AMT gear selecting and shifting mechanism self-learning method and system

Abstract

The gear shifting structure aims at solving the problem that an existing gear shifting structure lacks accurate positioning of a gear selecting position, a gear combining point and a gear synchronizing point. According to the self-learning method and system for the AMT gear selecting and shifting mechanism, N-gear position self-learning is conducted firstly, then gear selecting and shifting position self-learning is conducted, after the initial N-gear position and the gear selecting stroke are determined, it can be guaranteed that gear selecting and shifting self-learning is conducted normally, synchronization point and engine point self-learning is completed through control over the gear entering process of different gears, and the self-learning efficiency of the AMT gear selecting and shifting mechanism is improved. Displacement of a gear combination point, a synchronization point, a neutral gear position, a gear selection position and the like of each gear can be accurately identified, so that accurate control is realized, meanwhile, the difference of hardware can be solved, the stability and robustness of gear shifting are improved, the gear shifting time is saved, the driving comfort is improved, and the oil consumption is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gearboxes, in particular to an AMT gear selection and shift mechanism self-learning method and system. BACKGROUND

[0002] Commercial vehicles, as a production tool, promote economic development; however, because of the complexity of the use scene of commercial vehicles, the trend of young people in the industry, and factors such as operating costs, the automation of commercial vehicles has gradually become popular. Among them, AMT gearbox has become the first choice for automatic gearbox of commercial vehicles due to its low cost, high reliability, and simple maintenance.

[0003] In the shift mode of AMT, the shift power is usually interrupted, and the shift power interruption time is relatively high; however, the current AMT gearbox has problems such as long shift time and unstable shift, which leads to poor shift consistency, directly affecting the driving experience and fuel consumption. The traditional AMT gearbox interruption shift process includes three stages of gear removal, gear selection, and gear engagement, and shortening the time of each stage can shorten the shift time; in order to shorten the gear removal and gear engagement time, accurate control of each sub-stage in the above three stages is required, so it is necessary to accurately identify the displacement of the gear combination point, synchronization point, neutral position, gear selection position, etc. of each gear, such as the content shown in the patent with the application publication number CN119755323A. However, the existing technology only verifies the position of the neutral position, but ignores the gear selection position and the gear combination point and the synchronization point, making it difficult to achieve a high-robustness and high-stability shift process, and there is still a large shift time, which increases the shift fuel consumption. Therefore, an AMT gear selection and shift mechanism self-learning method and system that can accurately control the shift and neutral positions is needed. SUMMARY

[0004] The purpose of the present application is to solve the shortcomings of the prior art and provide an AMT gear selection and shift mechanism self-learning method and system.

[0005] In order to solve the above problems, the present application adopts the following technical scheme: An AMT gear selection and shift mechanism self-learning method, comprising the following steps: Step 1: The self-learning trigger module determines whether the self-learning mechanism is triggered; if the self-learning mechanism is triggered, proceed to the next step; otherwise, continue standby; Step 2: Trigger the self-learning mechanism, the self-learning trigger module sends a clutch Open instruction to the clutch state execution module, and sends a request self-learning instruction to the gear selection and shift self-learning main control module; Step 3: The clutch state execution module receives the clutch Open instruction and controls the separation of the clutch; Step 4: The shift self-learning master control module receives a self-learning instruction, first checks the clutch state, confirms that the clutch is actually in the disengaged state, then enters the self-learning process, sequentially completes N-gear position self-learning, shift position self-learning, and selection position self-learning, and records and stores gear travel, displacement value, and synchronization point data during the learning process in the shift displacement storage module, and ends the step.

[0006] Further, the mechanism trigger condition for self-learning in step 1 includes vehicle speed, brake state, clutch state, and self-learning trigger switch.

[0007] Further, in step 4, the N-gear displacement and shift travel that appear to be abnormal during the self-learning process in the shift self-learning master control module are frozen and recorded according to the self-learning state.

