Gear position determination method and device, vehicle, medium and program product

Abstract

The invention relates to a gear position determining method and device, a vehicle, a medium and a program product, and relates to the technical field of vehicles, and the method comprises the steps that under the condition that the gear shifting intention of the vehicle is to be switched to a target gear or the vehicle is located at the target gear, the target gear position of the target gear is updated; the target gear is a driving gear in a plurality of gears of the vehicle, and the driving gear is used for driving the vehicle to run; the target gear position represents the position where a gear executing mechanism of the vehicle switches the gear of the vehicle to the target gear. By updating the gear position, the gear position change caused by other factors such as abrasion in the whole life cycle of the gear shifting assembly can be better adapted, it is ensured that the switching position of the gear executing mechanism is accurate, the gear shifting accuracy and smoothness are improved, and the driving experience and the vehicle reliability are enhanced.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular, to a method, device, vehicle, medium, and program product for determining a gear position. Background Art

[0002] During vehicle operation, precise control of gear position is crucial to ensuring proper transmission operation and stable power delivery. Currently, vehicle gear control relies primarily on the mechanical coordination of the shift assembly and signal feedback from the gear position sensor to ensure the gear actuator accurately stays in the target gear position.

[0003] However, in actual use, after the vehicle has traveled a certain mileage, the shift assembly components will wear out due to gear shifting, causing the actual gear position to shift, affecting the accuracy and smoothness of the gear shift, causing gear shift shock and other problems, reducing the driving experience and reliability, and even causing misoperation and safety hazards. Summary of the Invention

[0004] In order to solve the above technical problems, the present disclosure provides a method, device, vehicle, medium and program product for determining a gear position.

[0005] In a first aspect, the present disclosure provides a method for determining a gear position, the method comprising: When the vehicle's gear shift intention is to switch to a target gear, or the vehicle is in a target gear, the target gear position of the target gear is updated; the target gear is a driving gear among the vehicle's multiple gears, and the driving gear is a gear used to drive the vehicle; the target gear position represents the position of the vehicle's gear actuator when switching the vehicle's gear to the target gear.

[0006] Optionally, updating the target gear position of the target gear includes: controlling the vehicle to perform gear self-learning of the target gear to update the target gear position of the target gear.

[0007] Optionally, controlling the vehicle to perform gear self-learning of the target gear to update the target gear position of the target gear includes: Controlling the movement of the gear actuator to obtain a gear limit position corresponding to the target gear; the gear limit position is a maximum movement position of the gear actuator in the direction of the target gear; Obtaining a gear calibration position corresponding to the target gear; the gear calibration position is a pre-calibrated position of the target gear; The target gear position of the target gear is updated according to the gear limit position and the gear calibration position.

[0008] Optionally, controlling the gear actuator to move to obtain a gear limit position corresponding to the target gear includes: Controlling the gear actuator to move in the direction of the target gear, and obtaining gear motor parameters of the vehicle during the movement of the gear actuator; In response to the gear motor parameter satisfying a preset termination condition, the current position of the gear actuator is used as the gear limit position corresponding to the target gear.

[0009] Optionally, the gear motor parameters include motor speed and motor phase current, and the preset termination condition includes any one of the following: The motor speed is less than or equal to a preset speed threshold; The motor phase current is greater than or equal to a preset current threshold; The time during which the motor speed is less than or equal to the preset speed threshold is greater than or equal to a first preset time threshold; The time for which the motor phase current is greater than or equal to the preset current threshold is greater than or equal to a second preset time threshold.

[0010] Optionally, in response to the gear motor parameter satisfying a preset termination condition, taking the current position of the gear actuator as the gear limit position corresponding to the target gear includes: In response to the shift motor parameter satisfying the preset termination condition, if the current position of the shift actuator is within a preset position range, the current position of the shift actuator is used as the shift limit position.

[0011] Optionally, updating the target gear position of the target gear according to the gear limit position and the gear calibration position includes: When the gear limit position is greater than or equal to the gear calibration position, determining a first weight corresponding to the gear limit position and a second weight corresponding to the gear calibration position; A target gear position of the target gear is determined according to the first weight, the second weight, the gear limit position, and the gear calibration position.

[0012] Optionally, determining the target gear position of the target gear according to the first weight, the second weight, the gear limit position, and the gear calibration position includes: The target gear position is obtained by performing a weighted summation on the gear limit position and the gear calibration position according to the first weight and the second weight.

[0013] Optionally, updating the target gear position of the target gear according to the gear limit position and the gear calibration position includes: In a case where the gear limit position is smaller than the gear calibration position, the step of controlling the gear actuator to move is repeated to update the target gear position of the target gear.

[0014] Optionally, the step of repeatedly controlling the movement of the gear actuator to update the target gear position of the target gear includes: When the number of repeated executions reaches a preset number threshold and the target gear position is not updated, the target gear position of the target gear is updated based on the multiple gear limit positions obtained; the multiple gear limit positions include the gear limit positions determined after each execution of the step of controlling the movement of the gear actuator.

[0015] Optionally, updating the target gear position of the target gear according to the obtained multiple gear limit positions includes: determining a position difference between a maximum value and a minimum value among the plurality of gear limit positions; In response to the position difference being less than or equal to a preset difference threshold, a position average of the plurality of gear limit positions is used as the target gear position.

[0016] Optionally, in response to the position difference being less than or equal to a preset difference threshold, taking the position average of the plurality of gear limit positions as the target gear position comprises: Obtaining and determining the gear motor stroke corresponding to each gear limit position of the gear actuator; In response to the position difference being less than or equal to a preset difference threshold, if the plurality of gear motor strokes are all within a first preset stroke range, a position average of the plurality of gear limit positions is used as the target gear position.

