Target gear shifting instruction execution method and device, storage medium, electronic device and computer program product

Abstract

The invention discloses a target gear shifting instruction execution method and device, a control device, a storage medium, an electronic device and a computer program product, and relates to the technical field of transmissions. The target gear shifting instruction execution method comprises the steps that under the condition that a target gear shifting instruction sent by a gear shifting controller SCU is obtained and a position sensor of a transmission breaks down, whether a first signal is obtained or not before a target moment is determined, the first signal is a signal fed back for the last time before the position sensor breaks down, and if yes, the target gear shifting instruction sent by the gear shifting controller SCU is obtained; the target gear shifting instruction is used for indicating that the gear of the transmission is adjusted to the target gear, the first signal is used for indicating the gear condition of the transmission, and the target moment is the moment for determining that the position sensor breaks down; and under the condition that the first signal is obtained before the target moment, the target gear shifting instruction is executed according to the first signal. By the adoption of the technical scheme, the problem that when the position sensor breaks down, the P-gear operation cannot be executed is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transmission, in particular to a target gear shift instruction execution method and device, a storage medium, an electronic device and a computer program product. BACKGROUND

[0002] The parking gear (P-gear) electronic parking system is a safety device in the automobile transmission, which locks the transmission output shaft in the transmission housing through the locking action of the parking mechanism by the power provided by the parking motor to ensure the safe braking of the whole vehicle.

[0003] For the P-gear electronic parking system driven by the motor, the parking controller integrated on the vehicle transmission receives the P-gear parking signal sent by the shift controller (SCU), drives the parking motor and drives the parking locking mechanism. When the parking controller receives the execution instruction of the SCU, the parking motor is driven to perform the related action through the signal of the position sensor obtained, and the parking controller judges the P-gear position through the signal feedback by the position sensor and feeds back the position signal to the SCU. When the communication is abnormal, the position sensor itself fails and the line fails, the signal feedback by the position sensor is invalid, and then the parking controller will determine that the position sensor fails, and the parking failure of the P-gear operation will occur.

[0004] In view of the problem that the P-gear operation cannot be performed when the position sensor fails in the prior art, an effective solution has not been proposed. SUMMARY

[0005] The embodiments of the present application provide a target gear shift instruction execution method and device, a storage medium, an electronic device and a computer program product to at least solve the problem that the P-gear operation cannot be performed when the position sensor fails.

[0006] According to an aspect of the embodiments of the present application, a target gear shift instruction execution method is provided, comprising: in the case that a target gear shift instruction sent by a shift controller SCU is acquired and a position sensor of a transmission fails, determining whether a first signal is acquired before a target time, wherein the first signal is a signal last fed back by the position sensor before the position sensor fails, the target gear shift instruction is used to indicate that a gear of the transmission is adjusted to a target gear, the first signal is used to indicate a gear condition of the transmission, and the target time is a time when the position sensor fails; in the case that the first signal is acquired before the target time, the target gear shift instruction is executed according to the first signal.

[0007] In an example embodiment, executing the target shift instruction according to the first signal comprises: in a case where the first signal is used to indicate that the gear of the transmission is the target gear, prohibiting issuing a control instruction to control the parking motor; and / or in a case where the first signal is used to indicate that the gear of the transmission is not the target gear, controlling the motor screw shaft of the parking motor to rotate according to a specified duty ratio corresponding to the target gear and a reference duty ratio carried in the first signal, wherein the parking motor rotates the motor screw shaft to realize gear switching of the transmission, the duty ratio is used to indicate the gear condition of the transmission, and the duty ratio comprises the specified duty ratio and the reference duty ratio.

[0008] In an example embodiment, controlling the motor screw shaft of the parking motor to rotate according to the specified duty ratio corresponding to the target gear and the reference duty ratio carried in the first signal comprises: subtracting the reference duty ratio from the specified duty ratio to obtain a duty ratio difference; dividing the absolute value of the duty ratio difference by a first preset threshold to obtain a first value, wherein the first value is used to indicate the number of rotations of the parking motor; and controlling the parking motor to rotate the motor screw shaft with the first value and a target direction as targets, wherein the target direction is determined according to the target gear.

