Gear tooth alignment point self-learning method and device, vehicle and storage medium

Abstract

The invention provides gear tooth point self-learning, a gear tooth point self-learning device, a vehicle and a storage medium, the method is applied to the technical field of vehicles, and the method comprises the steps that if the current state meets the tooth point self-learning condition, a clutch is controlled to be kept in a disconnected state, an odd-number gear shifting hub of the vehicle is controlled to move to the leftmost side of a molded line, then tooth point learning of odd-number rotating hub gears is conducted, and the gear point self-learning condition is determined; the tooth alignment positions of the odd number of rotating hub gears are obtained; and after learning of the tooth alignment points of the odd-number rotating hub gears is completed, the even-number gear shifting hub is controlled to move to the leftmost side of the molded line to conduct tooth alignment point learning of the even-number rotating hub gears, the tooth alignment positions of the even-number rotating hub gears are obtained, and gear advancing or reverse gear advancing is conducted according to the tooth alignment positions of the odd-number rotating hub gears and the tooth alignment positions of the even-number rotating hub gears after the vehicle is powered on again. By means of the method, the problem that in the gear advancing process of the canine tooth gear advancing structure, gear advancing failure is likely to be caused by tooth alignment is solved, the specific tooth alignment position of the canine tooth gear advancing structure can be accurately found, the gear advancing failure occurrence rate caused by tooth alignment is reduced, and the gear advancing time is shortened.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a method, device, vehicle, and storage medium for self-learning gear positions and tooth points in the field of vehicle technology. Background Art

[0002] The working principle of the dog-tooth gear mechanism is to achieve gear shifting through the meshing of the teeth. However, in actual gear shifting, the dog-tooth gear mechanism has a prominent problem: tooth alignment is prone to occur. Tooth alignment refers to the misalignment of the teeth during gear shifting, resulting in collision and jamming, and preventing smooth engagement. This not only causes the gear shift to fail, affecting the driving experience, but can also damage the teeth and related transmission components, shortening component life and increasing maintenance costs.

[0003] To address the issue of gear misalignment, some transmission systems currently on the market incorporate synchronizer rings. These rings synchronize the speeds of the meshing gears through friction during gear shifting, effectively reducing the occurrence of gear misalignment. However, synchronizer rings are relatively complex, increasing the overall weight and size of the transmission system while significantly increasing manufacturing costs.

[0004] Therefore, how to effectively solve the problem of gear mismatch and gear failure during the gear shifting process while retaining the advantages of low cost and simple structure of the dog-tooth gear shifting structure has become a key issue that needs to be urgently solved in the current research and development of motorcycle transmission systems. Summary of the Invention

[0005] The present application provides a gear position alignment point self-learning method, device, vehicle and storage medium. The method solves the problem that the dog tooth gear shift structure is prone to gear shift failure due to gear alignment during the gear shifting process. The method can accurately find the specific gear alignment position of the dog tooth gear shift structure, quickly approach the gear alignment position before approaching the gear alignment position, and quickly reduce the shifting force when approaching the gear alignment position, thereby greatly reducing the occurrence rate of gear shift failure due to gear alignment, while shortening the gear shifting time and improving the efficiency and reliability of gear shifting.

[0006] In a first aspect, a method for self-learning gear tooth points is provided, the method comprising: determining whether a current state of a vehicle satisfies a gear point self-learning condition; if the current state satisfies the gear point self-learning condition, controlling the clutch to remain in a disconnected state, controlling the odd-numbered shift hub of the vehicle to move to the leftmost side of the contour line to perform gear point learning of the odd-numbered hub gear, and obtaining the gear position of the odd-numbered hub gear; after the gear point learning of the odd-numbered hub gear is completed, controlling the even-numbered shift hub of the vehicle to move to the leftmost side of the contour line to perform gear point learning of the even-numbered hub gear, and obtaining the gear position of the even-numbered hub gear, so as to shift the vehicle forward or backward according to the gear position of the odd-numbered hub gear and the gear position of the even-numbered hub gear after the vehicle is powered on again.

[0007] Through the above technical solution, the gear matching point self-learning strategy is used to find the gear matching position during gear shifting through self-learning, and the specific gear matching position of the dog gear shift structure can be accurately found. The gear can quickly approach the gear matching position before approaching the gear matching position, and the shifting force can be quickly reduced when approaching the gear matching position, thereby greatly reducing the occurrence rate of gear shifting failure caused by gear matching, shortening the gear shifting time, improving the efficiency and reliability of gear shifting, and protecting the transmission at the same time.

[0008] In combination with the first aspect, in some possible implementations, the odd-numbered shift hub of the vehicle is controlled to move to the leftmost side of the profile line and then the gear point learning of the odd-numbered hub gear is performed to obtain the gear position of the odd-numbered hub gear, including: based on multiple odd-numbered shifting positions, the odd-numbered hub gear is controlled to shift sequentially from the current gear, and the latest gear of the odd-numbered hub gear and the gear position of each shift are obtained when the preset gear position identification conditions are met; the odd-numbered hub gear is controlled to shift from the latest gear to the target gear, and the gear position of the shift from the current gear to the target gear is obtained when the preset gear position identification conditions are met; based on multiple odd-numbered reverse shifting positions, the odd-numbered hub is controlled to shift in reverse from the target gear to the current gear, and the gear position of each reverse shift is obtained when the preset gear position identification conditions are met.

[0009] Through the above technical solution, by controlling the odd-numbered shift hub to move to the leftmost side of the profile, and shifting gears from the current gear to multiple odd-numbered gears in sequence, the gear position of each shift is obtained when the preset gear position identification conditions are met, and the gear position of the odd-numbered hub gear can be accurately obtained. When shifting gears, it quickly approaches the gear position before approaching the gear position, and quickly reduces the shifting force when approaching the gear position, thereby reducing the occurrence rate of gear shift failure caused by gear alignment, shortening the gear shifting time, and improving the efficiency and reliability of gear shifting.

