Gearbox gear shifting method and system based on shifting block back-off, medium and product

Abstract

The invention provides a gearbox gear shifting method and system based on shifting block back-off, a medium and a program product, and relates to the gearbox transmission technology, and the method comprises the steps that after each time of gear shifting is completed, the actual position of a gear shifting fork is obtained; on the basis of comparison between the actual position of the gear shifting fork and a preset standard position, whether the shifting block is abraded or not is recognized; and when the shifting block is abraded, a shifting block rollback learning process is triggered, a shifting block rollback value which is matched with the current gear and does not cause the abrasion is obtained, and the gear shifting fork is controlled to rollback according to the shifting block rollback value. According to the method, the reasonable shifting block rollback value is obtained through the shifting block rollback learning process, rollback is carried out, the gear shifting fork can be effectively prevented from being abraded, and the service life of the gearbox is prolonged.

Description

Technical Field

[0001] The present disclosure belongs to the technical field of transmission, and particularly relates to a gear shifting method, system, medium and product for a transmission based on the retraction of a shifting block. Background Art

[0002] With the development of automotive technology, transmissions have been widely used in various vehicles. Automated mechanical transmissions (AMT transmissions) have been rapidly popularized due to their advantages such as simple structure, high transmission efficiency, and good reliability. An electronically controlled electric system with an AMT transmission and using a shifting motor to drive the actuator eliminates the complex energy supply devices and pipeline systems required by pneumatic and hydraulic control mechanisms, and has the characteristics of simple structure, low cost, strong environmental adaptability, and low energy consumption. More importantly, through flexible motor PWM control, the magnitude of the shifting force during gear shifting can be precisely adjusted, reducing the shifting impact of the transmission and extending the service life of the transmission.

[0003] In the gear shifting method of related AMT transmissions, such as Chinese Patent CN117212444A, etc., the shifting fork and the shifting sleeve will continuously contact after gear engagement, resulting in increased wear. Especially during long-term use, this wear will further affect the accuracy and reliability of gear shifting, and may even lead to gear shifting failure. In addition, due to the existence of internal clearances in the transmission, it is difficult to accurately calculate the position of the shifting block, further exacerbating the wear problem. Summary of the Invention

[0004] The present disclosure provides a gear shifting method, system, medium and program product for a transmission based on the retraction of a shifting block, aiming to at least to some extent solve the technical problem that the related art cannot effectively avoid the wear between the shifting fork and the shifting sleeve after gear shifting.

[0005] At least one embodiment of the present disclosure provides a gear shifting method for a transmission based on the retraction of a shifting block, wherein the transmission is configured with a shifting fork and a shifting sleeve, and a shifting block is provided at a portion of the shifting fork that contacts the shifting sleeve. The method includes:

[0006] After each gear shift is completed, obtain the actual position of the shifting fork;

[0007] Based on the comparison between the actual position of the shifting fork and a preset standard position, identify whether the shifting block is worn; and,

[0008] When the shifting block is worn, trigger a shifting block retraction learning process to obtain a shifting block retraction value that matches the current gear and does not cause such wear, and control the shifting fork to retract according to the shifting block retraction value.

[0009] For example, the method provided by at least one embodiment of the present disclosure further includes:

[0010] Record the return value of the shifting block. When shifting to the current gear next time, control the shifting fork to return according to the recorded return value of the shifting block.

[0011] For example, the method provided by at least one embodiment of the present disclosure further includes:

[0012] Execute a gear self-learning process to obtain the standard position of each gear among multiple gears.

[0013] For example, in the method provided by at least one embodiment of the present disclosure, the transmission includes a first sub-transmission and a second sub-transmission; the method further includes:

[0014] When the vehicle is running, control the first sub-transmission and the second sub-transmission to be in the in-gear state simultaneously;

[0015] In response to receiving a shifting request, control the first sub-transmission to shift gears first. Meanwhile, control the second sub-transmission to remain in gear, and supplement the torque cleared when the first sub-transmission clears torque to the second sub-transmission during the shifting process of the first sub-transmission;

[0016] After the first sub-transmission completes shifting, control the second sub-transmission to shift gears first. Meanwhile, control the first sub-transmission to remain in gear, and supplement the torque cleared when the second sub-transmission clears torque to the first sub-transmission during the shifting process of the second sub-transmission;

[0017] When the gear time of the current gear is greater than the set time, and the unilateral torque of the first sub-transmission or the second sub-transmission is greater than the total required torque and the current moment is in a non-shifting process, trigger the gear self-learning process.

[0018] For example, in the method provided by at least one embodiment of the present disclosure, the shifting block return learning process includes:

[0019] Obtain the difference between the actual position and the standard position of the shifting fork, and determine the wear degree of the shifting block based on the difference;

[0020] Generate the return value of the shifting block based on the wear degree of the shifting block.

[0021] For example, in the method provided by at least one embodiment of the present disclosure, controlling the shifting fork to return according to the return value of the shifting block includes:

[0022] Obtain the torque change rate of the transmission;

[0023] Identify whether the torque recovery of the transmission is completed based on the torque change rate;

[0024] After the torque recovery is completed, control the shift fork to retract according to the retraction value of the shift block.

[0025] For example, in the method provided by at least one embodiment of the present disclosure, the actual position of the shift fork is obtained through the gear self-learning process triggered after shifting to the current gear this time, and the standard position is obtained through the gear self-learning process triggered after shifting to the current gear last time. And the shift block retraction learning process includes:

[0026] Obtain the retraction value of the shift block used when shifting to the current gear last time as the initial retraction value of the current gear, and control the shift fork to retract according to the initial retraction value;

[0027] Obtain the actual position of the current gear, the actual position of the previous gear of the current gear, and obtain the standard position of the current gear and the standard position of the previous gear;

[0028] Generate a first judgment index for the contact force between the shift fork and the shift sleeve based on the difference between the actual position of the current gear and the standard position of the current gear, and generate a second judgment index for the contact force between the shift fork and the shift sleeve based on the difference between the actual position of the previous gear and the standard position of the previous gear;

[0029] In response to both the first judgment index and the second judgment index being less than the first set value, determine that the contact force meets the shifting requirements, and use the initial retraction value as the retraction value of the shift block for this shift;

[0030] In response to the first judgment index being less than the first set value and the second judgment index being greater than the second set value, determine that the contact force is too large, increase the initial retraction value, and re-perform the retraction and the determination of the first judgment index and the second judgment index;

[0031] In response to the first judgment index being greater than the second set value and the second judgment index being less than the first set value, determine that the shift block has a gear disengaging phenomenon, reduce the initial retraction value, and re-perform the retraction and the determination of the first judgment index and the second judgment index, where the first set value is less than the second set value.