[0017] Optionally, the method further includes: obtaining vehicle information of the vehicle; When the gear shift intention of the vehicle is to switch to the target gear, or the vehicle is in the target gear, updating the target gear position of the target gear includes: In a case where the vehicle information satisfies a preset trigger condition, if the vehicle's gear shift intention is to switch to a target gear, or the vehicle is in a target gear, the target gear position of the target gear is updated.

[0018] Optionally, the vehicle information includes mileage, number of gear shifts, and gear position sensor travel; and the preset trigger condition includes any one of the following: The change in mileage is greater than or equal to a preset mileage threshold; The change in the number of gear shifting times is greater than or equal to a preset number threshold; The gear position sensor travel is outside a second preset travel range corresponding to the target gear.

[0019] In a second aspect, the present disclosure provides an electronic device comprising: a memory storing a computer program; and a processor for executing the computer program in the memory to implement the steps of the method for determining a gear position provided in the first aspect of the present disclosure.

[0020] In a third aspect, the present disclosure provides a vehicle, comprising the electronic device provided in the second aspect of the present disclosure.

[0021] In a fourth aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for determining the gear position provided in the first aspect of the present disclosure.

[0022] In a fifth aspect, the present disclosure provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method for determining the gear position provided in the first aspect of the present disclosure.

[0023] Through the above technical solution, when the vehicle's shift intention is to switch to the target gear, or when the vehicle is in the target gear, the target gear position of the target gear is updated; the target gear is the driving gear among the multiple gears of the vehicle, and the driving gear is the gear used to drive the vehicle; the target gear position represents the position of the vehicle's gear actuator when it switches the vehicle's gear to the target gear. The present disclosure can more accurately update the position information for the gear that currently needs to be controlled according to the vehicle's shift intention, avoid invalid learning, and improve gear learning efficiency. By updating the gear position, it can better adapt to the changes in the gear position caused by wear and other factors throughout the life cycle of the shift assembly, ensure the accuracy of the gear actuator switching position, improve the accuracy and smoothness of the shift, and enhance the driving experience and vehicle reliability.

[0024] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1The figure is a flow chart showing a method for determining a gear position according to an exemplary embodiment.

[0026] Figure 2 is a flow chart showing another method for determining a gear position according to an exemplary embodiment.

[0027] Figure 3 is a flow chart showing another method for determining a gear position according to an exemplary embodiment.

[0028] Figure 4 The figure is a schematic diagram of a self-learning process according to an exemplary embodiment.

[0029] Figure 5 is a schematic diagram of another self-learning process according to an exemplary embodiment.

[0030] Figure 6 It is a block diagram of a device for determining a gear position according to an exemplary embodiment.

[0031] Figure 7 is a block diagram of another device for determining a gear position according to an exemplary embodiment.

[0032] Figure 8 It is a block diagram of an electronic device according to an exemplary embodiment.

[0033] Figure 9 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0034] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0035] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily to be construed as implying a particular order or precedence. In addition, in the description with reference to the accompanying drawings, the same reference numerals in different drawings represent the same elements.

[0036] As used herein, the term "including" and its variations are open-ended, i.e., "including but not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment," the term "another embodiment" means "at least one additional embodiment," and the term "some embodiments" means "at least some embodiments." Other terms are defined in the following description.

[0037] In the description of this disclosure, unless otherwise specified, "plurality" refers to two or more than two, and other quantifiers are similar; "at least one item", "one or more items" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one item a can represent any number of a; for another example, one or more items among a, b, and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or plural; "and / or" is a type of relationship that describes the association of related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " indicates that the related objects are in an "or" relationship.

[0038] Although operations or steps are described in a particular order in the drawings in the embodiments of the present disclosure, this should not be understood as requiring that these operations or steps be performed in the particular order shown or in a serial order, or that all of the operations or steps shown be performed to obtain a desired result. In the embodiments of the present disclosure, these operations or steps may be performed serially; these operations or steps may also be performed in parallel; or some of these operations or steps may be performed.

[0039] Before introducing the gear position determination methods, devices, vehicles, media, and program products provided by this disclosure, we first introduce the application scenarios involved in each embodiment of this disclosure. During vehicle operation, precise control of gear position is key to ensuring proper transmission operation and stable power transmission. Currently, vehicle gear control primarily relies on the mechanical coordination of the shift assembly and signal feedback from the gear position sensor to ensure that the shift actuator accurately stops at the target gear position.

[0040] However, in actual use, after a vehicle has traveled a certain amount of mileage, the shift assembly's components will wear out due to constant gear engagement. This wear can cause the actual position of each gear to shift, resulting in a deviation between the originally set theoretical gear position and the actual executed position, which in turn affects the accuracy and smoothness of the shift, potentially causing shift shock, power interruption, and other issues, affecting the driving experience and vehicle reliability. Considering the worst-case scenario, when wear causes the gear to not be engaged in the actual gear position (outside the gear range), it will cause varying degrees of wear and tooth collision on the gears, synchronizers, and shift forks, causing irreversible damage to the shift assembly. At the same time, if the driver applies high throttle at this time, the drive motor torque will rapidly increase, generating a huge axial force on the shift fork, far exceeding the range that the shift fork can withstand, causing the shift fork to break, with a high probability of causing the vehicle to break down and affecting the safety of passengers.