[0010] In combination with the first aspect, in some possible implementations, the even-numbered shift hub of the vehicle is controlled to move to the leftmost side of the profile line to perform gear point learning of the even-numbered hub gear to obtain the gear position of the even-numbered hub gear, including: based on multiple even-numbered shifting positions, controlling the even-numbered hub gear to shift sequentially from the current gear, and obtaining the latest gear of the even-numbered hub gear and the gear position of each shift when a preset gear position identification condition is met; controlling the even-numbered hub gear to shift from the latest gear to the target gear, and obtaining the gear position from the current gear to the target gear when a preset gear position identification condition is met; based on multiple even-numbered reverse shifting positions, controlling the even-numbered hub to shift in reverse from the target gear to the current gear, and obtaining the gear position of each reverse shift when a preset gear position identification condition is met.

[0011] Through the above technical solution, by controlling the even-numbered shift hub to move to the leftmost side of the profile, and shifting gears from the current gear to multiple even-numbered gears in sequence, the gear position of each shift is obtained when the preset gear position identification conditions are met, and the gear position of the even-numbered hub gear can be accurately obtained. When shifting gears, it quickly approaches the gear position before approaching the gear position, and quickly reduces the shifting force when approaching the gear position, which greatly reduces the occurrence rate of gear shift failure caused by gear alignment, while shortening the gear shift time and improving the efficiency and reliability of gear shifting.

[0012] In combination with the first aspect, in some possible implementations, the preset tooth position identification conditions are: the angle of the tooth during gear shifting is within a preset angle range, and the current of the gear shifting motor during gear shifting is greater than a preset current value and the pulse change of the gear shifting motor during gear shifting is less than a preset value.

[0013] Through the above technical solution, it is required that the hub angle is within the preset range during gear shifting (as condition 1 for identifying the gear-matching position), which can ensure that the gear-matching position found must occur within the design range, avoiding other similar gear-matching phenomena from being mistakenly identified as gear-matching; the gear shift motor current is greater than the preset current value (as condition 2 for identifying the gear-matching position), which is used to indicate that gear-matching has occurred, the gear shift motor can no longer push the shift fork, and can no longer generate displacement; the shift motor pulse change is less than the preset value (as condition 3 for identifying the gear-matching position), which indicates that the gear shift motor can no longer push the shift fork, and can no longer generate displacement. The position of the gear-matching point is determined based on these conditions. The next time you shift gears, you can quickly approach the gear-matching point position, and then reduce the shifting force to avoid gear-matching, thereby smoothly shifting gears and shortening the shifting time.

[0014] In combination with the first aspect, in some possible implementations, when the preset gear position recognition condition is not met, it also includes: exiting the current gear shifting step and entering the next gear shifting step or ending the current self-learning.

[0015] With this technical solution, when the preset gear position recognition conditions are not met, the system can automatically identify and exit the current unsuccessful shift step, avoiding wasting time on invalid or incorrect steps, improving the overall efficiency of the self-learning process, and ensuring that the final gear position data obtained is accurate and reliable. By promptly exiting unsuccessful shift steps, the system can prevent damage caused by repeated unsuccessful shift attempts.

[0016] In conjunction with the first aspect, in some possible implementations, the tooth point self-learning condition includes:

[0017] The vehicle is in a running state;

[0018] Moreover, receiving a self-learning instruction;

[0019] Moreover, the current gear is the stop gear;

[0020] Furthermore, the sensor correction of the vehicle is completed;

[0021] Furthermore, the input shaft speed of the transmission of the vehicle is greater than a preset speed;

[0022] Furthermore, the vehicle is in a stationary state;

[0023] Furthermore, the shift motor of the vehicle is normal;

[0024] Moreover, the odd-numbered clutch pressure and the even-numbered clutch pressure of the vehicle are both less than a preset threshold value;

[0025] Moreover, the gear position and tooth point self-learning of the vehicle is not completed.

[0026] Through the above technical solutions, the accuracy and effectiveness of the self-learning process are improved.

[0027] In combination with the first aspect, in some possible implementations, when a preset tooth position recognition condition is not met, the method includes sending a reminder message to a preset terminal that the tooth position was not recognized during gear shifting.

[0028] Through the above technical solution, when the preset gear position recognition conditions are not met, a reminder message that the gear position was not recognized during gear shifting is sent to the preset terminal, which can promptly feedback problems in the self-learning process to technicians or drivers, so that they can take timely measures to investigate and repair them.

[0029] In the second aspect, a gear gear alignment point self-learning device is provided, including: a judgment module for judging whether the current state of the vehicle satisfies the gear alignment point self-learning condition; an odd hub gear self-learning module for controlling the clutch to remain in a disconnected state if the current state satisfies the gear alignment point self-learning condition, and controlling the odd shift hub of the vehicle to move to the leftmost side of the contour line to perform gear alignment point learning of the odd hub gear, so as to obtain the gear alignment position of the odd hub gear; an even hub gear self-learning module for controlling the even shift hub of the vehicle to move to the leftmost side of the contour line to perform gear alignment point learning of the even hub gear after the gear alignment point learning of the odd hub gear is completed, so as to obtain the gear alignment position of the even hub gear, so as to shift the vehicle forward or backward according to the gear alignment position of the odd hub gear and the gear alignment position of the even hub gear after the vehicle is powered on again.

[0030] In combination with the second aspect, in some possible implementations, the odd-numbered hub gear self-learning module is used to: based on multiple odd-numbered shift gears, control the odd-numbered hub gears to shift sequentially from the current gear, and obtain the latest gear of the odd-numbered hub gear and the tooth position during each shift when the preset tooth position identification conditions are met; control the odd-numbered hub gears to shift from the latest gear to the target gear, and obtain the tooth position from the current gear to the target gear when the preset tooth position identification conditions are met; based on multiple odd-numbered reverse shift gears, control the odd-numbered hub to shift in reverse from the target gear to the current gear, and obtain the tooth position during each reverse shift when the preset tooth position identification conditions are met.

[0031] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the even-numbered hub gear self-learning module is used to control the even-numbered hub gear to shift sequentially from the current gear based on multiple even-numbered shift positions, and obtain the latest gear of the even-numbered hub gear and the tooth position during each shift when the preset tooth position identification conditions are met; control the even-numbered hub gear to shift from the latest gear to the target gear, and obtain the tooth position from the current gear to the target gear when the preset tooth position identification conditions are met; control the even-numbered hub to shift in reverse from the target gear to the current gear based on multiple even-numbered reverse shift positions, and obtain the tooth position during each reverse shift when the preset tooth position identification conditions are met.