[0009] In an example embodiment, after controlling the parking motor to rotate the motor screw shaft with the first value and the target direction as targets, the method further comprises: determining a first number of rotations of the motor screw shaft actually rotated within a preset time; in a case where the first number of rotations is greater than or equal to the first value, feeding back shift success information to the SCU and determining a duty ratio calculated based on the first number of rotations as the specified duty ratio of the target gear; and / or in a case where the first number of rotations is less than the first value, feeding back shift failure information to the SCU.

[0010] In an example embodiment, after determining whether the first signal is acquired before the target time, the method further comprises: in a case where the first signal is not acquired before the target time and the target gear is a parking gear, realizing a parking brake function through an electronic parking brake system (EPB); and in a case where the first signal is not acquired before the target time and the target gear is a non-parking gear, executing the target shift instruction according to a reference shift instruction, wherein the reference shift instruction is a shift instruction sent by the SCU acquired last time.

[0011] In an example embodiment, executing the target shift instruction according to the reference shift instruction comprises: in a case where the reference shift instruction is used to indicate that the gear of the transmission is adjusted to a non-parking gear, prohibiting issuing a control instruction to control the parking motor; and / or in a case where the reference shift instruction is used to indicate that the gear of the transmission is adjusted to a parking gear, rotating a motor screw shaft of the parking motor to a direction corresponding to the non-parking gear until the motor screw shaft cannot be rotated, wherein the parking motor rotates the motor screw shaft to realize gear switching of the transmission.

[0012] In an example embodiment, after rotating the motor screw shaft of the parking motor to the direction corresponding to the non-parking gear until the motor screw shaft cannot be rotated, the method further comprises: determining a second number of rotations of the motor screw shaft actually rotated; in a case where the second number of rotations is greater than or equal to a second preset threshold, feeding back a shift success information to the SCU and determining a duty cycle calculated based on the second number of rotations as a specified duty cycle of the target gear; and / or in a case where the second number of rotations is less than the second preset threshold, feeding back a shift failure information to the SCU.

[0013] In an example embodiment, the method further comprises: determining whether the position sensor fails by at least one of the following: in a case where the signal sent by the position sensor is not acquired, determining that the position sensor fails; and / or in a case where the signal sent by the position sensor is acquired and a duty cycle carried in the signal is not located in a preset range, determining that the position sensor fails, wherein the duty cycle is used to represent the gear condition of the transmission.

[0014] According to another aspect of the embodiments of the present application, a control device for controlling gear shifting of the transmission in the above-mentioned method for implementing the above-mentioned target shift instruction is also provided, which comprises a parking motor, wherein the parking motor comprises a motor screw shaft which drives a driving nut shaft to move linearly by rotating; the driving nut, wherein the inner thread of the driving nut matches the outer thread of the motor screw shaft of the parking motor, and the driving nut is provided with a magnet which moves linearly during the rotating movement of the motor screw shaft; a rocker arm cam, wherein the rocker arm cam comprises a driving rocker arm, a driving cam, a pin shaft and a cam torsional spring; the head of the driving rocker arm is installed in the groove of the driving nut; the driving rocker arm and the driving cam are installed on the outer cylindrical surface of the pin shaft through respective inner holes; the outer cylindrical surface of the driving rocker arm is installed in the open groove of the driving cam; and the two end lugs of the cam torsional spring are installed in the inner holes of the driving rocker arm and the driving cam respectively; a pawl, wherein the pawl is used to enter or pop out of the tooth groove of the ratchet wheel of the transmission according to the external force applied by the driving cam.

[0015] In an exemplary embodiment, the position sensor is mounted on the housing of the parking motor by a bolt.

