once the gear shifting position changes, record the current first pressure between teeth and the current second pressure between teeth, and determine the maximum value of the absolute value of the current first pressure between teeth and the absolute value of the current second pressure between teeth as the first pressure value. The first pressure value reflects the actual pressure level when successfully overcoming the resistance between teeth for gear shifting and will be used as a reference for guiding the output adjustment of the motor in the future.

[0087] When the duty ratio of the motor reaches the upper limit but the gear cannot be engaged, the rotational speed is adjusted to reduce the pressure between the teeth, ensuring that the gear moves and engages within the safe pressure range. In addition, by recording the maximum value of the absolute value of the first pressure between the teeth and the absolute value of the second pressure between the teeth when the gear is successfully engaged, it is possible to better handle future gear shifting problems, reduce ineffective actions, protect the gear and the motor from damage, and at the same time improve the gear shifting efficiency and success rate. This method not only improves the smoothness of the gear shifting process, reduces vehicle vibration or impact, but also enhances the adaptability of the AMT to complex road conditions and load conditions through an intelligent control strategy.

[0088] In some other embodiments of the present application, the second acquisition unit includes a second determination module. The second determination module is configured to, after increasing the duty ratio of the shift motor until the shift position starts to change, determine the current shift position as the shift position at the end of the previous shift, determine the duty ratio output by the current shift motor as the duty ratio at the end of the previous shift, and determine the maximum value of the absolute value of the current first pressure between the teeth and the absolute value of the current second pressure between the teeth as the second pressure value.

[0089] Specifically, after increasing the duty ratio of the shift motor, if it is detected that the shift position starts to change, this indicates that the additional output of the shift motor has started to take effect, prompting the target gear and the disengaged gear to overcome the resistance and enter the engaged state. Record the current shift position as a reference point in the next shift process. This shift position reflects the physical position of the gear when it is actually engaged under specific pressure and motor output conditions. At the same time, record the duty ratio output by the current shift motor as a reference value in the next shift process. The significance of the updated duty ratio is that it can remember the motor output intensity required for successful gear engagement under specific pressure between the teeth conditions. This helps to quickly adjust the motor output to an effective range in the face of similar pressure between the teeth scenarios, avoiding ineffective or excessive actions. When the gear is successfully engaged, record the maximum value of the absolute value of the current first pressure between the teeth and the absolute value of the current second pressure between the teeth. This maximum value is the second pressure value.

[0090] By recording and updating key shift parameters in real time, namely the maximum value among the gear shifting position, the duty cycle output by the shift motor, the absolute value of the first inter-tooth pressure, and the absolute value of the second inter-tooth pressure, the motor output and the inter-tooth pressure control strategy can be adaptively adjusted according to historical data and current working conditions, improving the processing ability and efficiency for different shift scenarios. Based on the parameter update of the last successful shift, when facing similar resistance, a suitable motor output and pressure adjustment scheme can be found more quickly, significantly increasing the success rate of gear shifting and reducing the gear shifting failure caused by improper inter-tooth pressure. In addition, determining the second pressure value as the reference pressure threshold helps to avoid the situation where the motor is in an ineffective or over-driven state, thereby protecting the motor, extending its service life, and optimizing the performance and energy consumption of the motor. In short, by dynamically updating key shift parameters, the adaptability and control accuracy of the AMT are enhanced, and the success rate of gear shifting and the overall performance of the system are improved.

[0091] In the specific implementation process, the above device further includes an operation unit. The operation unit is used to perform, in the above last shift process, operations of clearing torsion, disengaging the gear, adjusting the speed, and engaging the gear in sequence until the target tooth and the disengaged tooth reach the above top tooth position before the gear shifting position exceeds the above top tooth position.

[0092] Specifically, in the last shift process, the above AMT performs operations of clearing torsion, disengaging the gear, adjusting the speed, and engaging the gear in sequence. First, the torsion clearing operation is performed. The purpose of this operation is to eliminate the torsion that may exist inside the gearbox, ensuring that the gears are in a state without prestress when shifting gears, which is conducive to the gears smoothly entering the next gear. After the torsion clearing is completed, the gear disengaging operation is performed, that is, the currently meshing gears are disengaged. This step is a key link in the shift process, providing the physical space and conditions for the subsequent gear alignment and gear engaging operations. After the gear is disengaged, the motor speed is adjusted according to the current state of the vehicle (such as vehicle speed, engine speed, etc.) to optimize the gear alignment process, ensuring that the speed and position of the gears have been adjusted to a state conducive to smooth gear engagement before entering the gear engaging stage. The accuracy of the speed adjustment operation directly affects the smoothness and success rate of gear shifting. After the gear speed is adjusted, the gear engaging operation is started, that is, the target tooth is pushed to align with the disengaged tooth and enter the meshing state. The gear engaging operation is the last step in the entire shift process and is also the key step to achieve gear shifting. During the execution of the operations of clearing torsion, disengaging the gear, adjusting the speed, and engaging the gear, the movement states of the target tooth and the disengaged tooth are continuously monitored until the two teeth reach the top tooth position. At this time, there is enough information to evaluate whether it is necessary to increase the motor duty cycle and how to adjust the inter-tooth pressure to ensure smooth gear shifting.