[0032] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the preset tooth position identification conditions are: the angle of the tooth during gear shifting is within a preset angle range, and the current of the gear shifting motor during gear shifting is greater than the preset current value and the pulse change of the gear shifting motor during gear shifting is less than the preset value.

[0033] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, when the preset tooth position recognition conditions are not met, the even-numbered hub gear self-learning module and the even-numbered hub gear self-learning module are also used to: exit the current gear shifting step, and enter the next gear shifting step or end the current self-learning.

[0034] In combination with the second aspect and the above implementation, in some possible implementations, the tooth point self-learning condition includes:

[0035] The vehicle is in a running state;

[0036] Moreover, receiving a self-learning instruction;

[0037] Moreover, the current gear is the stop gear;

[0038] Furthermore, the sensor correction of the vehicle is completed;

[0039] Furthermore, the input shaft speed of the transmission of the vehicle is greater than a preset speed;

[0040] Furthermore, the vehicle is in a stationary state;

[0041] Furthermore, the shift motor of the vehicle is normal;

[0042] Moreover, the odd-numbered clutch pressure and the even-numbered clutch pressure of the vehicle are both less than a preset threshold value;

[0043] Moreover, the gear position and tooth point self-learning of the vehicle is not completed.

[0044] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, when the preset tooth position recognition conditions are not met, the even-numbered hub gear self-learning module and the even-numbered hub gear self-learning module are also used to: send a reminder message to the preset terminal that the tooth position was not recognized during gear shifting.

[0045] In a third aspect, a vehicle is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program so that the computer executes the method in the first aspect or any possible implementation of the first aspect.

[0046] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0047] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 Flowchart of the gear position tooth point self-learning method provided in an embodiment of the present application;

[0049] Figure 2 A schematic diagram of a gear position to tooth point self-learning process according to an embodiment of the present application;

[0050] Figure 3 A schematic diagram of an odd-numbered hub gear self-learning process according to an embodiment of the present application;

[0051] Figure 4 A schematic diagram of a self-learning process for even-numbered hub gears according to an embodiment of the present application;

[0052] Figure 5 A block diagram of a gear position and tooth point self-learning device provided in an embodiment of the present application;

[0053] Figure 6 This is a schematic structural diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0054] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0055] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0056] Figure 1 This is a schematic flow chart of a gear position to tooth point self-learning method provided in an embodiment of the present application.

[0057] For example, Figure 1 As shown, the method includes:

[0058] In step S101 , it is determined whether the current state of the vehicle satisfies the gear point self-learning condition.

[0059] Optionally, in one embodiment of the present application, the tooth point self-learning conditions include:

[0060] The vehicle is in operation;

[0061] Moreover, receiving a self-learning instruction;

[0062] Moreover, the current gear is the stop gear;

[0063] Moreover, the vehicle's sensor correction is completed;

[0064] and, the input shaft speed of the vehicle's transmission is greater than a predetermined speed;

[0065] Moreover, the vehicle is at rest;

[0066] Moreover, the vehicle's shift motor is normal;

[0067] Moreover, the odd-numbered clutch pressure and the even-numbered clutch pressure of the vehicle are both less than a preset threshold;

[0068] Moreover, the vehicle's gear position and gear point self-learning has not been completed.

[0069] The preset speed and the preset threshold may be thresholds pre-set by the user, thresholds obtained through a limited number of experiments, or thresholds obtained through a limited number of computer simulations, and are not specifically limited here.

[0070] The conditions for triggering the self-learning of the tooth points in this application are as follows: Figure 2 Shown, including:

[0071] Bit0: switch with self-learning function;

[0072] Bit1: self-learning trigger command from diagnostic equipment or other calibration quantity;

[0073] Bit2: The shift lever is in P gear;

[0074] Bit3: The gear angle self-learning has been completed. For the rotary hub shift structure, the angle sensor correction (i.e., angle self-learning) or the displacement sensor correction (i.e., displacement sensor self-learning) must be completed first.

[0075] Bit4: Transmission input speed is greater than the threshold;

[0076] Bit5: The vehicle is stationary;

[0077] Bit6: The shift motor has no fault;

[0078] Bit7: The odd-numbered clutch and even-numbered clutch pressures are lower than the threshold;

[0079] Bit8: The self-learning of the gear points has not been completed.

[0080] The angle sensor is for transmissions with a rotary hub type shift mechanism. The correction of this sensor is briefly as follows: when it touches the leftmost side of the rotary hub line, the value is calculated as follows: "the mechanical angle on the left side - the angle sensor's displayed angle = the amount to be corrected";

[0081] The displacement sensor is for transmissions whose shifting mechanism is a hydraulic valve body or a ball screw. The correction of this sensor is briefly as follows: when it touches the leftmost / rightmost side of the shifting mechanism, follow the principle of "mechanical displacement on the left - displayed value of the displacement sensor = amount to be corrected".

[0082] When the gear point self-learning conditions are met, a signal is sent out to maintain the clutch in the open state to ensure that the transmission is in a power-disconnected state when shifting in and out of gear during the entire learning process, thereby protecting the transmission.

[0083] For example,

[0084] The system needs to determine whether the current vehicle status meets the following self-learning conditions:

[0085] The vehicle is in running state (for example, the engine is started);

[0086] Receiving a self-learning instruction (e.g., triggered by a diagnostic tool or user operation);

[0087] The current gear is the stop gear;

[0088] Sensor correction is completed (such as angle / displacement sensor calibration);

[0089] Transmission input shaft speed > preset speed (e.g. input shaft speed > 50 rpm);

[0090] The vehicle is stationary (e.g. speed = 0 km / h);

[0091] The shift motor is normal (no fault code);

[0092] The odd-numbered clutch and even-numbered clutch pressure is less than a preset threshold (e.g., pressure is less than 2 bar);

[0093] The gear alignment point self-learning is not completed (the system has not recorded any valid gear alignment points).

