Method and device for determining mounting deviation of shifting fork, controller, vehicle and medium

Abstract

The embodiment of the invention relates to a method and device for determining the installation deviation of a shifting fork, a controller, a vehicle and a medium. The method includes controlling a shift fork to move in a first direction from a first side of a locker between a sleeve and a ring gear of a clutch to a neutral position; a first distance of movement is determined in response to the shift fork being locked in the neutral position by the latch. The method further includes controlling the shift fork to move in a second direction from a second side of the lock to the neutral position, wherein the second direction is different from the first direction; a second distance of movement is determined in response to the shift fork being locked in the neutral position by the latch. The method further includes determining an estimate of the installation deviation based on the first distance and the second distance. According to the method disclosed by the embodiment of the invention, when the claw clutch is mounted, the mounting deviation can be identified more quickly and more accurately, and the control accuracy is improved.

Description

Technical Field

[0001] Embodiments of the present disclosure generally relate to the field of vehicles, and more particularly, to a method, apparatus, controller, vehicle, and medium for determining installation deviation of a shift fork. Background Art

[0002] With the development of new energy vehicles, electric vehicles (EVs) have gradually become a key segment of the new energy vehicle market. EVs are electrically powered vehicles, primarily using an electric motor to drive the wheels. This reduces the need for chemical energy and offers advantages such as energy conservation and environmental protection. As EVs have evolved, their drive motor systems have also rapidly evolved. Typically, EV drive motor systems include components such as an electric motor and a dog clutch. During vehicle operation, the control system of an EV's dog clutch (also known as a shift actuator) enables precise control of the dog clutch, improving shift quality. Summary of the Invention

[0003] Embodiments of the present disclosure provide a method, apparatus, controller, vehicle, and medium for determining installation deviation of a shift fork.

[0004] According to a first aspect of the present disclosure, a method for determining an installation deviation of a shift fork is provided. The method includes controlling the shift fork to move in a first direction from a first side of a locker between a clutch sleeve and a ring gear toward a neutral position; and determining a first distance of movement in response to the shift fork being locked in the neutral position by the locker. The method also includes controlling the shift fork to move in a second direction from a second side of the locker toward the neutral position, wherein the second direction is different from the first direction; and determining a second distance of movement in response to the shift fork being locked in the neutral position by the locker. The method also includes determining an estimated value of the installation deviation based on the first distance and the second distance.

[0005] According to a second aspect of the present disclosure, a device for determining an installation deviation of a shift fork is provided. The device includes: a first control unit configured to control the shift fork to move in a first direction from a first side of a locker between a clutch sleeve and a ring gear to a neutral position; a first determination unit configured to determine a first distance of movement in response to the shift fork being locked in the neutral position by the locker; a second control unit configured to control the shift fork to move in a second direction from a second side of the locker to the neutral position, wherein the second direction is different from the first direction; a second determination unit configured to determine a second distance of movement in response to the shift fork being locked in the neutral position by the locker; and a third determination unit configured to determine an estimated value of the installation deviation based on the first distance and the second distance.

[0006] According to a third aspect of the present disclosure, a controller is provided. The controller includes at least one processor; and a memory coupled to the at least one processor and having instructions stored thereon, which, when executed by the at least one processor, cause the controller to perform the steps of the method of the first aspect of the present disclosure.

[0007] According to a fourth aspect of the present disclosure, a vehicle is provided, comprising the controller according to the third aspect of the present disclosure.

[0008] According to a fifth aspect of the present disclosure, a machine-readable storage medium is provided, wherein the machine-readable storage medium stores machine-executable instructions, wherein the machine-executable instructions are executed by a processor to implement the steps of the method in the first aspect of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The above and other objects, features and advantages of the present disclosure will become more apparent through a more detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present disclosure.