[0032] For example, in the method provided by at least one embodiment of the present disclosure, the wear degree of the shift block includes no wear, mild wear, and severe wear; and

[0033] Determining the wear degree of the shift block based on the difference includes:

[0034] In response to the difference being less than a third set value, it is determined that the shifting block is not worn, and first information for characterizing that the shifting fork is not worn is generated;

[0035] In response to the difference being greater than the third set value and less than a fourth set value, it is determined that the shifting block is slightly worn, and second information for characterizing that the shifting fork is slightly worn is generated; and,

[0036] In response to the difference being greater than the fourth set value, it is determined that the shifting block is severely worn, and third information for characterizing that the shifting fork is severely worn is generated, and the third set value is less than the fourth set value;

[0037] Generating the shifting block retraction value based on the wear degree of the shifting block includes:

[0038] For different wear degrees, the shifting block retraction value is generated through different strategies, so that the shifting block does not contact the shifting sleeve;

[0039] Identifying whether the torque recovery of the transmission is completed based on the torque change rate includes:

[0040] In response to the torque change rate being less than a set torque, it is determined that the torque recovery is completed; and,

[0041] In response to the torque change rate being greater than or equal to the set torque, it is determined that the torque recovery has not been completed.

[0042] At least one embodiment of the present disclosure further provides a transmission shifting system based on shifting block retraction. Among them, the transmission is configured with a shifting fork and a shifting sleeve, and a shifting block is provided at a portion of the shifting fork that contacts the shifting sleeve. The system includes:

[0043] A data acquisition unit configured to acquire the actual position of the shifting fork after each shift is completed;

[0044] A preprocessing unit configured to identify whether the shifting block is worn based on a comparison between the actual position of the shifting fork and a preset standard position; and,

[0045] A control unit configured to trigger a shifting block retraction learning process when the shifting block is worn, obtain a shifting block retraction value that matches the current gear and does not cause such wear, and control the shifting fork to retract according to the shifting block retraction value.

[0046] At least one embodiment of the present disclosure further provides a storage medium storing a program or instruction, and the program or instruction, when executed by a processor, implements the steps of the method provided in any embodiment of the present disclosure.

[0047] At least one embodiment of the present disclosure further provides a program product, including a program or instructions, where the program or instructions, when executed by a processor, implement the steps of the method provided in any embodiment of the present disclosure.

[0048] The gearbox shifting method, system, medium and program product provided by the embodiments of the present disclosure, through the shift block retraction learning process, obtain reasonable shift block retraction values, can effectively avoid wear of the shift fork, and enhance the service life of the gearbox. After each execution of the shift block retraction learning process, the shift block retraction value of the current gear in the current working condition is obtained. Through the analysis of these data, the system can continuously learn and adjust the shift block retraction strategy, and can adapt to the shifting requirements under different working conditions. This continuous optimization mechanism ensures the accuracy and reliability of the shift block retraction value, and can effectively improve the shifting performance of the gearbox and the service life of the components. Through the above measures, the method, system, medium and program product can realize intelligent shift block retraction control, improve the shifting efficiency and stability of the gearbox, and effectively solve the technical problem that the related technology cannot effectively avoid wear between the shift fork and the shift sleeve after shifting.

[0049] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0051] Figure 1 It is a flowchart of a gearbox shifting method provided by at least one embodiment of the present disclosure;

[0052] Figure 2 It is a flowchart of another gearbox shifting method provided by at least one embodiment of the present disclosure;

[0053] Figure 3 It is a flowchart of yet another gearbox shifting method provided by at least one embodiment of the present disclosure;

[0054] Figure 4 It is a schematic diagram of a gearbox with uninterrupted power provided by at least one embodiment of the present disclosure;

[0055] Figure 5 It is a schematic diagram of the gearbox shifting process with uninterrupted power provided by at least one embodiment of the present disclosure;

[0056] Figure 6Motor torque control diagram for the gearbox shifting process with uninterrupted power provided by at least one embodiment of the present disclosure;

[0057] Figure 7 Schematic diagram of the gearbox shifting operation with uninterrupted power provided by at least one embodiment of the present disclosure;

[0058] Figure 8 Flowchart of an example of the gearbox shifting method provided by at least one embodiment of the present disclosure;

[0059] Figure 9 Structural block diagram of a gearbox shifting system provided by at least one embodiment of the present disclosure;

[0060] Figure 10 Composition schematic diagram of a program product provided by at least one embodiment of the present disclosure. Detailed implementation manners

[0061] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be specifically noted that the following embodiments are only used to illustrate the present disclosure, but do not limit the scope of the present disclosure. Similarly, the following embodiments are only some embodiments of the present disclosure rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present disclosure.

[0062] The terms "first", "second", and "third" in the embodiments of the present disclosure are only for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", and "third" may explicitly or implicitly include at least one of such features.

[0063] In the description of the present disclosure, "a plurality" means at least two, such as two or three, etc., unless otherwise specifically and clearly defined.

[0064] In the present disclosure, the terms "an embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0065] The terms "including" and "having" and any variations thereof in the embodiments of the present disclosure are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or components inherent to these processes, methods, products or devices.

[0066] As used herein, "program product" includes, but is not limited to, an electronic device or an electronic apparatus.