[0094] If a certain condition is not met (such as the input shaft speed is 30rpm < 50rpm), the system exits the self-learning process and may prompt the user through a terminal (such as a dashboard or diagnostic tool): "The transmission input shaft speed is insufficient and self-learning cannot be performed."

[0095] Through the above technical solutions, the accuracy and effectiveness of the self-learning process are improved.

[0096] In step S102, if the current state meets the gear point self-learning conditions, the clutch is controlled to remain in the disconnected state, and the vehicle's odd-numbered shift hub is controlled to move to the leftmost side of the profile line to perform gear point learning for the odd-numbered hub gear position to obtain the gear position for the odd-numbered hub gear position.

[0097] It should be understood that the odd-numbered shift hub is requested to move to the leftmost side of the contour line, and then the tooth-aligning point learning of the gear on the odd-numbered hub is started to obtain the tooth-aligning position of the odd-numbered hub gear. After the odd-numbered hub gear learning is completed, the even-numbered hub gear tooth-aligning point learning is entered, and the even-numbered shift hub is requested to move to the leftmost side of the contour line, and then the tooth-aligning point learning of the gear on the even-numbered hub is started to obtain the tooth-aligning position of the even-numbered hub gear. The learning of the even-numbered hub gear is completed and the learning ends.

[0098] Optionally, in one embodiment of the present application, the odd-numbered shift hub of the vehicle is controlled to move to the leftmost side of the profile line and then the gear point learning of the odd-numbered hub gear is performed to obtain the gear position of the odd-numbered hub gear, including: based on multiple odd-numbered shifting gears, controlling the odd-numbered hub gears to shift sequentially from the current gear, and obtaining the latest gear of the odd-numbered hub gear and the gear position of each shift when the preset gear position identification condition is met; controlling the odd-numbered hub gear to shift from the latest gear to the target gear, and obtaining the gear position from the current gear to the target gear when the preset gear position identification condition is met; based on multiple odd-numbered reverse shifting gears, controlling the odd-numbered hub to shift in reverse from the target gear to the current gear, and obtaining the gear position of each reverse shift when the preset gear position identification condition is met.

[0099] In the present application, the multiple odd-numbered forward gear positions are: R gear, 1 gear, 3 gear, 5 gear, 7 gear, and the multiple odd-numbered reverse forward gear positions are: 7 gear, 5 gear, 3 gear, 1 gear, R gear.

[0100] Among them, in one embodiment of the present application, the preset tooth position identification conditions are: the angle of the tooth during gear shifting is within a preset angle range, and the current of the gear shifting motor during gear shifting is greater than a preset current value and the pulse change of the gear shifting motor during gear shifting is less than a preset value.

[0101] It should be understood that during the gear alignment point self-learning process, the system needs to determine whether the gear alignment position is successfully identified through the following conditions:

[0102] When shifting gears, the angle of the opposing teeth is within a preset angle range (e.g., 15°-20°);

[0103] The current of the shift motor is greater than the preset current value (e.g. ≥5A);

[0104] The pulse change of the shift motor is less than the preset value (e.g. ≤1);

[0105] Assume that when the vehicle is performing self-learning from 1st gear to 3rd gear, the system records the following data:

[0106] 1. The tooth angle of 18° is within the range of 15°-20°;

[0107] 2. Shift motor current 6A ≥ 5A;

[0108] 3. The shift motor pulse change is 1≤1.

[0109] Judgment result:

[0110] If all conditions are met, the system determines that the gear position is successfully identified during the current gear shift and records the position as a valid gear position.

[0111] Examples that do not meet the conditions:

[0112] If the data for a certain gear shift is as follows:

[0113] 1. The tooth angle of 12° is not within the range of 15°-20°;

[0114] 2. Shift motor current 7A ≥ 5A;

[0115] 3. The shift motor pulse change 2≥1.

[0116] Judgment result: Since conditions 1 and 3 are not met, the system determines that the current gear shift does not identify the corresponding gear position.

[0117] Specifically, the process of self-learning the tooth points of odd-numbered hub gears is as follows: Figure 3 Said:

[0118] Step 1: After detecting that the odd-numbered hub has reached the left side, the first gear is shifted into gear 1. This is done by sending the command Gta_GrSet = 1. If the preset gear position identification conditions are met and the gear position A for shifting into gear 1 is obtained, then Step 2 is performed. This is repeated a maximum of X times (i.e., continuously sending -1-NR1-1-NR1...). If the gear position A cannot be obtained after the number of attempts exceeds the limit, this step is aborted.

[0119] The conditions for obtaining the recognition of tooth position A are: 1. The actual angle is greater than the middle position 34.81 (can be set); 2: The current of the shift motor is greater than the preset current value (the preset current value can be set, the default is 20A); 3: The shift motor pulse change of the shift motor is less than the preset value (the preset threshold value can be set, the default is 1)

[0120] Step 2: Shift from 1st gear to 3rd gear, i.e. send the command Gta_GrSet = 3. If the preset gear position identification conditions are met, the gear position B when shifting from 1st gear to 3rd gear is obtained. Each time the gear position B is obtained, step 3 is performed. A maximum of X attempts are made (i.e., send -3-N13-3-N13-3...). If the gear position B cannot be obtained after the number of attempts exceeds the limit, this step is aborted.

[0121] Step 3: Shift from 3rd gear to 5th gear, i.e. send the command Gta_GrSet=5. When the preset gear position identification conditions are met, the gear position C when shifting from 3rd gear to 5th gear is obtained. Each time the gear position C is obtained, proceed to Step 4. A maximum of X attempts are made (i.e., continuously send -5-N53-5-N53-5...). If C cannot be obtained after the number of attempts exceeds the limit, this step is aborted.

[0122] Step 4: Shift from 5th gear to 7th gear, i.e. send the command Gta_GrSet=7. When the preset gear position identification conditions are met, the gear position D when shifting from 5th gear to 7th gear is obtained. Each time the gear position D is obtained, proceed to Step 5. A maximum of X attempts are made (i.e., continuously send -7-N57-7-N57-7...). If the gear position D cannot be obtained after the number of attempts exceeds the limit, this step is aborted.