[0041] The gear position sensor is also susceptible to interference from external magnets during operation. When the sensor is subject to such interference, the detected travel range may fluctuate abnormally, either becoming smaller or larger. This can cause the gear position signal fed back by the sensor to differ from the actual position. This can directly affect the vehicle control system's judgment of the gear state, leading to inaccurate gear control and even misoperation, posing a safety hazard to the vehicle.

[0042] In some related technologies, static self-learning is used to learn vehicle gear positions. In other words, gear self-learning is performed while the vehicle is stationary. However, if the user attempts to move the vehicle and operates it while static self-learning is in progress, the learning process is interrupted. This interruption not only causes the self-learning process to fail, preventing the acquisition of valid gear parameters, but in severe cases, the vehicle may become immobile for a short period of time, causing significant inconvenience to the user and even posing safety risks under unusual road conditions.

[0043] At the same time, in this self-learning method, all gears that need to be learned are usually cross-learned in sequence, which also causes this static self-learning method to take a long time, affecting the user experience.

[0044] Moreover, since the vehicle is stationary this time, and the gear self-learning requires the gear actuator to be moved to the extreme position, this will inevitably produce a certain amount of noise, which is especially obvious in a quiet environment, giving users a bad car-using experience.

[0045] In addition, in a static scenario, the tooth tops of the driving gear and the driven gear in the shift assembly may be exactly opposite, that is, "tooth top to tooth top". At this time, if the gears are forced to engage, due to the lack of speed difference (the vehicle is not moving), the teeth cannot "offset" the collision position through relative rotation, which is likely to cause a rigid collision, that is, the tooth top phenomenon, and self-learning failure will occur at this time.

[0046] To address the aforementioned technical issues, the present invention provides a method, device, vehicle, medium, and program product for determining gear position. These methods can more accurately update position information for the gear currently being controlled based on the vehicle's shifting intent, avoiding ineffective learning and improving gear learning efficiency. By updating the gear position, the system can better adapt to changes in gear position caused by wear and other factors throughout the lifecycle of the shift assembly, ensuring accurate shifting of the gear actuator, improving shift accuracy and smoothness, and enhancing the driving experience and vehicle reliability.

[0047] In this embodiment, the update phase is integrated into the vehicle's driving process. Since the vehicle is in motion and there is a speed difference between the gears, the driving and driven gears will not become stuck at the top of their teeth. The gears can be staggered by relative rotation to avoid collisions, reducing the risk of tooth collisions. This allows for more stable calibration, minimizes the probability of position update failures, and ensures a smooth and reliable process.

[0048] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0049] Figure 1 FIG. 1 is a flow chart showing a method for determining a gear position according to an exemplary embodiment. Figure 1 As shown, the method includes: In step S101 , the gear shift intention of the vehicle is to switch to the target gear, or the vehicle is in the target gear.

[0050] Among them, the target gear is a driving gear among multiple gears of the vehicle, and the driving gear is a gear used to drive the vehicle. The target gear may include, for example, H gear (high gear) or L gear (low gear), or other driving gears that require gear position update. This disclosure does not make specific limitations on this.

[0051] In some embodiments, the vehicle's shift intention can be comprehensively determined based on user operation signals, the vehicle's operating status, and other factors. For example, in an automatic transmission, a user pushing the shift lever directly triggers a corresponding gear request, thereby determining the vehicle's shift intention. Another example is that the current shift intention can be determined based on the change in the vehicle's accelerator pedal depth to determine whether to maintain the current gear or to shift up. Another example is that the vehicle speed and the current gear have a matching relationship, such as requiring a low gear at low speeds and a high gear at high speeds. When the speed is too high, an upshift is required to protect the engine; when the speed is too low, a downshift is required to avoid stalling. Therefore, the vehicle's shift intention can be determined based on the vehicle's current speed and engine speed.

[0052] It should be noted that, when the vehicle's gear shift intention is to switch to the target gear, it indicates that the vehicle has not yet switched to the target gear, but has the intention to switch to the target gear.

[0053] In step S102 , the target gear position of the target gear is updated.

[0054] The target gear position represents the position of the gear actuator of the vehicle when the gear of the vehicle is switched to the target gear. The gear actuator can be, for example, a shift fork, a mechanical part for manipulating the gear switching position.

[0055] In this embodiment, the target gear position of the target gear may be updated by controlling the vehicle to perform gear self-learning of the target gear.

[0056] By integrating the gear self-learning process into the vehicle driving process, the user's driving behavior and gear self-learning behavior can be integrated, making the user unaware of the learning process. This not only avoids the problem of static learning being interrupted, but also does not affect the user's normal driving operations, improves the convenience of use and driving experience, while ensuring the timeliness and accuracy of gear position calibration.

[0057] In one scenario, the vehicle's gear shifting intention indicates that there is a gear shifting request (switching to the target gear (H gear or L gear)), and the current gear is not equal to the requested target gear, then a gear self-learning action of the target gear can be performed.

[0058] In another scenario, if the vehicle is currently in the target gear and there is no new gear shift request, a gear self-learning action of the target gear can be performed.

[0059] It should be noted that the gear self-learning performed in this embodiment is specific to the target gear. That is, it does not cross-learn all gears. Instead, it integrates gear self-learning into the user's driving behavior, depending on the current user's driving behavior. Specifically, when the current gear is not equal to the target gear, the gear shifting operation is completed only after self-learning is complete. This means that the learning and shifting processes occur simultaneously. When the current gear is equal to the target gear, there is no gear shifting process, only the learning process.

[0060] Through gear self-learning, the gear position of the target gear can be updated to obtain the target gear position. In this way, in subsequent gear shifting actions, the gear can be engaged based on the updated gear position, ensuring the accuracy and reliability of gear engagement and avoiding the impact of gear wear on the user's driving experience.