[0093] By performing operations of clearing torsion, disengaging gears, adjusting speed, and engaging gears in sequence before the gear engagement position exceeds the top dead center position until reaching the top dead center position, the AMT can ensure that all preparatory work before gear engagement is completed precisely, thereby improving the gear engagement success rate. That is, it enables the gears to be in the best alignment and speed adjustment state before entering the gear engagement stage, which is beneficial to increasing the gear engagement success rate and reducing the possibility of gear engagement failure. It also helps to reduce the impact between teeth. Since the movement state of the gears has been optimized through speed adjustment operations before gear engagement, it can effectively reduce the impact between teeth and extend the service life of the gears and the transmission. By completing all necessary gear shifting preparatory operations before the top dead center position, potential safety hazards caused by improper gear engagement conditions can be avoided, such as motor damage or gear jamming due to excessive pressure between teeth. In short, by performing this series of operations of clearing torsion, disengaging gears, adjusting speed, and engaging gears and doing so before the target gear and the disengaged gear reach the top dead center position, the efficiency, smoothness, and safety of the gear engagement process are ensured, further optimizing the overall performance of the AMT.

[0094] Furthermore, the above-mentioned second adjustment unit includes a judgment module, a second adjustment module, and a third adjustment module. Among them, the judgment module is used to, when the maximum pressure is less than or equal to the first pressure value, first adjust the motor speed forward to judge whether the maximum pressure decreases after the motor speed is adjusted forward; the second adjustment module is used to, when the maximum pressure decreases after the motor speed is adjusted forward, adjust the duty ratio output by the shift motor to the duty ratio at the time of the last successful gear shift to complete gear engagement; the third adjustment module is used to, when the maximum pressure does not decrease after the motor speed is adjusted forward, adjust the duty ratio output by the shift motor to the duty ratio at the time of the last successful gear shift by adjusting the motor speed backward to complete gear engagement.

[0095] Specifically, if the maximum pressure is less than or equal to the first pressure value, first adjust the motor speed forward to further reduce the maximum pressure. Adjusting the motor speed forward means adjusting the output of the motor so that the torque direction is the same as the gear engagement direction, in order to reduce the friction between teeth and make the maximum pressure decrease. After adjusting the motor speed forward, check whether the maximum pressure decreases as expected. If the maximum pressure does decrease after adjusting the motor speed forward, it indicates that the direction and intensity of the motor speed adjustment are correct, and the duty ratio output of the shift motor will be adjusted to the duty ratio level at the time of the last successful gear shift to complete the gear engagement process. This is because the duty ratio at the time of the last successful gear shift has proven to be able to overcome the pressure between teeth and ensure successful gear engagement. However, if the maximum pressure does not decrease after adjusting the motor speed forward, it means that the current torque direction may not be conducive to reducing the pressure between teeth, and a strategy of adjusting the motor speed backward will be adopted instead. Adjusting the motor speed backward means adjusting the output direction of the motor to be opposite to the gear engagement direction to try to reduce the pressure between teeth, and finally adjusting the motor output to the duty ratio at the time of the last successful gear shift to complete gear engagement.

[0096] By dynamically adjusting the motor output, the inter-tooth pressure can be controlled more accurately, avoiding gear shifting failures caused by excessive pressure and improving the overall gear shifting success rate. The purpose of reducing the inter-tooth pressure is achieved with the smallest motor output adjustment, avoiding unnecessary energy waste and protecting the motor from excessive wear. The flexible strategies of forward and reverse speed regulation of the motor enhance its adaptability to different inter-tooth pressure conditions and can intelligently select the optimal speed regulation direction according to real-time pressure changes. All in all, by introducing the strategies of motor speed regulation and pressure evaluation, it is ensured that during the gear shifting process, the motor output can be adjusted intelligently and efficiently to reduce the inter-tooth pressure and complete the gear shifting action, thus realizing more accurate and reliable AMT gear shifting control.

[0097] In some embodiments, the above device further includes an updating unit, which is used to update the gear shifting position, the duty ratio of the above shift motor output, and the above maximum pressure to the storage unit after each gear shifting is completed.