[0123] Step 5: Shift from 7th gear to 5th gear in reverse direction by sending the command Gta_GrSet=5. If the preset gear position identification conditions are met, the gear position F when shifting from 7th gear to 5th gear in reverse direction is obtained. Each time the gear position F is obtained, proceed to Step 6. A maximum of X attempts are made (i.e., continuously sending -5-N57-5-N57-5...). If the gear position F cannot be obtained after the number of attempts exceeds the limit, this step is aborted.

[0124] Step 6: Shift from 5th gear to 3rd gear in reverse direction by sending the command Gta_GrSet=3. When the preset gear position identification conditions are met, the gear position G for shifting from 5th gear to 3rd gear in reverse direction is obtained. Each time G is obtained, proceed to Step 7. A maximum of X attempts are made (i.e., continuously sending -3-N35-3-N35-3...). If G cannot be obtained after exceeding the number of attempts, this step is aborted.

[0125] Step 7: Shift from 3rd gear to 1st gear in reverse direction. Send the Gta_GrSet=1 command. If the preset gear position identification conditions are met, obtain the gear position H when shifting from 3rd gear to 1st gear in reverse direction. Each time the gear position H is obtained, proceed to Step 8. A maximum of X attempts are made (i.e., continuously send -1-N31-1-N31-1...). If the gear position H cannot be obtained after the number of attempts exceeds the limit, this step is aborted.

[0126] Step 8: Shift from 1st gear to R gear in reverse, send Gta_GrSet=R command, and obtain the gear position I when shifting from 1st gear to R gear in reverse when the preset gear position identification conditions are met; the process ends when the gear position I is obtained any time; try a maximum of X times (i.e., continuously send -R-NR1-R-NR1-R...), and exit this step if the gear position I cannot be obtained after exceeding the number of times.

[0127] Through the above technical solution, the hub angle is required to be within the preset range during gear shifting, which can ensure that the tooth-matching position found must occur within the design range, avoiding other similar tooth-matching phenomena from being mistakenly identified as tooth-matching; the current of the shift motor is greater than the preset current value, which is used to indicate that tooth-matching has occurred, the shift motor can no longer push the shift fork, and cannot generate displacement; the pulse change of the shift motor is less than the preset value, which indicates that the shift motor can no longer push the shift fork and cannot generate displacement. The position of the tooth-matching point is determined based on these conditions. The next time you shift gears, you can quickly approach the tooth-matching point position, and then reduce the shifting force to avoid tooth-matching, thereby smoothly shifting gears and shortening the shifting time.

[0128] Through the above technical solution, by controlling the odd-numbered shift hub to move to the leftmost side of the profile, and shifting gears from the current gear to multiple odd-numbered gears in sequence, the gear position of each shift is obtained when the preset gear position identification conditions are met, and the gear position of the odd-numbered hub gear can be accurately obtained. When shifting gears, it quickly approaches the gear position before approaching the gear position, and quickly reduces the shifting force when approaching the gear position, which greatly reduces the occurrence rate of gear shift failure caused by gear alignment, and at the same time shortens the gear shift time, thereby improving the efficiency and reliability of gear shifting.

[0129] In step S103, after the gear alignment point learning of the odd-numbered hub gear is completed, the even-numbered shift hub of the vehicle is controlled to move to the leftmost side of the profile to perform gear alignment point learning of the even-numbered hub gear, and the gear alignment position of the even-numbered hub gear is obtained, so that the vehicle can shift into or out of gear according to the gear alignment position of the odd-numbered hub gear and the gear alignment position of the even-numbered hub gear after the vehicle is powered on again.

[0130] Optionally, in one embodiment of the present application, the even-numbered shift hub of the vehicle is controlled to move to the leftmost side of the profile line to perform gear point learning of the even-numbered hub gear to obtain the gear position of the even-numbered hub gear, including: based on multiple even-numbered shifting gears, controlling the even-numbered hub gear to shift sequentially from the current gear, and obtaining the latest gear of the even-numbered hub gear and the gear position of each shift when the preset gear position identification condition is met; controlling the even-numbered hub gear to shift from the latest gear to the target gear, and obtaining the gear position of shifting from the current gear to the target gear when the preset gear position identification condition is met; based on multiple even-numbered reverse shifting gears, controlling the even-numbered hub to shift in reverse from the target gear to the current gear, and obtaining the gear position of each reverse shift when the preset gear position identification condition is met.

[0131] In the present application, the multiple even-numbered forward gear positions are: 2nd gear, 4th gear, 6th gear, and the multiple even-numbered reverse forward gear positions are: 6th gear, 4th gear, 2nd gear.

[0132] After completing the odd gear gear self-learning, request the even gear hub to move to the far left, and then start the even gear gear self-learning. The specific process is as follows: Figure 4 As shown:

[0133] Step 1: After detecting that the even-numbered hub has reached the left side, the gear shift from 2nd to 4th gear is initiated by issuing the command Gta_GrSet = 4. When the preset gear position identification conditions are met, the gear position J for shifting from 2nd to 4th gear is obtained. Each time the gear position J is obtained, Step 2 is performed. A maximum of X attempts are made (i.e., continuously issuing -4-N24-4-N24...). If J cannot be obtained after the number of attempts exceeds the limit, this step is aborted.

[0134] Step 2: Start shifting from 4th gear to 6th gear, i.e., issue the command Gta_GrSet=6. When the preset gear position identification conditions are met, the gear position K for shifting from 4th gear to 6th gear is obtained. Each time the gear position K is obtained, proceed to Step 3. A maximum of X attempts are made (i.e., continuously issue -6-N64-6-N64...). If the gear position K cannot be obtained after the number of attempts exceeds the limit, this step is aborted.

[0135] Step 3: Start shifting from 6th gear to 4th gear in reverse, i.e., issue the command Gta_GrSet=4. When the preset gear position identification conditions are met, the gear position L when shifting from 6th gear to 4th gear in reverse is obtained. Each time the gear position L is obtained, proceed to Step 4. Try a maximum of X times (i.e., issue -4-N64-4-N64... in succession). If the gear position L cannot be obtained after the number of times exceeds, this step is exited. The identification conditions for obtaining the gear position L are similar to those for odd numbers.