[0067] As used herein, "electronic device" includes, but is not limited to, a device configured to receive / transmit communication signals via a wired connection (such as via a public switched telephone network (PSTN), digital subscriber line (DSL), digital cable or direct cable connection, and / or another data connection / network) and / or via a wireless interface (such as for a cellular network, wireless local area network (WLAN), digital television network such as DVB-H network, satellite network or AM-FM broadcast transmitter, and / or another communication terminal). A communication terminal configured to communicate via a wireless interface may be referred to as a "wireless communication terminal", "wireless terminal" or "mobile terminal". Examples of mobile terminals include, but are not limited to, satellite or cellular telephones; personal communication system (PCS) terminals that may combine cellular radiotelephone with data processing, facsimile and data communication capabilities; PDAs that may include radiotelephone, pager, Internet / intranet access, web browser, notepad, calendar and / or global positioning system (GPS) receiver; and conventional laptop and / or palmtop receivers or other electronic devices including radiotelephone transceivers. A mobile phone is an electronic device configured with a cellular communication module.

[0068] The term "transmission" in the embodiments of the present disclosure is a mechanical device for changing the torque and speed ratio transmitted from the engine to the wheels. It generally includes multiple gears and shafts, and different gear combinations can achieve different transmission ratios to adapt to different driving speeds and load conditions. In a vehicle, the transmission is a key component for achieving vehicle acceleration, deceleration, reverse and maintaining a constant speed.

[0069] The term "AMT transmission" in the embodiments of the present disclosure is an automated mechanical transmission that automatically realizes gear shifting operations through an electronic control system without the driver manually operating the clutch or gear lever. The AMT transmission combines the high efficiency of a traditional manual transmission and the convenience of an automatic transmission, and can automatically select the best gear according to the driving state of the vehicle and the driver's needs to improve driving comfort and fuel economy.

[0070] The term "shift block retraction value" in the embodiments of the present disclosure refers to the value corresponding to the position where the shift block in the AMT transmission retracts after the shift is completed. This value is crucial for ensuring the accuracy and smoothness of the shifting process.

[0071] The term "actuator" in the embodiments of the present disclosure is classified into an electric actuator, a pneumatic actuator, a hydraulic actuator, and a hybrid actuator according to the driving method. The electric actuator uses a small motor as the actuator device. The pneumatic drive relies on a cylinder as the actuator device. The hydraulic drive uses an oil cylinder as the actuator device. The hybrid drive refers to the combined use of the above-mentioned multiple power drive devices in the same AMT transmission system.

[0072] The term "shift time" in the embodiments of the present disclosure can, in a narrow sense, take the absolute power interruption time as the shift time. The absolute power shift time is from the start of gear disengagement to the engagement of the gear. During this period, the driving power source does not transmit any torque to the wheels.

[0073] The term "transmission control unit" in the embodiments of the present disclosure, with the full English name Transmission Control Unit, abbreviated as TCU, includes a clutch and a transmission controller. It is responsible for receiving signals from the engine control unit (ECU) and other vehicle sensors, and controlling the shifting operation of the transmission according to these signals and the driver's driving intention. In the engine mode, the TCU needs to ensure a smooth and efficient shifting process to ensure that the vehicle can still maintain good power performance and driving comfort when driven only by the engine.

[0074] Figure 1 It is a flowchart of a transmission shifting method provided for at least one embodiment of the present disclosure. The transmission is configured with a shift fork and a shift sleeve, and a shift block is provided at the part of the shift fork in contact with the shift sleeve. As Figure 1 shown, the method may include the following steps S10 - step S30 to complete the transmission shifting function based on the retraction of the shift block.

[0075] Step S10: After each shift is completed, obtain the actual position of the shift fork.

[0076] Step S20: Based on the comparison between the actual position of the shift fork and the preset standard position, identify whether the shift block is worn.

[0077] Step S30: When the shift block is worn, trigger the shift block retraction learning process, obtain the shift block retraction value that matches the current gear and does not cause the above-mentioned wear, and control the shift fork to retract according to the shift block retraction value.

[0078] It should be noted that steps S10 - S30 illustrate the implementation process of a possible gearbox shifting method. In practical applications, this method can be further optimized and extended. For example, after step S10, a verification link can be added to verify the accuracy of the actual position of the shift fork obtained, to ensure the reliability of subsequent steps. In addition, after step S40, a feedback mechanism can also be set up to collect the vehicle running state information after shifting, so as to evaluate and adjust the shifting effect. These expansion and optimization measures can further improve the accuracy and efficiency of gearbox shifting, thereby enhancing the driving performance and riding comfort of the vehicle.

[0079] Some embodiments of the present disclosure also provide a system, a medium (storage medium), and a program product corresponding to the above method.

[0080] The method provided by at least one embodiment of the present disclosure is applicable to the gearbox shifting scenario of any existing vehicle, and the embodiments of the present disclosure do not limit this. For example, this method can be applied to the automatic transmission, dual-clutch transmission, or manual transmission of fuel vehicles, and can also be applied to the single-speed transmission or multi-speed transmission of electric vehicles. Whether it is a passenger vehicle, a commercial vehicle, or a special vehicle, as long as it is equipped with a gearbox and needs to perform a shifting operation, the method provided by the present disclosure can be used for optimization and improvement. In addition, this method is not only applicable to traditional shifting mechanisms, but also applicable to new shifting mechanisms such as electronic shifting systems, and has wide applicability and flexibility.

[0081] Compared with the related technology, by applying the method provided by at least one embodiment of the present disclosure, a reasonable shift block retraction value can be obtained through the shift block retraction learning process, which can effectively avoid wear of the shift fork and enhance the service life of the gearbox. After each execution of the shift block retraction learning process, the shift block retraction value of the current gear under the current working condition is obtained. Through the analysis of these data, the system can continuously learn and adjust the shift block retraction strategy to adapt to the shifting requirements under different working conditions. This continuous optimization mechanism ensures the accuracy and reliability of the shift block retraction value, and can effectively improve the shifting performance of the gearbox and the service life of components. Through the above measures, the method, system, medium, and program product can achieve intelligent shift block retraction control, improve the shifting efficiency and stability of the gearbox, and effectively solve the technical problem that the related technology cannot effectively avoid wear between the shift fork and the shift sleeve after shifting.