[0016] In an exemplary embodiment, when the motor screw shaft rotates in a first direction, the driving nut is driven to move linearly in a second direction; when the driving nut moves linearly in the second direction, the driving rocker arm is pushed to rotate in a third direction; when the driving rocker arm rotates in the third direction, the driving cam is pushed to rotate in a fourth direction; when the driving cam rotates in the fourth direction, the pawl is applied with downward pressure; when the pawl obtains the downward pressure, the pawl enters the tooth groove of the ratchet wheel; and / or when the motor screw shaft rotates in a fifth direction, the driving nut is driven to move linearly in a sixth direction; when the driving nut moves linearly in the sixth direction, the driving rocker arm is pushed to rotate in a seventh direction; when the driving rocker arm rotates in the seventh direction, the driving cam is pushed to rotate in an eighth direction; when the driving cam rotates in the eighth direction, the pressure applied by the driving cam on the pawl is eliminated, and the pawl pops out of the tooth groove of the ratchet wheel; wherein the first direction and the fifth direction are opposite, the second direction and the sixth direction are opposite, the third direction and the seventh direction are opposite, and the fourth direction and the eighth direction are opposite.

[0017] According to a further aspect of the embodiments of the present application, the target gear shift instruction execution device is also provided. The device comprises a determination module configured to determine whether a first signal is acquired before a target time point in a case that a target gear shift instruction sent by a gear shift controller SCU is acquired and a position sensor of a transmission fails, wherein the target gear shift instruction is used to instruct to adjust a gear of the transmission to a target gear, the first signal is a signal last fed back by the position sensor before the position sensor fails, and the target time point is a time point when the position sensor is determined to fail; and an execution module configured to execute the target gear shift instruction according to the first signal in a case that the first signal is acquired before the target time point.

[0018] According to a further aspect of the embodiments of the present application, a computer readable storage medium is also provided. The computer readable storage medium stores a computer program. The computer program is configured to execute the target gear shift instruction execution method when running.

[0019] According to a further aspect of the embodiments of the present application, an electronic device is also provided. The electronic device comprises a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The processor executes the target gear shift instruction execution method by the computer program.

[0020] According to a further aspect of the embodiments of the present application, a computer program product is also provided. The computer program product comprises a computer program. The computer program is executed by a processor to implement the steps of the method described in the embodiments of the present application.

[0021] In the embodiments of the present application, in a case that a target gear shift instruction sent by a SCU is acquired and a position sensor of a transmission fails, it is determined whether a first signal last fed back by the position sensor before the position sensor fails is acquired before a target time point. If the first signal is acquired, the target gear shift instruction is executed according to the first signal. Since the target gear shift instruction is executed according to the first signal last fed back by the position sensor before the position sensor fails, the problem that the P gear operation cannot be executed in a case that the position sensor fails is solved, and the technical effect that the P gear operation can be executed in a case that the position sensor fails is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles behind the present application.

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, for those of ordinary skill in the art, the other drawings can be obtained based on these drawings without any creative effort.

[0024] Figure 1 is a flow chart of an optional execution method of a target gear shifting instruction according to an embodiment of the present application;

[0025] Figure 2 is a logic diagram of a parking motor control strategy of a parking controller for executing out P according to an embodiment of the present application;

[0026] Figure 3 is a logic diagram of a parking motor control strategy of a parking controller for executing in P according to an embodiment of the present application;

[0027] Figure 4 is a structural block diagram of an optional control device according to an embodiment of the present application;

[0028] Figure 5 is a schematic diagram of a parking motor integrated position sensor according to an embodiment of the present application;

[0029] Figure 6 is a structural schematic diagram of a driving nut and a rocker cam according to an embodiment of the present application;

[0030] Figure 7 is another structural schematic diagram of a driving nut and a rocker cam according to an embodiment of the present application;

[0031] Figure 8 is a structural schematic diagram of an integrated motor parking assembly according to an embodiment of the present application;

[0032] Figure 9 is a process schematic diagram of an integrated motor parking from a non-P gear to a P gear according to an embodiment of the present application;

[0033] Figure 10 is a structural block diagram of an optional execution device of a target gear shifting instruction according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the personnel in the technical field better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the scope of protection of the present application.