[0061] This method can more accurately update the position information for the gear currently being controlled based on the vehicle's shifting intent, avoiding ineffective learning and improving gear learning efficiency. This gear position update can better adapt to changes in gear position caused by wear and other factors throughout the lifecycle of the shift assembly, ensuring the precise shifting position of the gear actuator, improving shift accuracy and smoothness, and enhancing the driving experience and vehicle reliability.

[0062] The gear self-learning method in the above embodiment is described in detail below.

[0063] Figure 2 is a flow chart showing another method for determining a gear position according to an exemplary embodiment. Figure 2 As shown, the above steps of controlling the vehicle to perform gear self-learning of the target gear to update the target gear position of the target gear may include the following steps: In step S1021, the gear actuator is controlled to move to obtain the gear limit position corresponding to the target gear.

[0064] The gear limit position is the maximum movement position of the gear actuator in the direction of the target gear.

[0065] It should be noted that the gear limit position is not the theoretical gear position corresponding to the target gear, but the actual limit position of the target gear obtained by controlling the movement of the gear actuator.

[0066] In this step, the vehicle's gear actuator is controlled to move in the direction of the target gear, and the gear motor parameters of the vehicle are obtained during the movement of the gear actuator. In response to the gear motor parameters satisfying a preset termination condition, the current position of the gear actuator is used as the gear limit position corresponding to the target gear.

[0067] That is, by moving the gear actuator, the limit position of the target gear position is found. The gear actuator is the component that directly drives the axial movement of the gear. In the transmission, each gear corresponds to a set of gears or synchronizers, and their meshing position, i.e., the gear endpoint, is fixed. The movement stroke of the gear actuator corresponds one-to-one with the gear endpoint. The gear actuator is clamped on the gear shift ring through a fork structure. When the gear actuator is driven to move, it will directly drive the gear to the endpoint position of the target gear. Therefore, by monitoring the movement limit of the gear actuator, i.e., the position where it can no longer move, the endpoint position of the gear, i.e., the gear limit position, can be determined.

[0068] In some embodiments, whether the current gear actuator reaches the limit position can be determined by determining whether the gear motor parameters of the vehicle meet a preset termination condition during the movement of the gear actuator.

[0069] For example, the gear motor parameters include motor speed and motor phase current, and the preset termination condition includes any one of the following: The motor speed is less than or equal to a preset speed threshold; The motor phase current is greater than or equal to a preset current threshold; The time during which the motor speed is less than or equal to the preset speed threshold is greater than or equal to a first preset time threshold; The time for which the motor phase current is greater than or equal to the preset current threshold is greater than or equal to a second preset time threshold.

[0070] The first preset time threshold and the second preset time threshold may be the same or different, and this disclosure does not specifically limit this.

[0071] Preferably, the preset termination condition may include the above four conditions, namely, the motor speed is less than or equal to the preset speed threshold, the motor phase current is greater than or equal to the preset current threshold, the time for which the motor speed is less than or equal to the preset speed threshold is greater than or equal to the first preset time threshold, and the time for which the motor phase current is greater than or equal to the preset current threshold is greater than or equal to the second preset time threshold.

[0072] When the gear actuator reaches its limit position, it is mechanically blocked, preventing further movement. At this point, both the motor speed and motor phase current will change significantly. For example, when the gear actuator reaches its limit position, the motor speed will suddenly drop to 0, and the motor phase current will increase significantly. Furthermore, to prevent unforeseen situations, such as stalls during movement, the duration of motor speed less than or equal to a preset speed threshold and motor phase current greater than or equal to a preset current threshold can be continuously monitored. If so, it can be determined that the limit position has been reached. This preset current threshold can be calibrated based on the normal gear-engaging current, the maximum load capacity of the gear actuator, the power of the controller, and the capability of the gear motor. For example, the maximum normal gear-engaging current generally does not exceed 6A. The gear motor technical manual specifies a long-term stall current of 12A. The controller power is 250W, the maximum load capacity of the gear actuator is 4000N, and the corresponding motor current is 30A. All of this information needs to be considered comprehensively. This preset time threshold needs to be calibrated to prevent the user from noticing it. For example, the normal gear shifting time is about 200-400ms, and the recommended holding time is 30-60ms.

[0073] To avoid misjudgments caused by mechanical failures preventing the gear actuator from reaching its true limit position, in other embodiments, the gear actuator's current position can be monitored to determine if it is within a preset position range when the gear motor parameters meet a preset termination condition. The preset position range is a pre-set design position range corresponding to the target gear. Even if the shift assembly wears, the gear position of the target gear should not exceed this preset position range. If the current position of the gear actuator exceeds the preset position range, it can be determined that the gear actuator has not reached its true limit position. For example, if the preset position range is 80-90, and the gear actuator is currently at position 60, the learning process can be considered a failure, and the current learning data needs to be discarded. Accordingly, in response to the gear motor parameters meeting the preset termination condition, if the gear actuator's current position is within the preset position range, the current position of the gear actuator is determined to be the gear limit position.

[0074] In step S1022, the gear calibration position corresponding to the target gear is obtained.

[0075] The gear calibration position is the pre-calibrated position of the target gear. This gear calibration position can be understood as the gear position corresponding to the target gear stored in the vehicle. That is, before performing this gear self-learning, the gear calibration position can be used as the target gear position. In this way, when the vehicle engages a gear, the gear engagement operation can be based on this gear calibration position. This gear calibration position can be a position parameter pre-set when the vehicle leaves the factory, that is, the theoretical gear position corresponding to the target gear. Alternatively, it can be a position parameter obtained after performing gear self-learning in a historical period.