[0082] Among them, for step S10, during the shifting process, the shift fork is driven to move towards the target gear, and the gear state of the shift fork is monitored in real time. When the shift fork successfully engages the target gear (current gear), the actual position of the shift fork is obtained. Optionally, the actual position of the shift fork can be directly or indirectly obtained through a position sensor or other sensors arranged inside the gearbox, and the embodiments of the present disclosure do not limit this.

[0083] For step S20, the preset standard position can be the standard position of the current gear set when the vehicle leaves the factory or the standard position obtained from the previous gear self - learning process. According to the difference between the actual displacement value and the standard displacement value, the wear degree of the shift fork is determined. Exemplarily, if the difference exceeds the preset threshold, it is determined that the shift fork is worn.

[0084] For step S30, based on the actual position of the shift fork, a block retraction strategy is obtained, and a reasonable block retraction value is calculated. This retraction value is intended to ensure that the shift fork can slightly disengage from the fully engaged state, thereby avoiding the accumulation of mechanical stress caused by staying in the extreme position for a long time. Controlling the shift actuator to achieve the retraction of the block in a smooth manner can be set in the block retraction learning process, or after obtaining the block retraction value that matches the current gear and does not cause the above - mentioned wear. This block retraction value ensures that the retraction action neither causes additional shift shocks nor effectively improves the service life of the internal components of the transmission. The implementation of this step further reflects the consideration of the present disclosure in terms of detail optimization and improving the overall reliability of the shift system.

[0085] Figure 2 It is a flowchart of another transmission shift method provided for at least one embodiment of the present disclosure. As Figure 2 shown, on the basis of Figure 1 , to ensure the stable operation of the vehicle, the method further includes the following step S40 to complete the quick retraction function for subsequent shifts (including the next shift).

[0086] Step S40: Record the block retraction value. When shifting to the current gear next time, control the shift fork to retract according to the recorded block retraction value.

[0087] Among them, through step S40, the accuracy and stability of shifting can be further improved. Specifically, during the shifting process, the recording of the block retraction value enables the shift fork to accurately retract to the preset position, avoiding problems such as shift failure or transmission damage caused by insufficient retraction or excessive retraction. In addition, by directly using the recorded block retraction value during the next shift, the calculation and adjustment time during the shift are reduced, improving the shift efficiency. This design not only optimizes the shift process but also enhances the driving experience, ensuring the stability and reliability of the vehicle under various working conditions.

[0088] Figure 3 It is a flowchart of yet another transmission shift method provided for at least one embodiment of the present disclosure. As Figure 3 shown, on the basis of Figure 1Based on this, in order to obtain a dynamic standard position suitable for different working conditions, the method further includes the following step S01 to complete the anti-noise function in the engine mode.

[0089] Step S01: Execute the gear self-learning process to obtain the standard position of each gear among multiple gears.

[0090] Among them, through step S01, it can be ensured that the transmission accurately identifies and switches to each gear in the engine mode, thus avoiding the noise problem caused by incorrect gear recognition. When executing the gear self-learning process, the system will record and store the standard position information corresponding to each gear. When the vehicle is restarted and enters the engine mode again, the transmission can quickly and accurately adjust to the corresponding gear according to these standard position information, greatly reducing the mechanical friction and noise caused by improper gear adjustment. This design not only improves the driving comfort but also effectively extends the service life of the transmission, providing a quieter and more stable driving environment for the driver. There are many triggering schemes for the gear self-learning process. In addition to step S05 described later, another optimized scheme is to automatically trigger the gear self-learning process when the vehicle is restarted after turning off the engine. This scheme monitors the vehicle state through the vehicle's Engine Control Unit (ECU). Once a signal indicating the engine restart is detected, the gear self-learning process is automatically started. This process does not require manual operation by the driver, greatly simplifying the usage steps and improving the user experience. In addition, to ensure the accuracy of self-learning, this scheme also uses high-precision sensors to monitor the gear state of the transmission in real time and compares the real-time monitoring data with the preset standard position information to achieve precise calibration of the gear position.

[0091] In some embodiments, the transmission includes a first sub-transmission and a second sub-transmission. In order to achieve seamless gear shifting, the method further includes the following steps S02 - S05 to complete the seamless gear shifting of the vehicle and the automatic triggering of the gear self-learning process.

[0092] Step S02: When the vehicle is running, control the first sub-transmission and the second sub-transmission to be in the in-gear state simultaneously.

[0093] Step S03: In response to receiving a gear shifting request, control the first sub-transmission to shift gears first, and at the same time, control the second sub-transmission to remain in gear. During the gear shifting process of the first sub-transmission, supplement the torque cleared when the first sub-transmission is torque-cleared to the second sub-transmission.

[0094] Step S04: After the first sub-transmission completes gear shifting, control the second sub-transmission to shift gears first, and at the same time, control the first sub-transmission to remain in gear. During the gear shifting process of the second sub-transmission, supplement the torque cleared when the second sub-transmission is torque-cleared to the first sub-transmission.

[0095] Step S05: (After the gear shift in the second sub - transmission is completed), when it is identified that the gear time of the current gear is greater than the set time, the unilateral torque of the first sub - transmission or the second sub - transmission is greater than the total required torque, and the current moment is not in the gear - shifting process, trigger the gear self - learning process.

[0096] Among them, the shift - without - power - interruption during the vehicle operation process is realized through steps S02 - S04, effectively improving the shift smoothness and power performance. At the same time, through the identification of the gear time in step S05 and the judgment of the unilateral torque and the total required torque, the accurate triggering of the gear self - learning process is ensured, further enhancing the accuracy and reliability of the gear shift. During the gear - shifting process, as a key component, the rationality of the retraction value of the shift block directly affects the smoothness of the gear shift and the durability of the components. By accurately calculating and setting the retraction value of the shift block, the impact and wear during the gear - shifting process can be effectively reduced, thereby improving the reliability and service life of the entire transmission system. The implementation of steps S02 - S05 not only further improves the accuracy and reliability of the gear shift but also provides a strong guarantee for the long - term stable operation of the vehicle.