[0035] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0036] In order to solve the technical problems existing in the related art, in the present embodiment, a target gear shift instruction execution method is provided, which is applied to a vehicle, Figure 1 is a flowchart of an optional target gear shift instruction execution method according to an embodiment of the present application, which includes the following steps S102-S104:

[0037] Step S102: In the case that the target gear shift instruction sent by the gear shift controller SCU is acquired and the position sensor of the transmission fails, it is determined whether the first signal is acquired before the target time, wherein the first signal is the last feedback signal before the position sensor fails, the target gear shift instruction is used to instruct to adjust the gear of the transmission to a target gear, the first signal is used to indicate the gear condition of the transmission, and the target time is the time when the position sensor fails;

[0038] In an exemplary embodiment, whether the position sensor fails can be determined by at least one of the following: in the case that the signal sent by the position sensor is not acquired, it is determined that the position sensor fails; in the case that the signal sent by the position sensor is acquired and the duty cycle carried in the signal is not located in a preset range, it is determined that the position sensor fails, wherein the duty cycle is used to indicate the gear condition of the transmission.

[0039] That is, when the duty cycle fed back by the position sensor is < 9% or > 91%, or the position sensor does not feed back a signal, the parking controller (PEU) judges and feeds back that the gear position of the gearbox is InvalidSignal, records a position sensor fault, and feeds back the same to the SCU.

[0040] It should be noted that the first signal carries a duty cycle, and the duty cycle carried in the first signal is in a preset range. Optionally, the preset range is [9%, 91%].

[0041] It should be noted that the parking motor is integrated with a position sensor, and the stroke of the drive nut is determined by the duty cycle output by the position sensor, so that the PEU can identify the position of the drive nut, thereby judging that the gear position of the transmission is P gear or non-P gear or an intermediate position. The position sensor detects a stroke of 20 mm, and the corresponding duty cycle range is 10% to 90%. Less than 10% and greater than 90% is a nonlinear region, and less than 5% and greater than 95% is a clamping.

[0042] Optionally, when the duty cycle fed back by the position sensor is in the range of [9%, 30%], the PEU judges and feeds back that the gear position of the transmission is P gear; when the duty cycle fed back by the position sensor is in the range of [70%, 91%], the PEU judges and feeds back that the gear position of the transmission is non-P gear; when the duty cycle fed back by the position sensor is in the range of (30%, 70%), the PEU judges and feeds back that the gear position of the transmission is in an intermediate position between P gear and non-P gear. If the duty cycle fed back by the position sensor is in the range of [9%, 91%], the PEU considers that the position sensor is not faulty, and when the SCU sends a request to enter P or exit P, the PEU can normally respond to the enter P or exit P operation, and there is no parking fault.

[0043] Step S104: In a case where the first signal is acquired before the target time, executing the target gear shifting instruction according to the first signal.

[0044] It should be noted that the execution subject of the embodiment of the present application is the PEU, that is, the steps S102-S104 are executed by the PEU.

[0045] In the case that the target gear shift instruction sent by the SCU is acquired and the position sensor of the transmission fails, it is determined whether the first signal last fed back before the position sensor fails is acquired before the target time. If the first signal is acquired, the target gear shift instruction is executed according to the first signal. Since the target gear shift instruction is executed according to the first signal last fed back before the position sensor fails, the problem that the P gear operation cannot be executed in the case that the position sensor fails is solved, and the technical effect that the P gear operation can still be executed in the case that the position sensor fails is achieved.

[0046] In an exemplary embodiment, the execution of the target gear shift instruction according to the first signal includes the following steps S11 and / or S12:

[0047] Step S11: in the case that the first signal indicates that the gear position of the transmission is the target gear position, the control instruction for controlling the parking motor is prohibited from being issued.

[0048] It should be noted that since the gear position of the transmission last fed back by the position sensor is the target gear position, the PEU defaults that the current gear position of the transmission is the target gear position, and the PEU can not need to adjust the gear position of the transmission, i.e., the PEU does not need to issue the control instruction for controlling the parking motor, and the PEU waits for the valid instruction given by the SCU. At this time, the parking motor does not rotate the motor screw shaft.

[0049] Step S12: in the case that the first signal indicates that the gear position of the transmission is not the target gear position, the motor screw shaft of the parking motor is controlled to rotate according to the specified duty ratio corresponding to the target gear position and the reference duty ratio carried in the first signal, wherein the parking motor rotates the motor screw shaft to realize the gear position switching of the transmission, the duty ratio is used to indicate the gear position of the transmission, and the duty ratio includes the specified duty ratio and the reference duty ratio.