[0010] Figure 1 A schematic diagram illustrating an example environment in which devices and / or methods according to embodiments of the present disclosure may be implemented;

[0011] Figure 2 A schematic diagram illustrating an example of an electric vehicle drive motor system according to an embodiment of the present disclosure is shown;

[0012] Figure 3 A schematic diagram illustrating an example of a gear actuator according to an embodiment of the present disclosure is illustrated;

[0013] Figure 4 A schematic diagram illustrating an example of a shift fork according to an embodiment of the present disclosure is illustrated;

[0014] Figure 5 A schematic diagram illustrating an example of installation of a shift fork according to an embodiment of the present disclosure;

[0015] Figure 6 A flow chart illustrating a method for determining installation deviation of a shift fork according to an embodiment of the present disclosure is shown;

[0016] Figure 7 A schematic diagram illustrating an example process for determining installation deviation of a shift fork according to an embodiment of the present disclosure;

[0017] Figure 8 A schematic diagram illustrating an example chart for determining installation deviation of a shift fork according to an embodiment of the present disclosure;

[0018] Figure 9A schematic diagram illustrating example steps for determining installation deviation of a shift fork according to an embodiment of the present disclosure;

[0019] Figure 10 A schematic diagram illustrating an apparatus for determining installation deviation of a shift fork according to an embodiment of the present disclosure is shown; and

[0020] Figure 11 Illustrated is a schematic block diagram of an example device suitable for implementing embodiments of the present disclosure.

[0021] In the various drawings, the same or corresponding reference numerals denote the same or corresponding parts. DETAILED DESCRIPTION

[0022] The following describes embodiments of the present disclosure in more detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0023] In the description of the embodiments of the present disclosure, the term "including" and similar terms should be understood as open inclusion, i.e., "including but not limited to." The term "based on" should be understood as "based at least in part on." The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment." The terms "first," "second," etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0024] In the existing clutch installation process, there is no automated method for detecting installation deviation. Generally, the installation deviation needs to be measured manually based on the employee's experience, resulting in low measurement efficiency, measurement accuracy, and slow quality inspection speed.

[0025] According to the proposed embodiment of the present disclosure, the locker between the sleeve and the ring gear has a neutral locking function. The gear actuator control system can control the shift fork to approach the neutral position. When the centers of the sleeve and the ring gear are very close, the locker can pull the sleeve so that the sleeve and the ring gear are on the same center line. Then the deviation between the shift and the dog clutch can be found. After identifying the installation deviation, the gear actuator control system can compensate for the deviation. Through this method, through the method of the embodiment of the present disclosure, when installing the dog clutch, the installation deviation can be identified more quickly and accurately, thereby improving the control accuracy.

[0026] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Figure 11 shows an example environment 100 in which the devices and / or methods of embodiments of the present disclosure may be implemented. Figure 1 As shown, example environment 100 includes vehicle 102. Vehicle 102 is an electric vehicle, and vehicle 102 includes controller 104. Controller 104 is used to control vehicle 102 to complete a gear shift operation. In one example, the controller is a controller for a gear shift actuator. In another example, controller 104 may be a domain controller or a gear actuator control system in the vehicle. In yet another example, controller 104 may be a vehicle controller. In yet another example, controller 104 may be implemented by any suitable computing device. The above examples are merely illustrative of the present disclosure and are not intended to limit the present disclosure.

[0027] exist Figure 1 In the embodiment, the controller 104 in the vehicle 102 controls the shift actuator 106 to perform the shift operation. The shift actuator 106 includes a cam 108 and a shift fork 110. Figure 1 As shown, cam 108 is mounted above shift fork 110. The rotation of cam 108 drives the rotation of shift fork 110, which in turn drives the gear connected to the shift fork to move, meshing with the gears of different gears, thereby completing the gear shifting operation. If the user sets a target gear for the vehicle, controller 104 can determine the target position of the shift fork corresponding to the target gear.