[0097] In some embodiments, the shift - block retraction learning process in step S30 is configured to include the following sub - steps S301 - S302 to implement the function of automatically generating the shift - block retraction value.

[0098] Sub - step S301: Obtain the difference between the actual position and the standard position of the shift fork, and determine the wear degree of the shift block based on the difference.

[0099] Sub - step S302: Generate the shift - block retraction value based on the wear degree of the shift block.

[0100] Among them, the intelligent identification and compensation of the wear degree of the shift block are realized through sub - steps S301 - S302, effectively extending the service life of the shift mechanism. After sub - step S302, the system can automatically adjust the position of the shift fork to compensate for the wear of the shift block, ensuring the accuracy and stability of the gear shift. The intelligent identification and compensation mechanism has the ability of self - learning and optimization. During multiple gear - shifting processes, the system will continuously accumulate data on the wear of the shift block and gradually optimize the generation algorithm of the shift - block retraction value through data analysis. This not only improves the accuracy of the shift - block retraction value but also enables more precise control of the wear degree of the shift mechanism. Therefore, while ensuring the accuracy and stability of the gear shift, this method also further enhances the driving experience and riding comfort of the vehicle.

[0101] In some embodiments, for the intelligent control of the shift - block retraction, the control of the shift fork to retract according to the shift - block retraction value in step S30 includes the following sub - steps S303 - S305 to implement the intelligent control function of the shift - block retraction.

[0102] Sub-step S303: Obtain the torque change rate of the transmission.

[0103] Sub-step S304: Based on the torque change rate, identify whether the torque recovery of the transmission is completed.

[0104] Sub-step S305: After the torque recovery is completed, control the shift fork to retract according to the retraction value of the shift block.

[0105] Among them, through sub-steps S303 - S305, the intelligent control of the shift fork retraction is realized. In sub-step S303, the system monitors the torque change rate of the transmission in real time, and this data is crucial for judging the working state of the transmission. In sub-step S304, the torque change rate is analyzed through a preset algorithm to accurately identify whether the torque recovery is completed. Once the torque recovery is completed, the system immediately enters sub-step S305, and according to the previously calculated retraction value of the shift block, precisely controls the shift fork to perform the retraction operation. This series of intelligent steps not only improves the shifting efficiency but also ensures the smoothness and safety of the shifting process, further enhancing the driving experience.

[0106] In some embodiments, the actual position of the shift fork is obtained through the gear self-learning process triggered after shifting to the current gear this time, and the standard position is obtained through the gear self-learning process triggered after shifting to the current gear last time. Moreover, in order to optimize the retraction value of the shift block, the shift block retraction learning process includes the following sub-steps S301* - S306* to find the optimal retraction value of the shift block.

[0107] Sub-step S301*: Obtain the retraction value of the shift block used when shifting to the current gear last time as the initial retraction value of the current gear, and control the shift fork to retract according to the initial retraction value.

[0108] Sub-step S302*: Obtain the actual position of the current gear, the actual position of the previous gear of the current gear, and obtain the standard position of the current gear and the standard position of the previous gear.

[0109] Sub-step S303*: Generate a first judgment index of the contact force between the shift fork and the shift sleeve based on the difference between the actual position and the standard position of the current gear, and generate a second judgment index of the contact force between the shift fork and the shift sleeve based on the difference between the actual position and the standard position of the previous gear of the current gear.

[0110] Sub-step S304*: In response to both the first judgment index and the second judgment index being less than the first set value, determine that the contact force meets the shifting requirements, and use the initial retraction value as the retraction value of the shift block for this shift.

[0111] Sub-step S305*: In response to the first judgment index being less than the first set value and the second judgment index being greater than the second set value, it is determined that the contact force is too large, the initial retraction value is increased, and the retraction and the determination of the first and second judgment indexes are performed again.

[0112] Sub-step S306*: In response to the first judgment index being greater than the second set value and the second judgment index being less than the first set value, it is determined that the shifting block has a gear disengaging phenomenon, the initial retraction value is decreased, and the retraction and the determination of the first and second judgment indexes are performed again, where the first set value is less than the second set value.

[0113] It should be noted that sub-steps S301* - S303* are equivalent to a further refined solution of sub-step S301, and the wear degree of the shifting block is characterized by the first judgment index and the second judgment index. Sub-steps S304* - S306* are equivalent to a further refined solution of sub-step S302, and through multiple optimizations, an optimized retraction value of the shifting block is found.

[0114] Among them, through sub-steps S301* - S306*, the accurate judgment and adjustment of the contact force between the shift fork and the shift sleeve can be realized. During the continuous execution of sub-steps S301* to S306*, the system can dynamically adjust the retraction value of the shifting block according to the change of the judgment index to ensure the smoothness and accuracy of the shifting operation. When both the first judgment index and the second judgment index are within the normal range, that is, both are less than the first set value, it indicates that the contact force between the shift fork and the shift sleeve is appropriate and meets the shifting requirements. At this time, the initial retraction value can be determined as the final retraction value of the shifting block. When the first judgment index is normal but the second judgment index is abnormally large, it indicates that the shift fork may encounter too much resistance during retraction, which is usually caused by inaccurate position of the shift sleeve or excessive friction between the shift fork and the shift sleeve. At this time, the system will try to reduce the contact force by increasing the initial retraction value to avoid jamming or damage during shifting. On the contrary, when the first judgment index is abnormally large and the second judgment index is normal, it may mean that the shifting block has a gear disengaging phenomenon during shifting, that is, the shift fork fails to accurately push the shift sleeve to the predetermined position. At this time, the system will try to correct the position of the shifting block by reducing the initial retraction value to ensure the smooth completion of shifting. Through this series of fine adjustment steps, the system can achieve precise control of the shifting process and improve the accuracy and reliability of shifting.

[0115] In some embodiments, in order to achieve fine adjustment of the back-off value of the shift block, the wear degree of the shift block may include unworn, slightly worn, and severely worn. Sub-step S301 includes: in response to the difference being less than the third set value, determining that the shift block is unworn and generating first information for characterizing that the shift fork is unworn; and, in response to the difference being greater than the third set value and less than the fourth set value, determining that the shift block is slightly worn and generating second information for characterizing that the shift fork is slightly worn; and, in response to the difference being greater than the fourth set value, determining that the shift block is severely worn and generating third information for characterizing that the shift fork is severely worn, and the third set value is less than the fourth set value. Sub-step S302 includes: for different wear degrees, generating the back-off value of the shift block through different strategies so that the shift block does not contact the shift sleeve.