[0050] It should be noted that since the gear position of the transmission last fed back by the position sensor is not the target gear position, the PEU needs to adjust the gear position of the transmission, and thus needs to control the motor screw shaft of the parking motor to rotate to realize the gear position switching. Specifically, the motor screw shaft of the parking motor needs to be controlled to rotate according to the specified duty ratio corresponding to the target gear position and the reference duty ratio carried in the first signal.

[0051] Optionally, the specified duty ratio corresponding to the target gear position is pre-set.

[0052] In an exemplary embodiment, the above-mentioned control of the motor screw shaft of the parking motor to rotate according to the specified duty ratio corresponding to the target gear and the reference duty ratio carried in the first signal can be implemented through steps S121-S123.

[0053] Step S121: subtract the reference duty ratio from the specified duty ratio to obtain a duty ratio difference value;

[0054] Step S122: divide the absolute value of the duty ratio difference value by a first preset threshold to obtain a first value, wherein the first value is used to indicate the number of revolutions of the parking motor to be rotated;

[0055] Optionally, the first preset threshold is 3.2%.

[0056] Step S123: control the parking motor to rotate the motor screw shaft by the first value and a target direction, wherein the target direction is determined according to the target gear.

[0057] Optionally, in the case that the target gear is a parking gear, the target direction is counterclockwise, and in the case that the target gear is a non-parking gear, the target direction is clockwise.

[0058] In an exemplary embodiment, after the above-mentioned step S123, the method further comprises steps S124-S125:

[0059] Step S124: determine a first number of revolutions of the motor screw shaft actually rotated within a preset time;

[0060] It should be noted that, since the number of revolutions of the parking motor to be rotated is determined according to the preset specified duty ratio, the number of revolutions of the parking motor to be rotated may be too large, i.e., the motor screw shaft may not be able to rotate to the first value, and thus it is necessary to determine the first number of revolutions of the motor screw shaft actually rotated within a preset time.

[0061] Optionally, the preset time is 2000 ms.

[0062] Step S125: in the case that the first number of revolutions is greater than or equal to the first value, feed back gear shifting success information to the SCU and determine the duty ratio calculated according to the first number of revolutions as the specified duty ratio of the target gear; and / or in the case that the first number of revolutions is less than the first value, feed back gear shifting failure information to the SCU.

[0063] It should be noted that if the first number of turns is greater than or equal to the first value, it is considered that the transmission has successfully switched to the target gear, and then the PEU determines that the gear of the transmission is the target gear, and feeds back the gear shifting success information to the SCU, and if the first number of turns is less than the first value, it is considered that the transmission has not switched to the target gear, and then the PEU determines that the gear of the transmission is not the target gear, and feeds back the gear shifting failure information to the SCU.

[0064] It should be noted that the purpose of determining the duty cycle calculated by the first number of turns as the specified duty cycle of the target gear is to update the specified duty cycle of the target gear according to the actual gear shifting of the parking motor.

[0065] For better understanding, the following is specifically described. In the case that the PEU acquires the target gear shifting instruction sent by the SCU and determines that the position sensor is faulty, it is judged whether the valid duty cycle signal has been read before the position sensor is faulty. If yes, it is further determined whether the gear is the P gear or the non-P gear or the intermediate position. When the target gear indicated by the target gear shifting instruction sent by the SCU is consistent with the current gear, the PEU does not perform any action and waits for the SCU to give a valid instruction. When the target gear indicated by the target gear shifting instruction sent by the SCU is not consistent with the current gear, the absolute value of the difference between the specified duty cycle corresponding to the target gear and the reference duty cycle read before the fault is divided by 3.2% to obtain a motor mechanical turn target (i.e. the first value mentioned above). The parking motor is open-loop controlled according to the turn target to perform a corresponding action. If it is normally completed within a specified time of 2000 ms, the duty cycle calculated by the actual running turns of the motor screw shaft of the parking motor is taken as the specified duty cycle of the target gear, the gear is fed back as the target gear, and the signal is fed back to the SCU. If it is not completed within the specified time, a parking fault is reported and the signal is fed back to the SCU. The PEU no longer responds to the request of the SCU.