[0008] Further, the process of N-gear position self-learning in step 4 includes: Step 41: Based on the current selection displacement, give a shift instruction to make the selection shaft reach the positive limit position, and record the displacement; Step 42: Control the selection displacement unchanged, give a shift instruction to make the shift shaft reach the limit position in the positive and negative directions respectively, and record the related displacement; Step 43: According to the limit positions of the shift shaft in the positive and negative directions in step 42, calculate the center position, and take this position as the N-gear initial position; Step 44: Based on the limit position of the selection shaft recorded in step 41 and the size chain of different gear selection positions designed by the mechanical structure, determine the basic selection position of different gears; Step 45: For a five-gear transmission, adjust the selection displacement to between 1 / 2 gear and 3 / 4 gear, give a shift instruction after the displacement is reached, realize the forward and reverse direction movement of the selection shaft, at this time record the forward and reverse direction limit displacement of the selection shaft, this displacement is the first self-learning displacement of N-gear; Step 46: Adjust the selection displacement to between 3 / 4 gear and 5 gear, give a shift instruction after the displacement is reached, realize the forward and reverse direction movement of the selection shaft, at this time record the forward and reverse direction limit displacement of the selection shaft, this displacement is the second self-learning displacement of N-gear; Step 47: Adjust the selection displacement to between R gear and 5 gear, give a shift instruction after the displacement is reached, realize the forward and reverse direction movement of the selection shaft, at this time record the forward and reverse direction limit displacement of the selection shaft, this displacement is the third self-learning displacement of N-gear; Step 48: Perform mean value processing on the first self-learning displacement of N-gear, the second self-learning displacement of N-gear, and the third self-learning displacement of N-gear, record the displacement as the N-gear displacement, and store this N-gear displacement in the shift displacement storage module; Step 49: According to the N-gear displacement obtained in step 48, adjust the shift shaft to the N-gear state, give the selection instruction, and when the selection shaft reaches the negative limit position, record the displacement, combine the positive limit displacement of the selection shaft in step 41 to determine the selection shaft stroke, and store it in the selection and shift displacement storage module.

[0009] Further, in step 4, the shift position self-learning process includes: determining the basic selection displacement of different gears according to the selection stroke obtained by N-gear position self-learning and combining the actual size chain of hardware, and taking it as the shift position self-learning process.

[0010] Further, the 1-gear self-learning of the selection and shift self-learning main control module in the shift position self-learning includes: first selecting the selection shaft to 1-gear; then performing gear-in control, and during the gear-in process, controlling based on the N-gear position according to the design size chain of the hardware structure; when the shift is completed, record the maximum absolute value displacement after the gear-in is completed, take this position as the engage displacement, the displacement with a change rate less than a set value during the gear-in process is the synchronization point displacement, and the engage displacement and the synchronization point displacement are saved and recorded, and the 1-gear self-learning is completed.

[0011] Further, during the selection position self-learning, the control gear position of the gearbox is in the corresponding gear, then the up and down movement of the selection shaft is realized by adjusting the shift instruction, the up and down limit displacement of the selection shaft is recorded, the selection displacement is recorded, and the movement limit position of the selection shaft is recorded and stored.

[0012] Further, the shift position self-learning and the selection position self-learning need to be learned three times, the displacement values obtained are processed by averaging, and finally the selection and shift instructions are coordinated, and the processed engage displacement, synchronization point displacement, and shift displacement are stored in the selection and shift displacement storage module according to the actual gear index.

[0013] An AMT selection and shift mechanism self-learning system, the system is based on the above self-learning method, the self-learning system includes: The self-learning trigger module: automatically triggers the self-learning function according to the signals of vehicle speed, brake, engine speed, clutch state, and self-learning enable switch; triggers the self-learning enable function according to the signals that the vehicle is in the prohibited state, the EPB is pulled up, the engine is at idle speed, the clutch state is normal, and the self-learning switch is in the enable condition; The selection and shift self-learning main control module: completes the self-learning of N-gear position, selection position, shift position, etc. in turn according to a certain main control logic, processes the learned displacement values, and outputs the module for storage; The selection displacement storage module: stores the selection, shift, synchronization point, etc. displacement of each gear learned according to the selection and shift self-learning state; The selected gear shifting instruction execution module executes corresponding control instructions according to the selected gear target displacement, the selected gear target instruction and the gear shifting target instruction output by the selected gear shifting self-learning main control module; The clutch state execution module controls the clutch to execute a response instruction according to the clutch request state sent by the self-learning trigger module.

[0014] Further, the selected gear shifting self-learning main control module comprises three self-learning sub-modules, i.e., an N-gear position self-learning sub-module, a selected gear position self-learning sub-module and a gear shifting position self-learning sub-module.