[0076] In step S1023, the target gear position of the target gear is updated according to the gear limit position and the gear calibration position.

[0077] In some embodiments, when components in a transmission gear system wear, the gear limit position (i.e., the maximum travel limit of the shift fork pushing the gear) typically increases. This is primarily due to wear-induced increases in mechanical clearance, failure of the limiting structure, or component deformation, which breaches the original limit of gear travel. Therefore, if the gear limit position is greater than or equal to the gear calibration position, the current gear limit position can be considered highly reliable and consistent with wear logic. The target gear position can then be directly updated based on the gear limit position and the gear calibration position to obtain the target gear position.

[0078] Since there's typically a certain gap between the gear position and the gear limit position, for example, if the gear position is 80 and the end position is 90, any position greater than 80 indicates the gear is engaged. Furthermore, when the gear actuator moves to the end position, there's a certain probability that a sound of impact with the end position will be produced. To avoid a negative driving experience for the user while ensuring reliable gear engagement, the target gear position can be determined by combining the gear limit position and the gear calibration position. Specifically, the gear calibration position can be updated according to a set ratio. For example, different weights can be assigned to the gear limit position and the gear calibration position. For example, a first weight corresponding to the gear limit position and a second weight corresponding to the gear calibration position can be determined. Then, based on the first weight, the second weight, the gear limit position, and the gear calibration position, the target gear position for the target gear is determined. For example, the target gear position can be determined by taking a weighted sum of the gear limit position and the gear calibration position based on the first weight and the second weight.

[0079] For example, if the gear limit position is 85 and the gear calibration position is 80, the first weight of the gear limit position is 90% and the second weight of the gear calibration position is 10%. Then, the target gear position is 85*0.9+80*0.1.

[0080] In other embodiments, as previously mentioned, when components wear out, the gear limit position typically increases. Therefore, if the gear limit position is less than the gear calibration position, it may be due to iron filings or other factors that have caused the gear position sensor range to decrease. To avoid the impact of a single fluctuation anomaly on the accuracy of gear position updates, the target gear position can be temporarily not directly updated based on the current gear limit position. Instead, repeated verification can be performed to determine the reliability of the current learning result.

[0081] Specifically, if the gear limit position is less than the gear calibration position, the step of controlling the movement of the gear actuator is repeated to update the target gear position of the target gear. It will be appreciated that each time the step of controlling the movement of the gear actuator is executed, a new gear limit position corresponding to the target gear is obtained. In this embodiment, the following two repetition termination conditions may be included. That is, if the repetition termination conditions are met, the current repetition action is terminated.

[0082] The termination condition for repeated execution may include the new gear limit position being greater than or equal to the gear calibration position; or the number of repeated executions reaching a preset threshold. That is, after each execution of the step of controlling the movement of the gear actuator, the new gear limit position is evaluated to determine whether it is greater than or equal to the gear calibration position. If the gear limit position is greater than or equal to the gear calibration position on a given occasion, the previously obtained gear limit position less than the gear calibration position can be considered a coincidence and does not indicate a reduction in the gear position sensor range. At this point, the current loop execution can be terminated. Furthermore, if the number of repeated executions reaches a preset threshold and no instances of the gear limit position being greater than or equal to the gear calibration position occur, this indicates that the gear limit position has indeed been less than the gear calibration position multiple times in a row, and there is a high probability that the gear position sensor range has decreased. Therefore, it can be determined that the multiple gear limit positions less than the gear calibration position are credible. At this point, the current loop execution can also be terminated.

[0083] In one possible implementation, if the termination condition for repeated execution includes the new gear limit position being greater than or equal to the designated gear position, i.e., if the new gear limit position is greater than or equal to the designated gear position at some point during the repeated execution, the previously retained gear limit position can be discarded. In other words, when the new gear limit position is greater than or equal to the designated gear position, the target gear position can be updated based on the current gear limit position. Specifically, the method for determining the target gear position when the gear limit position is greater than or equal to the designated gear position can be referred to above, and will not be further elaborated here.

[0084] In another possible implementation, if the termination condition for repeated execution includes the number of repeated executions reaching a preset threshold and the target gear position not being updated, it can be determined that multiple gear limit positions less than the gear calibration position are highly reliable, indicating a high probability that the gear position sensor range has decreased. These multiple gear limit positions include the gear limit positions determined after each execution of the step of controlling the movement of the gear actuator. That is, they include previously retained gear limit positions and new gear limit positions obtained after multiple repetitions of the step of controlling the movement of the gear actuator (i.e., the gear limit positions obtained during this self-learning process). In this case, the target gear position of the target gear can be updated based on the multiple gear limit positions obtained.

[0085] For example, a position difference between a maximum value and a minimum value among a plurality of gear limit positions may be determined, and in response to the position difference being less than or equal to a preset difference threshold, a position average of the plurality of gear limit positions is used as the target gear position.

[0086] If the position difference is less than or equal to the preset difference threshold, it can indicate that the multiple gear limit positions have not fluctuated significantly and are highly reliable. In this case, the position average of the multiple gear limit positions can be used as the target gear position.

[0087] Furthermore, the corresponding gear motor stroke of the gear actuator when reaching each gear limit position can also be obtained and determined. The gear motor stroke refers to the angle of rotation or the distance of linear movement of the gear motor when the vehicle's driving gear actuator completes a gear shift. It is a physical quantity used to measure the gear shifting action performed by the gear motor. The reliability of multiple gear limit positions can be further determined by the change in the gear motor stroke. For example, in response to the position difference being less than or equal to a preset difference threshold, if the multiple gear motor strokes are all within a first preset stroke range, the position average of the multiple gear limit positions is used as the target gear position.