[0116] Among them, when the calculated difference is less than the third set value, the system determines that the shifting block is in an unworn state, which means that the cooperation between the shifting fork and the shifting sleeve is good, and there is no need to make additional adjustments to the shifting block retraction value. Only the current shifting block retraction value needs to be maintained. At this time, the system will generate the first piece of information to prompt the operator or the subsequent processing flow that the shifting fork is in good condition. When the difference is greater than the third set value but less than the fourth set value, the system determines that the shifting block has mild wear. Although mild wear will not seriously affect the shifting process, in order to avoid further exacerbation of the wear, the system will, according to the characteristics of mild wear, slightly adjust the shifting block retraction value to reduce the contact force between the shifting fork and the shifting sleeve, thereby extending the service life of the components. At this time, the system will generate the second piece of information to record the wear state of the shifting block and instruct the subsequent processing flow to take corresponding maintenance measures. When the difference is greater than the fourth set value, the system determines that the shifting block has severe wear. Severe wear means that there are obvious problems with the cooperation between the shifting fork and the shifting sleeve, which may have an adverse impact on the shifting process and may even cause shifting failures. To ensure the normal operation of the shifting system, the system will, according to the characteristics of severe wear, automatically adjust the shifting block retraction value to a larger range to reduce the friction and wear between the shifting fork and the shifting sleeve. At the same time, the system will immediately generate the third piece of information to urgently prompt the operator that the shifting block is in a severely worn state and recommend immediately stopping the use of the current shifting system and performing necessary repairs or replacing components to prevent potential safety hazards and further losses. Such a design aims to ensure the stability and reliability of the shifting system and extend the service life of the entire system through intelligent monitoring and adjustment. Moreover, by accurately evaluating the wear state of the shifting block, corresponding measures are taken. For example, when the system detects that the shifting block is unworn, normal shifting operations can continue; when mild wear is detected, a warning signal can be issued to remind the driver or maintenance personnel of the wear condition of the shifting block and prepare for necessary maintenance; when severe wear is detected, the shifting operation can be immediately stopped to avoid further damage, and the driver can be prompted to send the vehicle to the repair station for inspection. Such a design not only improves the reliability and safety of the shifting system but also helps to extend the service life of the shifting system and reduce maintenance costs.

[0117] In some embodiments, sub-step S304 includes: determining that the torque recovery is completed in response to the torque change rate being less than the set torque; and determining that the torque recovery has not been completed in response to the torque change rate being greater than or equal to the set torque.

[0118] Among them, through the above steps, when the torque recovery is completed, the system can determine that the gearshift operation has ended smoothly, and at this time, the normal gearshift logic can be restored. If the torque change rate is still greater than or equal to the set torque, it indicates that the torque recovery is not completed, and corresponding adjustment measures may need to be continued. Such a design can ensure the smooth progress of the gearshift process and avoid gearshift failure or vehicle failure caused by improper torque recovery. At the same time, through the real-time monitoring and judgment of the torque change rate, the intelligence and automation of the gearshift system can be further improved, and the driving experience and vehicle performance can be enhanced.

[0119] Figure 4 Schematic diagram of a transmission with uninterrupted power provided by at least one embodiment of the present disclosure. During normal driving, the first sub-transmission A and the second sub-transmission B are both in gear. If a gearshift request is received, the first sub-transmission A first performs a gearshift operation through its corresponding first actuator and second actuator. At this time, the second sub-transmission B remains in gear, and the torque cleared by the first sub-transmission A is compensated to the second sub-transmission B to maintain uninterrupted power. After the first sub-transmission A completes the gearshift, the second sub-transmission B completes the same operation through its corresponding first actuator and second actuator to perform a gearshift.

[0120] Figure 5 Schematic diagram of the gearshift process of a transmission with uninterrupted power provided by at least one embodiment of the present disclosure. As Figure 5 shown, for Figure 4 the transmission with uninterrupted power of the configuration, the first sub-transmission A and the second sub-transmission B are successively engaged to maintain uninterrupted power, which can be understood as a combination of the gearshift processes of two AMT transmissions.

[0121] Figure 6 Motor torque control diagram of the gearshift process of a transmission with uninterrupted power provided by at least one embodiment of the present disclosure. As Figure 6 shown, after the first sub-transmission A completes the gearshift, the motor torque at the first sub-transmission A end will increase, and the motor torque at the second sub-transmission B end will decrease. After the torque clearing is completed, subsequent gearshift actions are performed. To ensure the accuracy of the reverse, the reverse action is performed after the torque change is completed to ensure that the gear position does not change after the self-locking is completed and to ensure the accuracy of the reverse. This process can be judged by the torque change rate, considering the torque change caused by the throttle change.

[0122] Figure 7 Schematic diagram of the gearshift operation of a transmission with uninterrupted power provided by at least one embodiment of the present disclosure. As Figure 7As shown, through the control of the shift motor 105, the corresponding gear can be engaged. The shift actuator has a corresponding position sensor 106 for identifying the shift position. A shift block 107 (red part) is provided on the shift fork 102. The extreme position of the shift block 107 contacts the shift sleeve 101. One side of the shift fork 102 is connected to the shift finger 103. The shift sleeve 101 is designed with precise sliding grooves that match the tooth grooves of the gear 107. When the shift fork 102 pushes the shift sleeve 101 to move to the corresponding gear through the shift block 107, the sliding grooves of the shift sleeve 101 are tightly engaged with the tooth grooves of the gear 107 to achieve gear locking. From Figure 7 It can be seen that during the shift control process, when the shift is controlled within a certain range, it can be "sucked" into the in-gear band through the tooth profile. From Figure 7 It can be seen that there is a clearance fit between the teeth. If the shift lever does not return after shifting, the direct contact between the shift block 107 and the shift sleeve 101 will cause rapid wear and affect shifting.