[0015] The present application has the following advantages: By performing the N-gear position self-learning first, the initial N-gear position and the selected gear stroke are determined, the selected gear position self-learning and the gear shifting position self-learning can be performed normally and more accurate results are obtained, the self-learning values are applied to the gear shifting process of different gears, the accurate control of the gear shifting process is realized, the difference of hardware is solved, the stability and robustness of gear shifting are improved, the gear shifting time is saved, the driving comfort is improved and the fuel consumption is reduced. The synchronization point and the engage point self-learning are completed through the control of the gear-in process of different gears. The accuracy of the selected gear displacement of each gear is ensured through the selected gear position self-learning in the gear state. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a self-learning method flowchart of the embodiment 1. Figure 2 It is the N-gear position self-learning flowchart of the embodiment 1. Figure 3 It is the combined flowchart of the gear shifting position self-learning and the selected gear position self-learning of the embodiment 1. Figure 4 It is the self-learning system structure block diagram of the embodiment 1. DETAILED DESCRIPTION

[0017] The embodiments of the present application will be described in detail below with specific examples, and other advantages and effects of the present application can be easily understood by those skilled in the art from the disclosure. The present application can also be implemented or applied by different specific embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0018] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concepts of the present application in a schematic manner, and only show the components related to the present application in the diagrams, rather than being drawn according to the number, shape and size of the components in actual implementation. The shapes, number and proportions of the components in actual implementation can be changed arbitrarily, and the layout of the components can be more complex.

[0019] Embodiment 1 As shown in the figure, an AMT gear selection and shift mechanism self-learning method includes the following steps: Figures 1-3 Step 1: A self-learning trigger module determines whether a self-learning mechanism is triggered. If the self-learning mechanism is triggered, the next step is entered. Otherwise, standby is continued. Step 2: The self-learning mechanism is triggered. The self-learning trigger module sends a clutch open instruction to a clutch state execution module and sends a request self-learning instruction to a gear selection and shift self-learning main control module. Step 3: The clutch state execution module receives the clutch open instruction and controls the separation of the clutch to ensure that the clutch is in a separated state during the gear selection and shift self-learning process, thereby avoiding the vehicle from moving forward or backward. Step 4: The gear selection and shift self-learning main control module receives the self-learning instruction, first checks the clutch state, confirms that the clutch is actually in a separated state, enters a self-learning flow, sequentially completes N-gear position self-learning, shift position self-learning and gear selection position self-learning, records gear position travel, displacement value and synchronization point data during the learning process, and stores the data in an EEPROM memory of a gear selection and shift displacement storage module, and ends the step. The N-gear represents a neutral gear in the gear position. The EEPROM memory is an electrically erasable programmable read-only memory, which is a storage chip that does not lose data after power failure. The mechanism triggering conditions for self-learning in step 1 include vehicle speed, brake state, clutch state and a self-learning trigger switch. Specifically, after detecting that the vehicle speed is 0, the brake is in a braking state, the clutch is separated, and the self-learning trigger switch is triggered, the self-learning enters the self-learning flow, thereby ensuring that the vehicle is stationary during the self-learning process and ensuring safety. In steps 2 and 3, the clutch state is repeatedly checked to further ensure safety.

[0020] In step 4, the gear selection and shift self-learning main control module freezes the N-gear displacement and gear selection and shift travel when an abnormality occurs during the self-learning process, records the information, and alarms.

[0021] The process of N-gear position self-learning in step 4 includes:

[0022] ​Step 41: based on the current selected shift, give the shift instruction, so that the selected shaft reaches the positive limit position, and record the displacement; wherein when the selected shift is in the positive direction, the shift instruction is received, so that the selected shaft reaches the positive limit position in the positive direction, that is, the positive limit position; Step 42: control the selected shift unchanged, give the shift instruction, so that the shift shaft reaches the limit position in the positive and negative directions respectively, and record the related displacement; wherein taking the coaxial 1st and 2nd gears as an example, the combination direction of the shift shaft towards the 1st gear is the positive direction, and the combination direction of the shift shaft towards the 2nd gear is the negative direction; Step 43: according to the limit positions of the shift shaft in the positive and negative directions in step 42, the center position of the positive and negative direction displacements is calculated and obtained, and the position is taken as the initial position of the Nth gear; Step 44: based on the limit position of the selected shaft recorded in step 41 and the size chain of the selected shift of different gears designed by the mechanical structure, the basic selected shift positions of different gears are determined; wherein the relationship between the size chain and the gear is a set value, which is calculated and determined at the beginning of the design of the gearbox; Step 45: for a five-gear gearbox, adjust the selected shift to between the 1st / 2nd gear and the 3rd / 4th gear, give the shift instruction after the shift, realize the positive and negative direction movement of the selected shaft, and record the positive and negative direction limit displacement of the selected shaft at this time, which is the first self-learning displacement of the Nth gear; it should be noted that the selected positions of the 1st and 2nd gears are the same, and the selected positions of the 3rd and 4th gears are also the same, so the selected shift is adjusted to between the 1st / 2nd gear and the 3rd / 4th gear; Step 46: adjust the selected shift to between the 3rd / 4th gear and the 5th gear, give the shift instruction after the shift, realize the positive and negative direction movement of the selected shaft, and record the positive and negative direction limit displacement of the selected shaft at this time, which is the second self-learning displacement of the Nth gear; Step 47: adjust the selected shift to between the R gear and the 5th gear, give the shift instruction after the shift, realize the positive and negative direction movement of the selected shaft, and record the positive and negative direction limit displacement of the selected shaft at this time, which is the third self-learning displacement of the Nth gear; Step 48: average process the first self-learning displacement of the Nth gear, the second self-learning displacement of the Nth gear and the third self-learning displacement of the Nth gear, and record the displacement as the Nth gear displacement, which is stored in the selected shift displacement storage module; Step 49: according to the Nth gear displacement obtained in step 48, adjust the shift shaft to the Nth gear state, give the selected shift instruction, and record the displacement when the selected shaft reaches the negative limit position, and determine the stroke of the selected shaft in combination with the selected positive limit position in step 41, and store it in the selected shift displacement storage module.

[0023] The step 4 includes the following: according to the selection shaft stroke obtained by the N gear position self-learning, the basic selection displacement of different gears is determined in combination with the actual size chain of hardware, and is taken as the gear position self-learning process. Taking the 1st gear self-learning as an example, the 1st gear self-learning includes the following: first, the selection shaft is selected to the 1st gear; then, the gear-in control is performed, and in the gear-in process, the N gear position is segmented and controlled based on the design size chain of the hardware structure. It should be noted that each gear control corresponds to different power currents; when the gear shift is completed, the maximum absolute displacement after the gear-in is recorded, and the position is recorded as the engage displacement. In the gear-in process, the displacement with a change rate less than a set value is the synchronous point displacement, and the engage displacement and the synchronous point displacement in the gear shift are saved and recorded, and the 1st gear self-learning is completed.

[0024] In the selection displacement self-learning, the gear position of the gearbox is first controlled on the initial gear position of the gear shaft, which is usually the 1st gear. Then, the gear selection instruction is adjusted to realize the up-down movement of the selection shaft in the vertical direction, the up-down limit displacement of the selection shaft is recorded, the selection displacement is recorded, and the limit position of the selection shaft is recorded and stored. It should be noted that the gear selection instruction is realized by controlling different power currents.

[0025] The gear shift position self-learning and the selection displacement self-learning need to be learned three times, the displacement values obtained are processed by the mean value, and finally the selection and gear shift instructions are coordinated. The processed engage displacement, synchronous point displacement and gear shift displacement are stored in the selection and gear shift displacement storage module according to the actual gear index.

[0026] It should be noted that in this example, the gear shift position self-learning and the selection displacement self-learning of the same gear are performed in sequence, that is, the self-learning process is performed in the order of 1st gear shift self-learning, 1st gear selection self-learning, 2nd gear selection self-learning, 5th gear selection self-learning and R gear selection self-learning, and the self-learning process is performed three times. In some other embodiments, the 1st gear shift self-learning can also be performed three times, the 1st gear selection self-learning can also be performed three times, and so on, until the selection and gear shift self-learning processes of all gears are completed.

[0027] It should be noted that in the self-learning process in step 4, once an abnormality occurs, the self-learning process will be immediately stopped, and the fault will be reported to the upper computer and the self-learning fault information will be saved.

[0028] As shown in Figure 4 A self-learning system of an AMT selection and gear shift mechanism, the system is based on the above self-learning method, and the self-learning system includes: The self-learning trigger module: according to the signals of vehicle speed, brake, engine speed, clutch state and self-learning enable switch, the self-learning function is automatically triggered; specifically, the signals of vehicle being in the prohibited state, EPB being pulled up, engine being in idle speed, clutch state being normal and self-learning switch being in the enable condition are needed to trigger the self-learning enable function; The selected gear self-learning main control module: according to a certain main control logic, N gear position, selected gear position and gear shifting position self-learning are sequentially completed, and the learned displacement values are processed and output for storage in the module; The selected gear displacement storage module: according to the selected gear self-learning state, the selected gear, gear shifting and synchronization point displacements of each gear position learned are stored; in this example, the storage mode based on EEPROM memory is adopted; The selected gear shifting instruction execution module: according to the selected gear target displacement, selected gear target instruction and gear shifting target instruction output by the selected gear self-learning main control module, the corresponding control instruction is executed; The clutch state execution module: according to the clutch request state issued by the self-learning trigger module, the clutch execution response instruction is controlled.