[0028] The controller 104 can also determine the measured position of the shift fork 110 as measured by the shift fork sensor. After obtaining the target position and measured position of the shift fork 110, the target angle at which the cam needs to rotate can be determined based on the target position and measured position. The controller 104 can also obtain the measured angle of the cam as measured by the cam sensor and the measured position of the shift fork as measured by the shift fork sensor. The controller then further uses the obtained measured angle of the cam and the measured position of the shift fork to determine adjustment parameters related to the rotation of the motor of the shift actuator. Finally, the controller uses the target angle of the cam, the measured angle measured by the cam sensor, and the adjustment parameters to determine the target speed of the motor of the shift actuator, thereby dynamically adjusting the force applied by the spring to the cam and the shift fork to perform the shift operation.

[0029] Combined with the above Figure 1 A block diagram of an example system 100 is depicted in which embodiments of the present disclosure can be implemented. Figure 2 A schematic diagram depicts an example 200 of an electric vehicle drive motor system according to an embodiment of the present disclosure.

[0030] like Figure 2 In the example 200 of the electric vehicle drive motor system 202, the electric vehicle drive motor system 202 includes a shift actuator 202 (corresponding to Figure 1The shift actuator 106). The shift actuator 202 includes a cam 108 and a shift fork 110. Figure 2 In the embodiment, the shift actuator further includes a spring base 204, which is connected to the output shaft of the motor of the shift actuator, so that the rotation of the motor of the shift actuator will drive the spring base 204 to rotate.

[0031] The cam 108 has a hole in which a portion of the spring base 204 is received. Therefore, the cam 208 is sleeved on a portion of the spring base 204. The spring base 204 has a hole in the middle and lower portion of the portion that is nested with the cam 208 to receive the spring. The spring is placed in the hole with one end connected to the spring base and the other end connected to the cam 208. Figure 2 In the figure 206, the location of the spring is shown.

[0032] The shift actuator 202 also includes a shift fork sensor 208 for measuring the position of the shift fork 110. Furthermore, the shift actuator 202 also includes a cam sensor 208 for measuring the angle or position of the cam. When the cam rotates, it drives the shift fork to rotate via a roller 212 on the shift fork.

[0033] Combined with the above Figure 2 An example 200 of an electric vehicle drive motor system according to an embodiment of the present disclosure is described. Figure 3 A schematic diagram depicting an example 300 of a gear actuator 300 according to an embodiment of the present disclosure.

[0034] like Figure 3 As shown, in a new energy transmission, a gear actuator 300 is used to perform the shifting function. Gear actuator 300 pushes a dog clutch to engage and disengage a gear. During actual installation, there is inevitably a misalignment between the gear actuator's shift fork (as shown in block 302) and the neutral position of the dog clutch. In practice, this misalignment can cause noise during gear disengagement and engagement, and prevent the gears from fully disengaging.

[0035] Combined with the above Figure 3 A schematic diagram of an example 300 of a gear actuator according to an embodiment of the present disclosure is described. Figure 4 A schematic diagram depicting an example 400 of a shift fork according to an embodiment of the present disclosure is shown.

[0036] exist Figure 4 In example 400, Figure 3Detailed information on the positional relationship between the shift fork 302 and the dog clutch is provided. The lower portion of the shift fork 302 is connected to the detent of the dog clutch 402. The detent is located between the sleeve and the ring gear. The detent is used to lock the shift fork 302. For example, the connection between the shift fork 302 and the dog clutch 402 can be seen in boxes 406 and 404. Box 404 shows a cross-sectional view of the dog clutch 402, wherein the cross-section of the shift fork 302 is shaped as indicated by reference numeral 414. Box 406 shows details of some components of the clutch 402. The inner race of the sleeve 408 is coupled to the outer race of the ring gear 410, and the detent 412 is located between the sleeve 408 and the ring gear 410. The detent 412 is perpendicular to the sleeve 408 and the ring gear 410.

[0037] Combined with the above Figure 4 A schematic diagram of an example 400 of a shift fork according to an embodiment of the present disclosure is described. Figure 5 A schematic diagram depicting an example 500 of an installation of a shift fork according to an embodiment of the present disclosure is provided. Figure 5 As described above, block 502 illustrates a schematic diagram of a smooth installation, while block 504 illustrates a schematic diagram of a substantially smooth installation. Generally, the center of the dog clutch and the center of the shift fork are preferably positioned on the installation centerline. For example, in block 502, the center of the dog clutch and the center of the shift fork coincide with each other (i.e., centerline 506).