[0088] Figure 3 is a flow chart showing another method for determining a gear position according to an exemplary embodiment. Figure 3 As shown, the method may further include the following steps: In step S103, vehicle information of the vehicle is obtained.

[0089] The vehicle information includes mileage, number of gear shifts, and gear position sensor travel.

[0090] Accordingly, the above steps of updating the target gear position of the target gear when the vehicle's shifting intention is to switch to the target gear, or the vehicle is in the target gear, may include: updating the target gear position of the target gear when the vehicle information meets the preset trigger conditions, if the vehicle's shifting intention is to switch to the target gear, or the vehicle is in the target gear.

[0091] The preset trigger condition includes any one of the following: The change in mileage is greater than or equal to a preset mileage threshold; The change in the number of gear shifting times is greater than or equal to a preset number threshold; The travel of the gear position sensor is outside a second preset travel range corresponding to the target gear.

[0092] In other words, by monitoring changes in mileage, number of gear shifts, and gear position sensor travel, it is possible to determine whether the vehicle currently requires gear self-learning. Specifically, if the change in mileage is greater than or equal to a preset mileage threshold, it indicates that the vehicle has traveled a significant amount of mileage and the shift assembly is likely worn. In this case, the gear self-learning process provided by this embodiment can be triggered. If the change in number of gear shifts is greater than or equal to a preset number threshold, it indicates that the vehicle has engaged a significant number of gears and, similarly, the shift assembly is likely worn. In this case, the gear self-learning process provided by this embodiment can be triggered. Furthermore, the gear position sensor travel refers to the physical range or angle over which the sensing element of the vehicle's gear position sensor moves with the gear actuator during gear shift monitoring. It is a key parameter for the sensor to accurately identify the current gear. If the gear position sensor travel is outside the second preset travel range corresponding to the target gear, it indicates that a certain amount of iron filings have accumulated on the magnet of the current gear position sensor, resulting in a significant increase or decrease in the gear position sensor travel. In this case, the gear self-learning process provided by this embodiment can be triggered.

[0093] When any of the above conditions are met, a gear self-learning process can be performed. In other words, during the use of the vehicle, it may go through the gear self-learning process multiple times, so that it can well adapt to the gear position changes caused by wear and other factors throughout the life cycle of the shift assembly, ensuring the accuracy of gear shifting.

[0094] The following is an illustrative description of the method for determining the gear position provided by the embodiment of the present disclosure in conjunction with the change curves of various parameters during the gear self-learning process. Figure 4The figure shows the curves of various parameters changing during the gear self-learning process when the shift intention is to shift to the target gear. Specifically, during the initial stage (left flat segment): before the gear is engaged, the gear position remains unchanged, the gear motor current is low, and the speed is stable, indicating that the vehicle is in a stable gear state, and learning has not been triggered. Learning is triggered: Pushing the limit action (middle rising segment): The controller controls the gear motor to move the gear actuator toward the target gear limit, at which point the motor current and speed increase (overcoming mechanical resistance). Limit identification: When a current surge and speed stall (current spike and speed drop) occur, it indicates that the gear actuator has reached a mechanical limit (such as a gear limit), causing the motor to stall, resulting in a short-term drop in speed and a momentary increase in current due to stalling. Learning completion: The target gear position is updated (right falling segment). After the current and speed are maintained for a set time, the limit position is recorded and the target gear position is calibrated to the new learned value, ensuring more accurate subsequent shifts.

[0095] like Figure 5 As shown, it shows the curve of the change of various parameters during the gear self-learning process when the vehicle is in the target gear. Specifically, in the initial stage (the straight section on the left): the gear position has not changed, the motor current and speed are stable, the vehicle is in gear and on standby, and learning is not triggered. Trigger learning: Actively push the limit (middle rising section): When the vehicle meets the preset trigger conditions, even if it is currently in gear, the controller still shifts the gear to let the motor move in the limit direction of the target gear. At this time, the motor current and motor speed increase (to overcome mechanical resistance), and Figure 4 The logic is consistent, but the position changes slightly. Limit Identification: When a current surge and speed stall (current spike, speed drop) occur, it indicates that the gear actuator has reached a mechanical limit (such as a gear limit), causing the motor to stall, resulting in a short-term speed drop and a momentary current surge due to stalling. Learning Complete: Update the target gear position (right-side drop-off section). After the current and speed are maintained for the set time, the limit position at this time is recorded and the target gear position is calibrated to the new learned value, ensuring more accurate subsequent shifts.

[0096] This method can more accurately update the position information for the gear currently being controlled based on the vehicle's shifting intent, avoiding ineffective learning and improving gear learning efficiency. This gear position update can better adapt to changes in gear position caused by wear and other factors throughout the lifecycle of the shift assembly, ensuring the precise shifting position of the gear actuator, improving shift accuracy and smoothness, and enhancing the driving experience and vehicle reliability.

[0097] Figure 6 is a block diagram of a device for determining a gear position according to an exemplary embodiment. Figure 6 As shown, the device 200 includes: The determination module 201 is configured to determine if the vehicle's gear shift intention is to switch to a target gear or the vehicle is in the target gear.

[0098] The update module 202 is used to update the target gear position of the target gear; the target gear is the driving gear among the multiple gears of the vehicle, and the driving gear is the gear used to drive the vehicle; the target gear position represents the position of the gear actuator of the vehicle when switching the gear of the vehicle to the target gear.