[0029] The selected gear self-learning main control module includes three self-learning sub-modules of N gear position, selected gear position and gear shifting position; the N gear position self-learning sub-module functions to set the N gear self-learning method and output the N gear position self-learning state; the selected gear position self-learning sub-module functions to set the selected gear position self-learning method and output the selected gear position self-learning state; and the gear shifting position self-learning sub-module functions to set the gear shifting position self-learning method and output the gear shifting position self-learning state.

[0030] In the implementation process, by first performing N gear position self-learning, the initial N gear position and selected gear stroke are determined, the selected gear position self-learning and gear shifting position self-learning are ensured to be normally performed and relatively accurate results are obtained, the self-learning values are applied to different gear shifting processes, the accurate control of gear shifting process is realized, the difference of hardware is solved, the stability and robustness of gear shifting are improved, the gear shifting time is saved, the driving comfort is improved and the fuel consumption is reduced; the synchronization point and engage point self-learning are completed through the control of different gear engaging processes; the selected gear position self-learning in the engaged state ensures the accuracy of the selected gear displacement of each gear position.

[0031] The above description is only one specific example of the present application and does not constitute any limitation on the present application. Obviously, for those skilled in the art, after understanding the content and principles of the present application, various modifications and changes in form and details can be made without departing from the principles and structures of the present application, but these modifications and changes based on the idea of the present application are still within the protection scope of the claims of the present application.

Claims

1. A self-learning method for an AMT (Automated Manual Transmission) gear shifting mechanism, characterized in that, Includes the following steps: Step 1: The self-learning trigger module determines whether the self-learning mechanism has been triggered; if the self-learning mechanism has been triggered, proceed to the next step; otherwise, remain in standby mode. Step 2: Trigger the self-learning mechanism. The self-learning trigger module sends the clutch Open command to the clutch status execution module and sends a request for self-learning command to the gear shift self-learning main control module. Step 3: The clutch status execution module receives the clutch Open command and controls the disengagement of the clutch; Step 4: The main control module receives the self-learning command for gear selection and shifting. It first verifies the clutch status and confirms that the clutch is actually in the disengaged state. Then, it enters the self-learning process and sequentially completes the self-learning of the N gear position, the shift position, and the gear selection position. It records and stores data such as gear travel, displacement value, and synchronization point during the learning process in the gear selection displacement storage module, and then ends the step.

2. The self-learning method for an AMT gear shifting mechanism according to claim 1, characterized in that, The self-learning mechanism triggering conditions in step 1 include vehicle speed, braking status, clutch status, and self-learning trigger switch.

3. The self-learning method for an AMT gear shifting mechanism according to claim 1, characterized in that, In step 4, the gear shifting self-learning main control module freezes and records the N gear displacement and gear shifting stroke when an abnormality occurs during the self-learning process based on the self-learning status.