[0136] Step 4: Start shifting from 4th gear to 2nd gear in reverse, i.e., issue the command Gta_GrSet=2. When the preset gear position identification conditions are met, the gear position M for shifting from 4th gear to 2nd gear in reverse is obtained. The process ends once the gear position M is obtained. A maximum of X attempts are made (i.e., -2-N24-2-N24... are made consecutively). If the gear position M cannot be obtained after the number of attempts exceeds the limit, the process ends.

[0137] After both the even-numbered hub gear and the odd-numbered hub gear are completed, the self-learning process ends and the clutch is no longer requested to be opened. After the vehicle is powered off, the self-learning results, i.e., the gear positions of the even-numbered hub gear shift and the gear positions of the odd-numbered hub gear shift, are stored.

[0138] Through the above technical solution, by controlling the even-numbered shift hub to move to the leftmost side of the profile, and shifting gears from the current gear to multiple even-numbered gears in sequence, the gear position of each shift is obtained when the preset gear position identification conditions are met, and the gear position of the even-numbered hub gear can be accurately obtained. When shifting gears, it quickly approaches the gear position before approaching the gear position, and quickly reduces the shifting force when approaching the gear position, which greatly reduces the occurrence rate of gear shift failure caused by gear alignment, while shortening the gear shift time and improving the efficiency and reliability of gear shifting.

[0139] Optionally, in one embodiment of the present application, when the preset gear position recognition condition is not met, it also includes: exiting the current gear shifting step, and entering the next gear shifting step or ending the current self-learning.

[0140] Specifically, when the system detects that the preset gear position recognition conditions are not met, it immediately interrupts the current shift step to prevent potential damage or failure caused by continuing unsuccessful shift attempts. The system then evaluates the current shift status to determine whether to proceed to the next shift step or terminate the current self-learning process.

[0141] If the system determines that the current gear shift failure does not affect the subsequent gear shift steps, or there is a next gear shift strategy that can be tried, the system automatically enters the next gear shift step and continues the gear shift operation.

[0142] Or end the current self-learning:

[0143] If the system determines that the current gear shift has failed and the self-learning process cannot continue, or the maximum number of self-learning attempts has been reached, the system ends the current self-learning process.

[0144] With this technical solution, when the preset gear position recognition conditions are not met, the system can automatically identify and exit the current unsuccessful shift step, avoiding wasting time on invalid or incorrect steps, improving the overall efficiency of the self-learning process, and ensuring that the final gear position data obtained is accurate and reliable. By promptly exiting unsuccessful shift steps, the system can prevent damage caused by repeated unsuccessful shift attempts.

[0145] Optionally, in one embodiment of the present application, when the preset gear position recognition condition is not met, it includes: sending a reminder message that the gear position was not recognized during gear shifting to a preset terminal.

[0146] Specifically, when it is detected during the gear shifting process that the preset tooth position recognition conditions are not met, a reminder mechanism is immediately triggered.

[0147] The system will generate a reminder message containing the information "The corresponding gear position was not recognized when shifting from XXX gear to XXX gear" and send this reminder message to the preset terminal device through a preset communication method (such as wireless communication, CAN bus, etc.).

[0148] Among them, the preset terminal device can be the display screen inside the vehicle, the driver’s mobile phone APP, the vehicle manufacturer’s remote monitoring center, etc.

[0149] Through the above technical solution, when the preset gear position recognition conditions are not met, a reminder message that the gear position was not recognized during gear shifting is sent to the preset terminal, which can promptly feedback problems in the self-learning process to technicians or drivers, so that they can take timely measures to investigate and repair them.

[0150] Therefore, based on the specific discussion of the above embodiments, the present application can achieve the following beneficial effects:

[0151] (1) The requirement that the hub angle be within the preset range during gear shifting ensures that the gear-matching position found must be within the design range, thus preventing other similar gear-matching phenomena from being mistakenly identified as gear-matching. The gear shift motor current is greater than the preset current value, indicating that gear-matching has occurred and the gear shift motor can no longer push the shift fork and generate no displacement. The shift motor pulse change is less than the preset value, indicating that the gear shift motor can no longer push the shift fork and generate no displacement. Based on these conditions, the gear-matching point position is determined. The next time a gear is shifted, the gear-matching point position can be quickly approached, and then the shift force can be reduced to avoid gear-matching, thereby smoothly shifting and shortening the gear shifting time.

[0152] (2) By controlling the odd-numbered shift hub to move to the leftmost side of the profile, and shifting gears from the current gear to multiple odd-numbered shift gears in sequence, the gear position of each shift is obtained when the preset gear position identification conditions are met. The gear position of the odd-numbered shift hub gear can be accurately obtained, and when shifting gears, gear matching can be avoided, thereby smoothly shifting gears and improving the efficiency and reliability of shifting.

[0153] (3) When the preset gear position recognition conditions are not met, the system can automatically identify and exit the current unsuccessful gear shift step, avoiding wasting time on invalid or erroneous steps, improving the overall efficiency of the self-learning process, and ensuring that the gear position data ultimately acquired is accurate and reliable. By promptly exiting unsuccessful gear shift steps, the system can prevent other damage caused by continuous unsuccessful gear shift attempts.

[0154] (4) When the preset gear position recognition conditions are not met, a reminder message that the gear position was not recognized during gear shifting is sent to the preset terminal, which can promptly feedback the problems in the self-learning process to the technicians or drivers so that they can take timely measures to investigate and repair them.

[0155] (5) Improve the accuracy and effectiveness of the self-learning process by setting the self-learning conditions for the tooth points.