[0099] Optionally, the updating module 202 is configured to control the vehicle to perform gear self-learning of the target gear to update the target gear position of the target gear.

[0100] Optionally, the update module 202 is used to control the movement of the gear actuator to obtain the gear limit position corresponding to the target gear; the gear limit position is the maximum movement position of the gear actuator in the direction of the target gear; obtain the gear calibration position corresponding to the target gear; the gear calibration position is the pre-calibrated position of the target gear; according to the gear limit position and the gear calibration position, update the target gear position of the target gear.

[0101] Optionally, the update module 202 is used to control the gear actuator to move in the direction of the target gear, and obtain the gear motor parameters of the vehicle during the movement of the gear actuator; in response to the gear motor parameters meeting the preset termination conditions, the current position of the gear actuator is used as the gear limit position corresponding to the target gear.

[0102] Optionally, the gear motor parameters include motor speed and motor phase current, and the preset termination condition includes any one of the following: The motor speed is less than or equal to a preset speed threshold; The motor phase current is greater than or equal to a preset current threshold; The time during which the motor speed is less than or equal to the preset speed threshold is greater than or equal to a first preset time threshold; The time for which the motor phase current is greater than or equal to the preset current threshold is greater than or equal to a second preset time threshold.

[0103] Optionally, the updating module 202 is configured to, in response to the gear motor parameter satisfying the preset termination condition, use the current position of the gear actuator as the gear limit position if the current position of the gear actuator is within a preset position range.

[0104] Optionally, the update module 202 is used to determine the first weight corresponding to the gear limit position and the second weight corresponding to the gear calibration position when the gear limit position is greater than or equal to the gear calibration position; and determine the target gear position of the target gear based on the first weight, the second weight, the gear limit position and the gear calibration position.

[0105] Optionally, the updating module 202 is configured to perform a weighted summation on the gear limit position and the gear calibration position according to the first weight and the second weight to obtain the target gear position.

[0106] Optionally, the updating module 202 is configured to, when the gear limit position is smaller than the gear calibration position, repeatedly execute the step of controlling the gear actuator to move, so as to update the target gear position of the target gear.

[0107] Optionally, the update module 202 is used to update the target gear position of the target gear based on the multiple gear limit positions obtained when the number of repeated executions reaches a preset number threshold and the target gear position is not updated; the multiple gear limit positions include the gear limit positions determined after each execution of the step of controlling the movement of the gear actuator.

[0108] Optionally, the updating module 202 is configured to determine a position difference between a maximum value and a minimum value among a plurality of gear limit positions; in response to the position difference being less than or equal to a preset difference threshold, taking a position average of the plurality of gear limit positions as the target gear position.

[0109] Optionally, the update module 202 is used to obtain and determine the gear motor stroke corresponding to the gear actuator when it reaches each gear limit position; in response to the position difference being less than or equal to a preset difference threshold, if multiple gear motor strokes are within a first preset stroke range, the position average of multiple gear limit positions is used as the target gear position.

[0110] Alternatively, as Figure 7 As shown, the device 200 further includes: An acquisition module 203 is used to acquire vehicle information of the vehicle; The determination module 201 is configured to determine if the vehicle information satisfies a preset trigger condition and if the vehicle's gear shift intention is to switch to a target gear or the vehicle is in the target gear.

[0111] The updating module 202 is configured to update the target gear position of the target gear.

[0112] Optionally, the vehicle information includes mileage, number of gear shifts, and gear position sensor travel; and the preset trigger condition includes any one of the following: The change in mileage is greater than or equal to a preset mileage threshold; The change in the number of gear shifting times is greater than or equal to a preset number threshold; The travel of the gear position sensor is outside a second preset travel range corresponding to the target gear.

[0113] The above device can more accurately update the position information of the gear currently being controlled based on the vehicle's shifting intent, avoiding ineffective learning and improving gear learning efficiency. By updating the gear position, it can better adapt to changes in gear position caused by wear and other factors throughout the life cycle of the shift assembly, ensuring the precise shifting position of the gear actuator, improving shifting accuracy and smoothness, and enhancing the driving experience and vehicle reliability.

[0114] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0115] Figure 8 FIG. 1 is a block diagram of an electronic device 300 according to an exemplary embodiment. Figure 8 As shown, the electronic device 300 may include: a processor 301 , a memory 302 , and may further include one or more of a multimedia component 303 , an input / output (I / O) interface 304 , and a communication component 305 .

[0116] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the above-mentioned method for determining the gear position. The memory 302 is used to store various types of data to support the operation of the electronic device 300. This data may include, for example, instructions for any application or method operating on the electronic device 300, as well as application-related data such as contact information, sent and received messages, images, audio, video, etc. The memory 302 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 303 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 302 or sent through the communication component 305. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 304 provides an interface between the processor 301 and other interface modules. The above-mentioned other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 305 is used for wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 305 may include: a Wi-Fi module, a Bluetooth module, an NFC module.

[0117] In an exemplary embodiment, the electronic device 300 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the above-mentioned method for determining the gear position.

[0118] In another exemplary embodiment, a computer-readable storage medium including program instructions is further provided. When executed by a processor, the program instructions implement the steps of the above-described method for determining a gear position. For example, the computer-readable storage medium may be the aforementioned memory 302 including the program instructions. The program instructions may be executed by the processor 301 of the electronic device 300 to perform the above-described method for determining a gear position.

[0119] Figure 9 is a block diagram of a vehicle according to an exemplary embodiment, as shown in FIG. Figure 9 As shown, the vehicle 400 includes Figure 8 An electronic device 300 is provided.