4. The self-learning method for an AMT gear shifting mechanism according to claim 3, characterized in that, The self-learning process for the N gear position in step 4 includes: Step 41: Based on the current gear selection displacement, issue a gear shift command to make the gear selection shaft reach the positive limit position, and record the displacement; Step 42: Keep the gear selection displacement constant, issue a gear shift command, so that the gear shift shaft reaches the extreme positions in the positive and negative directions respectively, and record the relevant displacements; Step 43: Based on the extreme positions of the shift shaft in the positive and negative directions in Step 42, calculate the center position and use this position as the initial position of N gear; Step 44: Based on the limit positions of the gear selection shaft recorded in Step 41 and the dimension chain of different gear selection in the mechanical structure design, determine the basic gear selection positions for different gears; Step 45: For a five-speed transmission, adjust the gear selector position to between 1 / 2 and 3 / 4. Once the position is in place, issue a shift command to achieve forward and reverse movement of the gear selector shaft. Record the maximum forward and reverse displacements of the gear selector shaft. This displacement is the first self-learning displacement for N gear. Step 46: Adjust the gear selection displacement to between 3 / 4 and 5. After the displacement is in place, issue a shift command to realize the forward and reverse movement of the gear selection shaft. At this time, record the limit displacement of the gear selection shaft in the forward and reverse directions. This displacement is the second self-learning displacement of N gear. Step 47: Adjust the gear selection displacement to between R and 5. After the displacement is in place, issue a shift command to realize the forward and reverse movement of the gear selection shaft. At this time, record the limit displacement of the gear selection shaft in the forward and reverse directions. This displacement is the third self-learning displacement of N gear. Step 48: Average the first self-learning displacement, the second self-learning displacement, and the third self-learning displacement of N gear, record the displacement as the N gear displacement, and store this N gear displacement in the gear shifting displacement storage module. Step 49: Based on the N gear displacement obtained in Step 48, adjust the shift shaft to the N gear state and issue a gear selection command. After the shift shaft reaches the negative limit position, record the displacement amount. Combined with the positive limit displacement of gear selection in Step 41, determine the shift shaft travel and store it in the shift displacement storage module.

5. The self-learning method for an AMT gear shifting mechanism according to claim 4, characterized in that, In step 4, the shift position self-learning process includes: determining the basic shift displacement of different gears based on the shift travel obtained from the N gear position self-learning and the actual hardware size chain, and using it as the shift position self-learning process.

6. The self-learning method for an AMT gear shifting mechanism according to claim 5, characterized in that, The gear shifting self-learning main control module performs the following steps during the gear shifting position self-learning process: First, the gear selection shaft is selected to gear 1; then, gear engagement control is performed. During gear engagement, segmented control is carried out based on the N gear position according to the design dimension chain of the hardware structure; after the gear shift is completed, the maximum absolute displacement after gear engagement is recorded, and this position is recorded as the engagement displacement. Displacements where the rate of change of displacement during gear engagement is less than a set value are recorded as synchronization point displacements. The engagement displacement and synchronization point displacement are saved and recorded, and the gear 1 self-learning ends.

7. The self-learning method for an AMT gear shifting mechanism according to claim 5, characterized in that, During the self-learning of the gear selection position, the gearbox is controlled to be in the corresponding gear. Then, by adjusting the shift command, the gear selection shaft is moved up and down. The upper and lower limit displacements of the shift shaft are recorded, the corresponding gear selection displacements are recorded, and the movement limit positions of the gear selection shaft are recorded and stored.

8. The self-learning method for an AMT gear shifting mechanism according to claim 7, characterized in that, The shift position self-learning and gear selection position self-learning need to be performed in three loops, and the average value of the input displacement value is processed. Finally, the shift command is coordinated, and the processed engagement displacement, synchronization point displacement, and shift displacement are stored in the shift displacement storage module according to the actual gear index.

9. A self-learning system for an AMT gear selector / shift mechanism, characterized in that, The system is based on the self-learning method according to any one of claims 1 to 8, and the self-learning system includes: Self-learning trigger module: Automatically triggers the self-learning function based on vehicle speed, braking, engine speed, clutch status, and signals from the self-learning enable switch; triggers the self-learning enable function based on signals indicating that the vehicle is in a prohibited state, EPB is engaged, the engine is idling, the clutch status is normal, and the self-learning switch is enabled. The gear shift self-learning main control module: It sequentially completes the self-learning of N gear position, gear selection position, and gear shift position according to a certain main control logic, processes the learned displacement value, and outputs it to the module for storage; Gear selection displacement storage module: Stores the displacements of each gear selection, shifting, and synchronization point after learning based on the gear selection and shifting self-learning state; Gear selection and shifting command execution module: Based on the gear selection target displacement, gear selection target command, and shifting target command output by the gear selection and shifting self-learning main control module, it executes the corresponding control commands. Clutch Status Execution Module: Controls the clutch to execute response instructions based on the clutch request status issued by the self-learning trigger module.

10. A self-learning system for AMT gear shifting mechanism according to claim 9, characterized in that, The gear selection and shifting self-learning main control module includes three self-learning sub-modules: N gear position, gear selection position, and gear shifting position. The function of the N gear position self-learning sub-module is to set the N gear self-learning method and output the N gear position self-learning status. The function of the gear selection position self-learning sub-module is to set the gear selection position self-learning method and output the gear selection position self-learning status. The function of the shift position self-learning submodule is to set the shift position self-learning method and output the shift position self-learning status.

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