[0038] During actual installation, the center of the dog clutch is likely not aligned with the center of the shift fork. For example, in block 504, the center 510 of the dog clutch is offset 512 from the center 508 of the shift fork. When the offset 512 is greater than a threshold offset, the installation may be deemed unacceptable. In actual use, the offset 512 may cause noise when disengaging and engaging gears, and may not allow the gears to fully disengage.

[0039] According to the proposed embodiment of the present disclosure, the lock between the shaft sleeve and the ring gear has a neutral locking function. The gear actuator control system can control the shift fork to approach the neutral position. When the centers of the shaft sleeve and the ring gear are very close, the lock can pull the shaft sleeve, aligning the shaft sleeve and the ring gear on the same centerline. This can then determine the deviation between the shift and the dog clutch. After identifying the installation deviation, the gear actuator control system can compensate for the deviation.

[0040] Combined with the above Figure 5 A schematic diagram of an example 500 of an installation of a shift fork according to an embodiment of the present disclosure is described. Figure 6A flow chart of a method 600 for determining the installation deviation of a shift fork according to an embodiment of the present disclosure is described. Figure 7 To describe, because Figure 7 A schematic diagram illustrating an example process 700 for determining installation deviation of a shift fork according to an embodiment of the present disclosure is illustrated.

[0041] At box 602, the shift fork is controlled to move in a first direction from a first side of the locker between the sleeve and the ring gear of the clutch to a neutral position. For example, the shift fork is moved from left to right (as shown by arrow 712), or the shift fork is moved from right to left. The purpose is to move the arc-shaped recess 710 from a position away from the locker 706 between the sleeve 702 and the ring gear 704 to a position close to the locker 706. When the recess 710 moves to a certain range close to the locker 706, it can be locked by the locker 706. For example, within the range 708. It can be understood that the range 708 can include a rectangle with a certain distance (also referred to as the third distance) centered on the locker 706.

[0042] At block 604, when the shift fork is locked in the neutral position by the locker, a first distance of movement is determined. For example, when the shift fork is locked by the locker 710, it moves 1 millimeter (mm), and the first distance at this time can be determined to be 1 mm.

[0043] At block 606, the shift fork is controlled to move from the second side of the detent to the neutral position in a second direction, where the second direction is different from the first direction. For example, if the first direction at block 602 is from left to right, then the second direction at block 606 is from right to left. If the first direction at block 602 is from right to left, then the second direction at block 606 is from left to right. Generally, the first direction differs from the second direction by 180 degrees.

[0044] At frame 608, when the shift fork is locked in the neutral position by the locker, the second distance of movement is determined. For example, when the shift fork is locked by the locker 710, it moves 0.8 millimeters (mm), then the first distance at this time can be determined to be 0.8 mm.

[0045] At block 610, an estimated value of the installation deviation is determined based on the first distance and the second distance. For example, the average of the first and second distances can be calculated and used as the estimated value of the installation deviation. Continuing with the above example, the average of the first distance (1 mm) and the second distance (0.8 mm) (0.9 mm) is used as the estimated value of the installation deviation. In this way, the method of the embodiments of the present disclosure can more quickly and accurately identify installation deviation during dog clutch installation, improving control accuracy.

[0046] In some examples, the first and second distances can be determined using a displacement sensor on the shift fork. This displacement sensor can directly output the horizontal distance the shift fork has moved. In some examples, an angle sensor can also be used to estimate the horizontal distance of the shift fork. For example, the first and second distances can be estimated by measuring the angle of cam rotation. A mapping relationship between the cam rotation angle and horizontal distance can be first determined. Based on this mapping relationship, once the cam rotation angle is determined, the horizontal distance of the shift fork can be determined.