[0098] Specifically, the storage unit records the gear shifting position as a reference point for future gear shifting processes, which helps to more accurately predict and adjust the movement trajectory of the gears in similar working conditions and improve the accuracy of gear shifting. After the gear shifting is completed, the duty ratio of the motor output at the successful gear shifting is updated to the storage unit. The recording of this parameter is crucial for adjusting the force of the motor output in subsequent gear shifts, as it can help quickly find an effective control point and reduce the ineffective trial-and-error process. Updating the maximum pressure to the storage unit means remembering the inter-tooth pressure condition at the successful gear shifting, which provides important reference data for future inter-tooth pressure control. Among them, the storage unit can be an Electrically Erasable Programmable Read-Only Memory (EEPROM).

[0099] By continuously updating the gear shifting position, the duty ratio of the motor output, and the maximum pressure to the storage unit, the actual data under gear shifting conditions can be continuously accumulated, forming a self-learning mechanism. This enables the adaptive adjustment of parameters based on the analysis of historical data to cope with different driving environments and load conditions, improving the flexibility and efficiency of gear shifting. In the face of similar gear shifting scenarios, the updated parameters provide a more accurate decision-making basis. Decisions can be made faster based on the data in the storage unit, avoiding ineffective motor actions, reducing inter-tooth impacts, and making it easier to locate the cause of faults in case of abnormal inter-tooth pressure for preventive maintenance. The updated data in the storage unit helps the system to more accurately control the motor output and the inter-tooth pressure in future gear shifting processes, thus increasing the success rate of gear shifting and reducing gear shifting failures caused by improper parameter selection.

[0100] The above AMT gear shifting control device includes a processor and a memory. The above first acquisition unit, first adjustment unit, second adjustment unit, etc. are all stored in the memory as program units, and the processor executes the above program units stored in the memory to implement corresponding functions. The above modules are all located in the same processor; alternatively, the above modules are respectively located in different processors in any combination form.

[0101] The memory may include non-permanent memory in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one storage chip.

[0102] An embodiment of the present invention provides a computer-readable storage medium. The above computer-readable storage medium includes a stored program. Among them, when the above program runs, it controls the device where the above computer-readable storage medium is located to execute the above AMT gear shifting control method.

[0103] An embodiment of the present invention provides an AMT gear shifting control system, including two pressure sensors and a controller. Among them, the two pressure sensors are respectively a first pressure sensor and a second pressure sensor. The above first pressure sensor is installed between the gear disengaging tooth and a target tooth located on the first side of the above gear disengaging tooth, and the above second pressure sensor is installed between the above gear disengaging tooth and a target tooth located on the second side of the above gear disengaging tooth; the above controller is used to execute any one of the above AMT gear shifting control methods, and the above controller is electrically connected to the above first pressure sensor and the above second pressure sensor.

[0104] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general-purpose computing device. They can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices. They can be implemented by program codes executable by the computing device. Thus, they can be stored in a storage device and executed by the computing device. And in some cases, the steps shown or described can be executed in a different order from here, or they can be respectively made into individual integrated circuit modules, or multiple modules or steps among them can be made into a single integrated circuit module to implement. In this way, the present invention is not limited to any specific combination of hardware and software.

[0105] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0106] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0107] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implements the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0108] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0109] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0110] The memory may include non-permanent memory in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0111] A computer-readable medium includes both permanent and non-permanent, removable and non-removable media and can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes or other magnetic storage devices, or any other non-transitory medium that can be used to store information accessible by a computing device. As defined herein, a computer-readable medium does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0112] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or apparatus 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 apparatus. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising the element.

[0113] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. An AMT gear shifting control method, characterized in that, Including: During the current gear shift of the AMT, obtain the first inter-tooth pressure and the second inter-tooth pressure, where the first inter-tooth pressure is the inter-tooth pressure between the gear disengaging tooth and the target tooth located on the first side of the gear disengaging tooth, and the second inter-tooth pressure is the inter-tooth pressure between the gear disengaging tooth and the target tooth located on the second side of the gear disengaging tooth; When the maximum pressure value is greater than the first pressure value, adjust the duty ratio output by the shift motor to the duty ratio at the end of the previous gear shift by forward speed regulation of the motor, so that the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure is equal to the second pressure value to complete gear engagement, where the first pressure value is greater than the second pressure value, and the maximum pressure value is the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure; When the maximum pressure value is less than or equal to the first pressure value, adjust the duty ratio output by the shift motor to the duty ratio at the end of the previous gear shift by forward speed regulation of the motor, or adjust the duty ratio output by the shift motor to the duty ratio at the end of the previous gear shift by forward speed regulation and reverse speed regulation of the motor to complete gear engagement.