[0120] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program that can be executed by a processor. When the computer program is executed by the processor, the steps of the above-mentioned method for determining the gear position are implemented.

[0121] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program that can be executed by a processor. When the computer program is executed by the processor, the steps of the above-mentioned method for determining the gear position are implemented.

[0122] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0123] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0124] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A method for determining a gear position, characterized in that: The method comprises: When the vehicle's gear shift intention is to switch to a target gear, or the vehicle is in a target gear, the target gear position of the target gear is updated; the target gear is a driving gear among the vehicle's multiple gears, and the driving gear is a gear used to drive the vehicle; the target gear position represents the position of the vehicle's gear actuator when switching the vehicle's gear to the target gear.

2. The method according to claim 1, characterized in that The updating of the target gear position of the target gear comprises: The vehicle is controlled to perform gear self-learning of the target gear to update a target gear position of the target gear.

3. The method according to claim 2, characterized in that The controlling the vehicle to perform gear self-learning of the target gear to update the target gear position of the target gear includes: Controlling the movement of the gear actuator to obtain a gear limit position corresponding to the target gear; the gear limit position is a maximum movement position of the gear actuator in the direction of the target gear; Obtaining a gear calibration position corresponding to the target gear; the gear calibration position is a pre-calibrated position of the target gear; The target gear position of the target gear is updated according to the gear limit position and the gear calibration position.

4. The method according to claim 3, characterized in that The controlling the shift actuator to move to obtain the shift limit position corresponding to the target shift comprises: Controlling the gear actuator to move in the direction of the target gear, and obtaining gear motor parameters of the vehicle during the movement of the gear actuator; In response to the gear motor parameter satisfying a preset termination condition, the current position of the gear actuator is used as the gear limit position corresponding to the target gear.

5. The method according to claim 4, characterized in that The gear motor parameters include motor speed and motor phase current, and the preset termination condition includes any one of the following: The motor speed is less than or equal to a preset speed threshold; The motor phase current is greater than or equal to a preset current threshold; The time during which the motor speed is less than or equal to the preset speed threshold is greater than or equal to a first preset time threshold; The time for which the motor phase current is greater than or equal to the preset current threshold is greater than or equal to a second preset time threshold.

6. The method according to claim 4, characterized in that In response to the gear motor parameter satisfying a preset termination condition, taking the current position of the gear actuator as the gear limit position corresponding to the target gear includes: In response to the shift motor parameter satisfying the preset termination condition, if the current position of the shift actuator is within a preset position range, the current position of the shift actuator is used as the shift limit position.

7. The method according to claim 3, characterized in that The updating of the target gear position of the target gear according to the gear limit position and the gear calibration position includes: When the gear limit position is greater than or equal to the gear calibration position, determining a first weight corresponding to the gear limit position and a second weight corresponding to the gear calibration position; A target gear position of the target gear is determined according to the first weight, the second weight, the gear limit position, and the gear calibration position.

8. The method according to claim 7, characterized in that The determining of the target gear position of the target gear according to the first weight, the second weight, the gear limit position, and the gear calibration position includes: The target gear position is obtained by performing a weighted summation on the gear limit position and the gear calibration position according to the first weight and the second weight.

9. The method according to claim 3, characterized in that The updating of the target gear position of the target gear according to the gear limit position and the gear calibration position includes: In a case where the gear limit position is smaller than the gear calibration position, the step of controlling the gear actuator to move is repeated to update the target gear position of the target gear.

10. The method according to claim 9, characterized in that The step of repeatedly controlling the movement of the gear actuator to update the target gear position of the target gear comprises: When the number of repeated executions reaches a preset number threshold and the target gear position is not updated, the target gear position of the target gear is updated based on the multiple gear limit positions obtained; the multiple gear limit positions include the gear limit positions determined after each execution of the step of controlling the movement of the gear actuator.

11. The method according to claim 10, characterized in that The updating of the target gear position of the target gear according to the obtained multiple gear limit positions includes: determining a position difference between a maximum value and a minimum value among the plurality of gear limit positions; In response to the position difference being less than or equal to a preset difference threshold, a position average of the plurality of gear limit positions is used as the target gear position.

12. The method according to claim 11, characterized in that In response to the position difference being less than or equal to a preset difference threshold, taking the position average of the plurality of gear limit positions as the target gear position includes: Obtaining and determining the gear motor stroke corresponding to each gear limit position of the gear actuator; In response to the position difference being less than or equal to a preset difference threshold, if the plurality of gear motor strokes are all within a first preset stroke range, a position average of the plurality of gear limit positions is used as the target gear position.

13. The method according to any one of claims 1 to 12, characterized in that The method further comprises: obtaining vehicle information of the vehicle; When the gear shift intention of the vehicle is to switch to the target gear, or the vehicle is in the target gear, updating the target gear position of the target gear includes: In a case where the vehicle information satisfies a preset trigger condition, if the vehicle's gear shift intention is to switch to a target gear, or the vehicle is in a target gear, the target gear position of the target gear is updated.

14. The method according to claim 13, characterized in that The vehicle information includes mileage, number of gear shifts, and gear position sensor travel; the preset trigger condition includes any one of the following: The change in mileage is greater than or equal to a preset mileage threshold; The change in the number of gear shifting times is greater than or equal to a preset number threshold; The gear position sensor travel is outside a second preset travel range corresponding to the target gear.

15. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 14.

16. A vehicle, characterized in that: The vehicle includes the electronic device according to claim 15 .

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 14 are implemented.

18. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 14.

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