[0047] In some embodiments, a waiting period, for example, 1 second, may be performed before switching between the first and second directions. This allows the controller to better distinguish between different direction stages and more accurately determine the deviation. In some embodiments, multiple first distances associated with the first direction and multiple second distances associated with the second direction may be iteratively determined. The average of the multiple first distances and the multiple second distances is calculated and used as an estimate of the installation deviation. In this way, through multiple measurements, systematic and random errors can be reduced.

[0048] In some embodiments, if the shift fork is locked by a lock, the shift fork can be controlled to move away from the lock and stop at a suitable first position on the first side. Block 602 is then executed from this position. Similarly, the shift fork can be controlled to move away from the lock and stop at a suitable second position on the second side, before block 606 is executed. It will be appreciated that this process can be repeated multiple times, for example, so that the first position of one iteration is different from the first position of the next iteration, and the second position of one iteration is different from the second position of the next iteration. In this way, systematic and random errors can be further reduced multiple times, resulting in a more accurate estimate of the installation deviation.

[0049] In some embodiments, when the estimated value of the installation deviation exceeds a threshold deviation, an installation failure alert may be issued. For example, when a manager receives the installation failure alert, they may re-inspect or re-install the clutch or clutches from the same batch, or perform appropriate subsequent actions according to management specifications.

[0050] In some embodiments, when the estimated value of the installation deviation exceeds a threshold deviation, the installation deviation can be compensated. For example, if the installation deviation is 0.2mm, although it is appropriate, when the gear shift requires 1mm movement, the actual movement can be 0.8mm. This can achieve compensation for the gear shift, thus achieving more precise vehicle control.

[0051] Combined with the above Figure 6 and Figure 7A flowchart of a method 600 for determining an installation deviation of a shift fork according to an embodiment of the present disclosure and a schematic diagram of an example process 700 for determining an installation deviation of a shift fork are described. Figure 8 A schematic diagram depicting an example graph 800 for determining installation deviation of a shift fork according to an embodiment of the present disclosure.

[0052] like Figure 8 As shown, curve 802 illustrates the simulated shift fork movement curve when the dog clutch is not in use. The horizontal axis represents time, and the vertical axis represents distance traveled. Curve 802 is relatively smooth, showing no signs of locking. Curve 804 illustrates the shift fork movement curve when method 600 is applied. It can be seen that the dashed boxes 806 and 808 exhibit distinct non-smoothness, unlike the rest of the curve. Therefore, it can be determined that the shift fork is locked at these two locations, and the displacement values ​​that stabilize there can be determined as the first and second distances, respectively. Therefore, as can be seen from graph 800, by implementing method 600 of the present disclosure, the dog clutch neutral lock function's detent allows the shift fork to return to the same position from both sides. Without the dog clutch's braking, the shift fork would not reach the same position when returning to the neutral position from both sides.

[0053] Combined with the above Figure 8 A schematic diagram of an example chart 800 for determining the installation deviation of a shift fork according to an embodiment of the present disclosure is described. Figure 9 A schematic diagram depicts example steps 900 for determining installation deviation of a shift fork according to an embodiment of the present disclosure.

[0054] At step 902, the gear actuator control system controls the shift fork to move to one side from the neutral position. At step 904, the gear actuator control system controls the shift fork to slowly return to the neutral position (which may correspond to block 602). At step 906, the gear actuator control system waits for 1 second and then stores the first neutral position (which may correspond to block 604).

[0055] At step 908, the gear actuator control system controls the shift fork to move away from the neutral position to the other side. At step 910, the gear actuator control system controls the shift fork to slowly return to the neutral position (which may correspond to block 606). At step 912, the gear actuator control system waits for 1 second and then stores the second neutral position (which may correspond to block 608). At step 914, the gear actuator control system stores the average neutral position of the first and second positions (which may correspond to block 610). This allows for faster and more accurate identification of installation deviations during dog clutch installation, improving control accuracy.