[0123] Figure 8 This is a flowchart of an example of a transmission shift method provided by at least one embodiment of the present disclosure. As Figure 8 shown, in combination with Figure 4 the structure, the transmission has a total of four shift actuators, no gear selection. Taking the example of the return value of the shift block for obtaining the second gear with the first gear and the second gear on one side as an example for illustration.

[0124] After gear self-learning, the self-learning value is used for subsequent shifting. After shifting is completed and torque recovery is completed, the return is performed according to the return design value D. Torque recovery is after shifting is completed. The torque recovery in the shift torque clearing stage can be judged by the torque change rate. When the torque change rate < 400 Nm / s, it is considered that the torque recovery is completed. The gear time of the second gear is > 10 min, the unilateral torque > the total required torque and it is not in the shifting process, that is, when the running time is guaranteed and normal driving is not affected, dynamic self-learning is performed. The dynamic self-learning positions pos11 of the first gear and pos21 of the second gear in this shift, and the dynamic self-learning positions pos10 of the first gear and pos20 of the second gear in the previous shift.

[0125] If pos11 - pos10 < 10 mv and pos21 - pos20 < 10 mv, that is, neither the first gear nor the second gear has worn. Considering factors such as sensor error, the non-wear limit value of the slider is set to be less than 10 mv (can be changed after calibration), and subsequent return control is performed according to D.

[0126] If pos11 - pos10 < 10mv and pos21 - pos20 > 30mv, that is, the first gear is not worn and the second gear is worn, then set the fallback value to D + 10mv, and use this value for subsequent operation. And it satisfies that "gear position time count > 10min and unilateral torque > total required torque and self - learning is performed again after non - shifting process". Repeat the above process until the self - learning changes of the first gear and the second gear are within the allowable range, indicating that the fallback value is just right and neither side is worn.

[0127] If pos11 - pos10 < 30mv and pos21 - pos20 < 10mv, that is, the second gear is not worn and the first gear is worn, then set the fallback value to D - 10mv, and use this value for subsequent operation. And it satisfies that "gear position time count > 10min and unilateral torque > total required torque and non - shifting process" and then perform self - learning again. Repeat the above process until the self - learning changes of the first gear and the second gear are within the allowable range, indicating that the fallback value is just right and neither side is worn.

[0128] From the above description, it can be seen that the present disclosure has at least achieved the following technical effects:

[0129] 1. Obtain a reasonable fallback value for the shifting block to enhance the service life of components.

[0130] 2. Through self - learning of the positions of the current gear position and the previous gear position of the fixed gear position during the in - gear time, adapt to the fallback position, calibrate the fallback value of the shifting block by self - learning, and find a suitable fallback value for the shifting block to ensure the service life of the shifting block.

[0131] 3. After the shifting fork retracts, it can avoid continuous contact with the shifting sleeve and ensure smooth gear shifting.

[0132] 4. In subsequent shifting processes, according to the fallback value of the shifting block obtained by self - learning, control the shifting fork to retract according to this fallback value after successfully engaging the target gear position, so as to reduce the contact force between the shifting fork and the shifting sleeve and reduce wear.

[0133] The embodiment of the present disclosure also provides a transmission shifting system for implementing the above - mentioned method embodiment. The transmission is configured with a shifting fork and a shifting sleeve, and a shifting block is provided at the part of the shifting fork that contacts the shifting sleeve. Figure 9 It is a structural block diagram of a transmission shifting system provided for at least one embodiment of the present disclosure. As Figure 9 shown, the transmission shifting system 1 includes a data acquisition unit 10, a pre - processing unit 20, and a control unit 30.

[0134] The data acquisition unit 10 is configured to obtain the actual position of the shifting fork after each shifting is completed.

[0135] A preprocessing unit 20, configured to identify whether there is wear on the shifting block based on a comparison between the actual position of the shift fork and a preset standard position.

[0136] A control unit 30, configured to trigger a shifting block retraction learning process when there is wear on the shifting block, obtain a shifting block retraction value that matches the current gear position and does not cause the above-mentioned wear, and control the shift fork to retract according to the shifting block retraction value.

[0137] The specific manners of the operations performed by each unit in the above device embodiments have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0138] The embodiments of the present disclosure further provide a storage medium storing a program or instructions, and when the program or instructions are executed by a processor, the steps of the above method embodiments are implemented.

[0139] The embodiments of the present disclosure further provide a program product, as Figure 10 shown, the program product includes one or more processors 21 and a memory 22, Figure 10 taking one processor 21 as an example.

[0140] The controller may further include: an input device 23 and an output device 24.

[0141] The processor 21, the memory 22, the input device 23 and the output device 24 may be connected through a bus or other means, Figure 6 taking connection through a bus as an example.

[0142] The processor 21 may be a central processing unit (CPU for short), and the processor 21 may also be other general-purpose processors, digital signal processors (DSP for short), application specific integrated circuits (ASIC for short), field programmable gate arrays (FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. chips, or a combination of the above types of chips. The general-purpose processor may be a microprocessor or any conventional processor.

[0143] The memory 22, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions / modules corresponding to the methods in the embodiments of the present disclosure. The processor 21 executes various functional applications and data processing of the server by running the non-transitory software programs, instructions, and modules stored in the memory 22, that is, implements the steps of the above method embodiments.

[0144] The memory 22 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the processing device of the server operation, etc. In addition, the memory 22 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 22 may optionally include a memory remotely provided with respect to the processor 21, and these remote memories can be connected to the network connection device through a network. Examples of the above networks include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0145] The input device 23 can receive input digital or character information, and generate key signal inputs related to the driver settings and function controls of the processing device of the server. The output device 24 may include display devices such as a display screen.

[0146] One or more modules are stored in the memory 22 and, when executed by one or more processors 21, execute as Figure 1 shown in the method.

[0147] This program product can be part of a drive system or part of a vehicle.