2. The AMT gear shifting control method according to claim 1, wherein The method further includes: During the gear shift of the gear shift before the previous one, record the top tooth positions of the target tooth and the gear disengaging tooth, where the top tooth position is the position where the tooth top of the target tooth contacts and aligns with the tooth top of the gear disengaging tooth but the target tooth and the gear disengaging tooth are not yet engaged; During the previous gear shift, when the gear engagement position exceeds the top tooth position and the gear engagement position does not change within a preset time period, increase the duty ratio of the shift motor, where the gear engagement position is the position reached by the target tooth; After increasing the duty ratio of the shift motor, obtain the first pressure value and the second pressure value.

3. The AMT gear shifting control method according to claim 2, wherein After increasing the duty ratio of the shift motor, obtaining the first pressure value includes: If the duty ratio of the shift motor has reached 100% and the gear engagement position still does not change, adjust the speed of the shift motor to reduce the maximum pressure value; After the maximum pressure value decreases, until the gear engagement position starts to change, determine the maximum value of the absolute value of the current first inter-tooth pressure and the absolute value of the current second inter-tooth pressure as the first pressure value.

4. The AMT gear shifting control method according to claim 2, wherein After increasing the duty ratio of the shift motor, obtaining the second pressure value includes: After increasing the duty ratio of the shift motor, until the gear engagement position starts to change, determine the current gear engagement position as the gear engagement position at the end of the previous gear shift, determine the current duty ratio output by the shift motor as the duty ratio at the end of the previous gear shift, and determine the maximum value of the absolute value of the current first inter-tooth pressure and the absolute value of the current second inter-tooth pressure as the second pressure value.

5. The AMT gear shifting control method according to claim 2, wherein Before the gear engagement position exceeds the top tooth position, the method further includes: During the previous gear shift, the AMT sequentially performs operations of torque clearing, gear disengagement, speed regulation, and gear engagement until the target tooth and the gear disengaging tooth reach the top tooth position.

6. The AMT gear shifting control method according to claim 1, characterized in that, Adjust the duty ratio output by the shifting motor to the duty ratio at the end of the last shift by forward speed regulation of the motor, or adjust the duty ratio output by the shifting motor to the duty ratio at the end of the last shift by forward speed regulation and reverse speed regulation of the motor to complete gear shifting, including: When the maximum pressure is less than or equal to the first pressure value, first perform forward speed regulation of the motor to determine whether the maximum pressure decreases after the forward speed regulation of the motor; When the maximum pressure decreases after the forward speed regulation of the motor, adjust the duty ratio output by the shifting motor to the duty ratio at the end of the last shift to complete gear shifting; When the maximum pressure does not decrease after the forward speed regulation of the motor, adjust the duty ratio output by the shifting motor to the duty ratio at the end of the last shift by reverse speed regulation of the motor to complete gear shifting.

7. The AMT gear shifting control method according to claim 1, characterized in that, The method further includes: After each gear shifting is completed, update the gear shifting position, the duty ratio output by the shifting motor, and the maximum pressure to the storage unit.

8. An AMT gear shifting control device, characterized in that, Including: A first acquisition unit configured to acquire a first inter-tooth pressure and a second inter-tooth pressure during the current gear shifting of the AMT, where the first inter-tooth pressure is the inter-tooth pressure between the gear disengaging tooth and a target tooth on a first side of the gear disengaging tooth, and the second inter-tooth pressure is the inter-tooth pressure between the gear disengaging tooth and a target tooth on a second side of the gear disengaging tooth; A first adjustment unit configured to, when the maximum pressure is greater than the first pressure value, adjust the duty ratio output by the shifting motor to the duty ratio at the end of the last shift by forward speed regulation of the motor so that the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure is equal to the second pressure value to complete gear shifting, where the first pressure value is greater than the second pressure value, and the maximum pressure is the maximum value of the absolute value of the first inter-tooth pressure and the absolute value of the second inter-tooth pressure; A second adjustment unit configured to, when the maximum pressure is less than or equal to the first pressure value, adjust the duty ratio output by the shifting motor to the duty ratio at the end of the last shift by forward speed regulation of the motor, or adjust the duty ratio output by the shifting motor to the duty ratio at the end of the last shift by forward speed regulation and reverse speed regulation of the motor to complete gear shifting.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, where when the program runs, it controls the device where the computer-readable storage medium is located to execute the AMT gear shifting control method according to any one of claims 1 to 7.

10. An AMT gear shifting control system, characterized in that, Including: Two pressure sensors, namely a first pressure sensor and a second pressure sensor, where the first pressure sensor is installed between the gear disengaging tooth and a target tooth on a first side of the gear disengaging tooth, and the second pressure sensor is installed between the gear disengaging tooth and a target tooth on a second side of the gear disengaging tooth; A controller configured to execute the AMT gear shifting control method according to any one of claims 1 to 7, and the controller is electrically connected to the first pressure sensor and the second pressure sensor.

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