[0056] Combined with the above Figure 9 A schematic diagram of an example step 900 for determining the installation deviation of a shift fork according to an embodiment of the present disclosure is described. Figure 10 A schematic diagram of a device 1000 for determining the installation deviation of a shift fork according to an embodiment of the present disclosure is described. The device 1000 may be applied to a controller 104, which may include multiple modules for performing the following steps: Figure 6 The corresponding steps in the method 600 discussed in Figure 10 As shown, the device 1000 includes: a first control unit 1002, configured to control the shift fork to move in a first direction from a first side of the locker between the clutch sleeve and the ring gear to a neutral position; a first determination unit 1004, configured to determine a first distance of movement in response to the shift fork being locked in the neutral position by the locker; a second control unit 1006, configured to control the shift fork to move in a second direction from a second side of the locker to the neutral position, wherein the second direction is different from the first direction; a second determination unit 1008, configured to determine a second distance of movement in response to the shift fork being locked in the neutral position by the locker; and a third determination unit 1010, configured to determine an estimated value of the installation deviation based on the first distance and the second distance.

[0057] In some embodiments, the first determining unit 1004 includes a displacement sensor configured to determine the first distance using a displacement sensor of a shift fork. In some embodiments, the second determining unit 1008 includes a displacement sensor configured to determine the second distance using a displacement sensor of a shift fork.

[0058] In some embodiments, the first determining unit 1004 further includes a first waiting unit configured to wait for a first time period. In some embodiments, the second determining unit 1008 further includes a second waiting unit configured to wait for a second time period, wherein the first time period is the same as or different from the second time period.

[0059] In some embodiments, the device 1000 also includes an iterative execution unit configured to cause the first determination unit 1004 to iteratively determine multiple first distances, and cause the second determination unit 1008 to iteratively determine multiple second distances, and cause the third determination unit 1010 to determine an average of the multiple first distances and the multiple second distances as an estimated value.

[0060] In some embodiments, the device 1000 further includes an acquisition unit configured to acquire multiple rotation angles of the shift fork corresponding to multiple first distances and multiple second distances, and the third determination unit 1010 is further configured to determine an estimated value based on the multiple first distances, the multiple second distances, and the multiple rotation angles.

[0061] In some embodiments, the device 1000 further includes a movement unit configured to control the shift fork to move to a corresponding position on the first side and a corresponding position on the second side. In some embodiments, the device 1000 further includes a compensation unit configured to compensate for installation deviation using the estimated value in response to the estimated value exceeding a threshold deviation. In some embodiments, the device 1000 further includes an alarm unit configured to issue an alarm indicating an installation failure in response to the estimated value exceeding the threshold deviation. In some embodiments, the range of positions in which the shift fork can be locked by the locker includes: within a third distance centered on the locker.

[0062] By implementing one or more functions of device 1000, one or more advantages of method 600 as described above can be achieved. For example, when installing a dog clutch, installation deviations can be identified more quickly and accurately, thereby improving control accuracy.

[0063] Combined with the above Figure 10 A schematic diagram of a device 1000 for determining the installation deviation of a shift fork according to an embodiment of the present disclosure is described. Figure 11 A schematic block diagram depicts an example device 1100 that may be used to implement embodiments of the present disclosure. Figure 1 The controller 104 in the embodiment of the present invention can be implemented using the device 1100. As shown in the figure, the device 1100 includes a processor 1101, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 1102 and loaded into a random access memory (RAM) 1103. Various programs and data required for the operation of the device 1000 can also be stored in the RAM 1103. The processor 1101, the ROM 1102, and the RAM 1103 are connected to each other via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0064] The various processes and procedures described above, such as method 600 and step 900, may be executed by processor 1101. For example, in some embodiments, method 600 and step 900 may be implemented as a computer software program tangibly embodied on a machine-readable medium. In some embodiments, part or all of the computer program may be loaded and / or installed onto device 1100 via ROM 1102. When the computer program is loaded into RAM 1103 and executed by processor 1101, one or more actions of method 600 and step 900 described above may be performed.

[0065] The present disclosure may be a method, an apparatus, a system and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for executing various aspects of the present disclosure.