[0148] Those skilled in the art can understand that to implement all or part of the processes in the above method embodiments, it can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it may include the processes of the above method embodiments. Among them, the storage medium can be a magnetic disk, an optical disc, a read-only memory (ROM), a random access memory (RAM), a flash memory (FM), a hard disk drive (HDD), or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memories.

[0149] Although embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations fall within the scope defined by the appended claims.

[0150] Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A gear shifting method for a gearbox based on block retraction, wherein, The transmission is configured with a shift fork and a shift sleeve, and a shift block is provided at a portion of the shift fork that contacts the shift sleeve. It is characterized in that the method includes: After each shift is completed, obtaining the actual position of the shift fork; Based on the comparison between the actual position of the shift fork and a preset standard position, identifying whether the shift block is worn; and, When the shift block is worn, triggering a shift block retraction learning process, obtaining a shift block retraction value that matches the current gear and does not cause such wear, and controlling the shift fork to retract according to the shift block retraction value.

2. The method according to claim 1, wherein It further includes: Recording the shift block retraction value, and when shifting to the current gear next time, controlling the shift fork to retract according to the recorded shift block retraction value.

3. The method according to claim 1 or 2, characterized in that, It further includes: Performing a gear self-learning process to obtain the standard position of each gear among multiple gears.

4. The method according to claim 3, wherein The transmission includes a first sub-transmission and a second sub-transmission; the method further includes: When the vehicle is driving, controlling the first sub-transmission and the second sub-transmission to be in the in-gear state simultaneously; In response to receiving a shift request, controlling the first sub-transmission to shift first, and at the same time, controlling the second sub-transmission to remain in gear, and supplementing the torque cleared when the first sub-transmission clears torque to the second sub-transmission during the shifting process of the first sub-transmission; After the first sub-transmission completes shifting, controlling the second sub-transmission to shift first, and at the same time, controlling the first sub-transmission to remain in gear, and supplementing the torque cleared when the second sub-transmission clears torque to the first sub-transmission during the shifting process of the second sub-transmission; and, When it is recognized that the gear time of the current gear is greater than the set time, the unilateral torque of the first sub-transmission or the second sub-transmission is greater than the total required torque, and the current moment is in a non-shifting process, triggering the gear self-learning process.

5. The method according to claim 3, characterized in that, The shift block retraction learning process includes: Obtaining the difference between the actual position and the standard position of the shift fork, and determining the wear degree of the shift block based on the difference; and, Generating the shift block retraction value based on the wear degree of the shift block.

6. The method according to claim 5, wherein The controlling the shift fork to retract according to the shift block retraction value includes: Obtaining the torque change rate of the transmission; Based on the torque change rate, identifying whether the torque recovery of the transmission is completed; and, After the torque recovery is completed, controlling the shift fork to retract according to the shift block retraction value.

7. The method according to claim 3, wherein The actual position of the shift fork is obtained through the gear self-learning process triggered after shifting to the current gear this time, the standard position is obtained through the gear self-learning process triggered after shifting to the current gear last time, and the shift block retraction learning process includes: Obtaining the shift block retraction value used for shifting to the current gear last time as the initial retraction value of the current gear, and controlling the shift fork to retract according to the initial retraction value; Obtaining the actual position of the current gear, the actual position of the gear at the previous level of the current gear, and obtaining the standard position of the current gear, the standard position of the gear at the previous level; Generate a first judgment index for the contact force between the shift fork and the shift sleeve based on the difference between the actual position and the standard position of the current gear, and generate a second judgment index for the contact force between the shift fork and the shift sleeve based on the difference between the actual position and the standard position of the previous gear; In response to both the first judgment index and the second judgment index being less than a first set value, determine that the contact force meets the shifting requirement, and use the initial retraction value as the retraction value of the shift block for this shifting; In response to the first judgment index being less than the first set value and the second judgment index being greater than a second set value, determine that the contact force is too large, increase the initial retraction value, and re-perform the retraction and the determination of the first judgment index and the second judgment index; and, In response to the first judgment index being greater than the second set value and the second judgment index being less than the first set value, determine that the shift block has a gear disengagement phenomenon, decrease the initial retraction value, and re-perform the retraction and the determination of the first judgment index and the second judgment index, where the first set value is less than the second set value.

8. The method according to claim 6, characterized in that, The wear degree of the shift block includes non-worn, slightly worn, and severely worn; And, Determining the wear degree of the shift block based on the difference includes: In response to the difference being less than a third set value, determine that the shift block is not worn, and generate a first piece of information indicating that the shift fork is not worn; In response to the difference being greater than the third set value and less than a fourth set value, determine that the shift block is slightly worn, and generate a second piece of information indicating that the shift fork is slightly worn; and, In response to the difference being greater than the fourth set value, determine that the shift block is severely worn, and generate a third piece of information indicating that the shift fork is severely worn, and the third set value is less than the fourth set value; Generating the retraction value of the shift block based on the wear degree of the shift block includes: For different wear degrees, generate the retraction value of the shift block through different strategies so that the shift block does not contact the shift sleeve; Identifying whether the torque recovery of the transmission is completed based on the torque change rate includes: In response to the torque change rate being less than a set torque, determine that the torque recovery is completed; and, In response to the torque change rate being greater than or equal to the set torque, determine that the torque recovery has not been completed.

9. A gearbox shifting system based on a shifting block retraction, wherein, The transmission is configured with a shift fork and a shift sleeve, and a shift block is provided at the part of the shift fork that contacts the shift sleeve. It is characterized in that the system includes: A data acquisition unit configured to acquire the actual position of the shift fork after each shifting is completed; A preprocessing unit configured to identify whether the shift block is worn based on the comparison between the actual position of the shift fork and a preset standard position; and, A control unit configured to trigger a shift block retraction learning process when the shift block is worn, obtain a retraction value of the shift block that matches the current gear and does not cause the wear, and control the shift fork to retract according to the retraction value of the shift block.

10. A storage medium, characterized in that, The storage medium stores a program or instructions, and the program or instructions, when executed by a processor, implement the steps of the method according to any one of claims 1 to 8.

11. A program product, comprising a program or instructions, characterized in that, The program or instructions, when executed by a processor, implement the steps of the method according to any one of claims 1 to 8.

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