[0156] In summary, according to the gear gear alignment self-learning method of the embodiment of the present application, it is determined whether the current state of the vehicle meets the gear gear alignment self-learning conditions; if the current state meets the gear gear alignment self-learning conditions, the clutch is controlled to remain in the disconnected state, and the odd-numbered shift hub of the vehicle is controlled to move to the leftmost side of the contour line to perform gear alignment learning of the odd-numbered hub gear, and the gear alignment position of the odd-numbered hub gear is obtained; after the gear alignment learning of the odd-numbered hub gear is completed, the even-numbered shift hub of the vehicle is controlled to move to the leftmost side of the contour line to perform gear alignment learning of the even-numbered hub gear, and the gear alignment position of the even-numbered hub gear is obtained, so that the vehicle can shift into or out of gear according to the gear alignment position of the odd-numbered hub gear and the gear alignment position of the even-numbered hub gear after the vehicle is powered on again. This method solves the problem that the dog tooth gear shifting structure is prone to gear shift failure due to tooth alignment during the gear shifting process. It can accurately find the specific tooth alignment position of the dog tooth gear shifting structure, quickly approach the tooth alignment position before approaching the tooth alignment position, and quickly reduce the shifting force when approaching the tooth alignment position, thereby greatly reducing the occurrence rate of gear shifting failure due to tooth alignment, while shortening the gear shifting time and improving the efficiency and reliability of gear shifting.

[0157] Figure 5 It is a structural schematic diagram of a gear position and tooth point self-learning device provided in an embodiment of the present application.

[0158] For example, Figure 5 As shown, the gear position and tooth point self-learning device 10 may include: a judgment module 100 , an odd-numbered hub gear position self-learning module 200 and an even-numbered hub gear position self-learning module 300 .

[0159] Among them, the judgment module 100 is used to judge whether the current state of the vehicle meets the gear point self-learning conditions; the odd hub gear self-learning module 200 is used to control the clutch to remain in the disconnected state if the current state meets the gear point self-learning conditions, and control the vehicle's odd shift hub to move to the leftmost side of the contour line to perform gear point learning of the odd hub gear, and obtain the gear position of the odd hub gear; the even hub gear self-learning module 300 is used to control the vehicle's even shift hub to move to the leftmost side of the contour line to perform gear point learning of the even hub gear after the gear point learning of the odd hub gear is completed, and obtain the gear position of the even hub gear, so that the vehicle can shift into or out of gear according to the gear position of the odd hub gear and the gear position of the even hub gear after the vehicle is powered on again.

[0160] Optionally, in one embodiment of the present application, the odd hub gear self-learning module 200 is used to: based on multiple odd-numbered shift positions, control the odd hub gears to shift sequentially from the current gear, and obtain the latest gear of the odd hub gear and the gear position at each shift when the preset gear position identification conditions are met; control the odd hub gears to shift from the latest gear to the target gear, and obtain the gear position from the current gear to the target gear when the preset gear position identification conditions are met; based on multiple odd-numbered reverse shift positions, control the odd hub gears to shift in reverse from the target gear to the current gear, and obtain the gear position at each reverse shift when the preset gear position identification conditions are met.

[0161] Optionally, in one embodiment of the present application, the even hub gear self-learning module 300 is used to control the even hub gear to shift sequentially from the current gear based on multiple even-numbered shift positions, and obtain the latest gear of the even hub gear and the gear position at each shift when the preset gear position identification conditions are met; control the even hub gear to shift from the latest gear to the target gear, and obtain the gear position from the current gear to the target gear when the preset gear position identification conditions are met; control the even hub to shift in reverse from the target gear to the current gear based on multiple even-numbered reverse shift positions, and obtain the gear position at each reverse shift when the preset gear position identification conditions are met.

[0162] Optionally, in one embodiment of the present application, the preset tooth position identification conditions are: the angle of the tooth during gear shifting is within a preset angle range, and the current of the gear shifting motor during gear shifting is greater than a preset current value and the pulse change of the gear shifting motor during gear shifting is less than a preset value.

[0163] Optionally, in one embodiment of the present application, when the preset gear position recognition conditions are not met, the even hub gear self-learning module 200 and the even hub gear self-learning module 300 are also used to: exit the current gear shifting step, and enter the next gear shifting step or end the current self-learning.

[0164] Optionally, in one embodiment of the present application, the tooth point self-learning conditions include:

[0165] The vehicle is in operation;

[0166] Moreover, receiving a self-learning instruction;

[0167] Moreover, the current gear is the stop gear;

[0168] Moreover, the vehicle's sensor correction is completed;

[0169] and, the input shaft speed of the vehicle's transmission is greater than a predetermined speed;

[0170] Moreover, the vehicle is at rest;

[0171] Moreover, the vehicle's shift motor is normal;

[0172] Moreover, the odd-numbered clutch pressure and the even-numbered clutch pressure of the vehicle are both less than a preset threshold;

[0173] Moreover, the vehicle's gear position and gear point self-learning has not been completed.

[0174] Optionally, in one embodiment of the present application, when the preset tooth position recognition conditions are not met, the even hub gear self-learning module 200 and the even hub gear self-learning module 300 are also used to: send a reminder message to the preset terminal that the tooth position was not recognized during gear shifting.

[0175] In summary, according to the gear gear alignment self-learning device of the embodiment of the present application, it is determined whether the current state of the vehicle meets the gear alignment self-learning conditions; if the current state meets the gear alignment self-learning conditions, the clutch is controlled to remain in the disconnected state, and the odd-numbered shift hub of the vehicle is controlled to move to the leftmost side of the contour line to perform gear alignment learning of the odd-numbered hub gear, and the gear alignment position of the odd-numbered hub gear is obtained; after the gear alignment learning of the odd-numbered hub gear is completed, the even-numbered shift hub of the vehicle is controlled to move to the leftmost side of the contour line to perform gear alignment learning of the even-numbered hub gear, and the gear alignment position of the even-numbered hub gear is obtained, so that the vehicle can shift into or out of gear according to the gear alignment position of the odd-numbered hub gear and the gear alignment position of the even-numbered hub gear after the vehicle is powered on again. This method solves the problem that the dog tooth gear shifting structure is prone to gear shift failure due to tooth alignment during the gear shifting process. It can accurately find the specific tooth alignment position of the dog tooth gear shifting structure, quickly approach the tooth alignment position before approaching the tooth alignment position, and quickly reduce the shifting force when approaching the tooth alignment position, thereby greatly reducing the occurrence rate of gear shifting failure due to tooth alignment, while shortening the gear shifting time and improving the efficiency and reliability of gear shifting.

[0176] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0177] It should be understood that the above-described method can be applied to Figure 6 In a vehicle of the structure shown.