[0066] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), and any suitable combination thereof. The computer-readable storage medium used herein is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagated through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0067] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0068] The computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, and conventional procedural programming languages ​​such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., utilizing an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions. The electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0069] Various aspects of the present disclosure are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0070] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine such that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0071] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0072] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and the part of the module, program segment or instruction contains one or more executable instructions for realizing the prescribed logical function. In some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the prescribed function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0073] While various embodiments of the present disclosure have been described above, the foregoing description is intended to be illustrative, non-exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technical improvements to existing technologies, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for determining an installation deviation of a shift fork, comprising: Controlling the shift fork to move in a first direction from a first side of a locker between a sleeve and a ring gear of the clutch to a neutral position; determining a first distance of movement in response to the shift fork being locked in the neutral position by the locker; controlling the shift fork to move from a second side of the locker toward the neutral position in a second direction, wherein the second direction is different from the first direction; determining a second distance of movement in response to the shift fork being locked in the neutral position by the locker; as well as An estimate of the installation offset is determined based on the first distance and the second distance.

2. The method according to claim 1, wherein: Determining the first distance of movement includes: determining the first distance using a displacement sensor of the shift fork; and Determining the second distance of movement includes: determining the second distance using the displacement sensor.

3. The method according to claim 2, wherein: Determining a first distance of movement further includes: after determining the first distance, waiting for a first period of time; and Determining a second distance of movement further includes waiting for a second time period after determining the second distance, wherein the first time period is the same as or different from the second time period.

4. The method according to claim 1, further comprising: controlling the shift fork to move in the first direction from the first side to the neutral position; determining the first distance in response to the shift fork being locked in the neutral position by the locker; controlling the shift fork to move from the second side to the neutral position in the second direction; determining the second distance in response to the shift fork being locked in the neutral position by the locker; as well as The estimate is determined based on the plurality of first distances and the plurality of second distances.

5. The method of claim 4, wherein the estimated value is determined by a gear actuator controller, and the method further comprises: iteratively determining, by the gear actuator controller, the plurality of first distances and the plurality of second distances; as well as An average of the plurality of first distances and the plurality of second distances is determined as the estimated value.

6. The method according to claim 5, further comprising: A gear actuator controller acquires a plurality of rotation angles of the shift fork corresponding to the plurality of first distances and the plurality of second distances based on the estimated value, and Determining the estimated value of the installation deviation based on the first distance and the second distance includes: The estimated value is determined based on the plurality of first distances, the plurality of second distances, and the plurality of rotation angles. 7 . The method of claim 1 , wherein the shift fork is controlled by a gear actuator controller to move to the corresponding position of the first side and the corresponding position of the second side.

8. The method according to claim 1, further comprising: In response to the estimated value exceeding a threshold deviation, the estimated value is used to compensate for the installation deviation.

9. The method according to claim 1, further comprising: In response to the estimate exceeding a threshold deviation, an alarm is issued indicating that the installation is unacceptable.

10. The method according to claim 1, wherein the position range in which the shift fork can be locked by the locker includes: Within a third distance centered on the lock.

11. A device for determining installation deviation of a shift fork, comprising: a first control unit configured to control the shift fork to move in a first direction from a first side of a locker between a sleeve and a ring gear of the clutch to a neutral position; a first determining unit configured to determine a first distance of movement in response to the shift fork being locked in the neutral position by the locker; a second control unit configured to control the shift fork to move from a second side of the locker to the neutral position in a second direction, wherein the second direction is different from the first direction; a second determining unit configured to determine a second distance of movement in response to the shift fork being locked in the neutral position by the locker; as well as A third determining unit is configured to determine an estimated value of the installation deviation based on the first distance and the second distance.

12. A controller comprising: at least one processor; as well as A memory is coupled to the at least one processor and has instructions stored thereon, which, when executed by the at least one processor, cause the controller to perform the method according to any one of claims 1-10.

13. A vehicle comprising the controller according to claim 12.

14. A machine-readable storage medium having machine-executable instructions stored thereon, wherein the machine-executable instructions are executed by a processor to implement the method according to any one of claims 1 to 10.

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