[0178] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform the gear pair tooth point self-learning method provided in the embodiment of the present application.

[0179] Furthermore, the device further includes: a communication interface 603 for communication between the memory 601 and the processor 602 .

[0180] In this embodiment, the device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0181] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0182] It should be understood that the device provided in this embodiment is used to execute the above-mentioned gear position to tooth point self-learning method, and thus can achieve the same effect as the above-mentioned implementation method.

[0183] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is used in a vehicle, the processing module may be used to control and manage the vehicle's movements. The storage module may be used to support the vehicle's execution of program codes, etc.

[0184] The processing module may be a processor 602 or a controller, which may implement or execute various exemplary logic blocks, modules, and circuits disclosed herein. The processor 602 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the like. The storage module may be a memory 601.

[0185] In addition, the device provided in the embodiments of the present application can specifically be a chip, component or module, and the chip may include a connected processor 602 and a memory 601; wherein the memory 601 is used to store instructions, and when the processor calls and executes the instructions, the chip can execute the gear position tooth point self-learning method provided in the above embodiment.

[0186] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a gear position and tooth point self-learning method provided in the above embodiment.

[0187] This embodiment also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a gear position to tooth point self-learning method provided in the above embodiment.

[0188] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0189] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0190] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0191] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A gear position to tooth point self-learning method, characterized in that: The following steps are involved: Determine whether the current state of the vehicle meets the gear point self-learning conditions; If the current state satisfies the gear point self-learning condition, the clutch is controlled to remain in a disengaged state, and the odd-numbered shift hub of the vehicle is controlled to move to the leftmost side of the profile line to perform gear point learning for the odd-numbered shift hub gear position, thereby obtaining the gear point self-learning condition for the odd-numbered shift hub gear position. After the gear point learning of the odd-numbered hub gear is completed, the even-numbered shift hub of the vehicle is controlled to move to the leftmost side of the profile line to perform gear point learning of the even-numbered hub gear, and the gear position of the even-numbered hub gear is obtained, so that after the vehicle is powered on again, the vehicle can shift forward or backward according to the gear position of the odd-numbered hub gear and the gear position of the even-numbered hub gear.

2. The method according to claim 1, characterized in that The controlling the odd-numbered shift hub of the vehicle to move to the leftmost side of the profile line and then performing gear alignment learning of the odd-numbered shift hub gear to obtain the gear alignment position of the odd-numbered shift hub gear includes: Based on a plurality of odd-numbered shift positions, the odd-numbered hub shift positions are controlled to shift sequentially from a current gear position, and the latest gear position of the odd-numbered hub shift position and the gear position during each shift are obtained when a preset gear position identification condition is met; Controlling the odd-numbered hub gear to shift from the latest gear to the target gear, and obtaining the gear position from the current gear to the target gear when a preset gear position identification condition is met; Based on a plurality of odd reverse shift positions, the odd rotating hub is controlled to shift reversely from the target gear position to the current gear position, and the gear position during each reverse shift is obtained when a preset gear position identification condition is met.

3. The method according to claim 1, characterized in that The controlling the even-numbered shift hub of the vehicle to move to the leftmost side of the profile to perform gear alignment learning of the even-numbered shift hub gear position to obtain the gear alignment position of the even-numbered shift hub gear position includes: Based on a plurality of even-numbered shift positions, control the even-numbered hub gears to shift sequentially from the current gear position, and obtain the latest gear position of the even-numbered hub gear and the gear position during each shift when a preset gear position identification condition is met; Controlling the even-numbered hub gear to shift from the latest gear to the target gear, and obtaining the gear position from the current gear to the target gear when a preset gear position identification condition is met; Based on a plurality of even-numbered reverse shift positions, the even-numbered rotating hub is controlled to reverse shift from the target gear position to the current gear position, and the gear position during each reverse shift is obtained when a preset gear position identification condition is met.

4. The method according to claim 2 or 3, characterized in that The preset tooth position recognition conditions are: The angle of the teeth during gear shifting is within a preset angle range, the current of the gear shifting motor during gear shifting is greater than a preset current value, and the pulse change of the gear shifting motor during gear shifting is less than a preset value.

5. The method according to claim 2 or 3, characterized in that When the preset tooth position recognition conditions are not met, it also includes: Exit the current gear shifting step and enter the next gear shifting step or end the current self-learning.

6. The method according to claim 1, characterized in that The tooth point self-learning conditions include: The vehicle is in a running state; Moreover, receiving a self-learning instruction; Moreover, the current gear is the stop gear; Furthermore, the sensor correction of the vehicle is completed; Furthermore, the input shaft speed of the transmission of the vehicle is greater than a preset speed; Furthermore, the vehicle is in a stationary state; Furthermore, the shift motor of the vehicle is normal; Moreover, the odd-numbered clutch pressure and the even-numbered clutch pressure of the vehicle are both less than a preset threshold value; Moreover, the gear position and tooth point self-learning of the vehicle is not completed.

7. The method according to claim 5, characterized in that When the preset tooth position recognition conditions are not met, including: Send a reminder message to the preset terminal that the gear position is not recognized during gear shifting.

8. A gear position and tooth point self-learning device, characterized in that: include: A judgment module is used to judge whether the current state of the vehicle meets the gear point self-learning conditions; an odd-numbered hub gear self-learning module, configured to control the clutch to remain in a disengaged state if the current state satisfies the tooth point self-learning condition, and control the odd-numbered shift hub of the vehicle to move to the leftmost side of the profile line, and then perform tooth point learning of the odd-numbered hub gear to obtain the tooth position of the odd-numbered hub gear; The even-numbered hub gear self-learning module is used to control the even-numbered shift hub of the vehicle to move to the leftmost side of the profile line to perform gear-alignment learning of the even-numbered hub gear after the gear-alignment learning of the odd-numbered hub gear is completed, so as to obtain the gear-alignment position of the even-numbered hub gear, so as to shift the vehicle forward or backward according to the gear-alignment position of the odd-numbered hub gear and the gear-alignment position of the even-numbered hub gear after the vehicle is powered on again.

9. A vehicle, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the gear position to tooth point self-learning method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the gear-to-tooth point self-learning method according to any one of claims 1 to 7.

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