[0066] In an exemplary embodiment, after the step S202, the following steps S206-S208 are further provided:

[0067] Step S206: In the case that the first signal has not been acquired before the target time and the target gear is the parking gear, the parking brake function is realized by the electronic parking brake system EPB.

[0068] It should be noted that if the SCU is used to indicate that the gear of the transmission is adjusted to the parking gear, and at this time the gear condition of the transmission fed back by the position sensor is unreliable, and then the parking brake function is not realized by the transmission, but directly realized by the electronic parking brake system (Electronic Parking Brake, referred to as EPB).

[0069] Step S208: In the case that the first signal is not acquired before the target time point and the target gear is a non-parking gear, the target gear shifting instruction is executed according to a reference gear shifting instruction, wherein the reference gear shifting instruction is a gear shifting instruction sent by the SCU last time.

[0070] It should be noted that, since the gear condition of the transmission fed back by the position sensor is unreliable, the gear condition of the current transmission is determined according to the reference gear shifting instruction sent by the SCU last time, and then the target gear shifting instruction is executed.

[0071] In an exemplary embodiment, the execution of the target gear shifting instruction according to the reference gear shifting instruction includes the following steps S21 and / or S22.

[0072] Step S21: In the case that the reference gear shifting instruction is used to indicate adjusting the gear of the transmission to a non-parking gear, the control instruction for controlling the parking motor is prohibited from being issued.

[0073] It should be noted that, since the reference gear shifting instruction sent by the SCU last time is also used to adjust the gear of the transmission to a non-parking gear, the PEU defaults that the gear of the transmission is a non-parking gear at this time, and then the PEU does not need to adjust the gear of the transmission, i.e., the PEU does not need to perform any operation.

[0074] Step S22: In the case that the reference gear shifting instruction is used to indicate adjusting the gear of the transmission to a parking gear, the motor screw shaft of the parking motor is controlled to rotate in a direction corresponding to the non-parking gear until the motor screw shaft cannot rotate, wherein the parking motor rotates the motor screw shaft to realize the gear shifting of the transmission.

[0075] It should be noted that, since the reference gear shifting instruction sent by the SCU last time is used to indicate adjusting the gear of the transmission to a parking gear, the PEU defaults that the gear of the transmission is a parking gear at this time, and then the PEU needs to adjust the gear of the transmission, and controls the motor screw shaft of the parking motor to rotate in a direction corresponding to the non-parking gear to realize the gear shifting.

[0076] In an exemplary embodiment, after the step S22, the method further includes: determining a second number of rotations of the motor screw shaft actually rotated; in the case that the second number of rotations is greater than or equal to a second preset threshold, feeding back a gear shifting success information to the SCU, and determining a duty cycle calculated based on the second number of rotations as a specified duty cycle of the target gear; and / or in the case that the second number of rotations is less than the second preset threshold, feeding back a gear shifting failure information to the SCU.

[0077] Optionally, the second preset threshold is 11.5. That is, if the actual number of rotations of the motor screw shaft is greater than or equal to 11.5, it is considered that the transmission has successfully switched to the non-parking gear, and then the PEU determines that the gear of the transmission is the non-parking gear, and feeds back the gear shifting success information to the SCU; if the actual number of rotations of the motor screw shaft is less than 11.5, it is considered that the transmission has not successfully switched to the non-parking gear, and then the PEU determines that the gear of the transmission is not the non-parking gear, and feeds back the gear shifting failure information to the SCU.

[0078] For better understanding, the following is specifically described:

[0079] When the last executed gear shifting action is to adjust the transmission to the non-P gear (or the stored gear position is read as the non-P gear after power-on) before the position sensor fails, when the SCU requests to exit P, the PEU does not act, waits for the SCU to give a valid instruction, and when the SCU requests to enter P, the PEU requests the EPB to pull up and feeds back the signal to the SCU.

[0080] When the last executed gear shifting action is to adjust the transmission to the P gear (or the stored gear position is read as the P gear after power-on) before the position sensor fails, when the SCU requests to exit P, the PEU open-loop controls the parking motor to rotate out of P until the locked rotor, and records the number of mechanical rotations of the parking motor, if the number of rotations is greater than or equal to 11.5 and is completed within the specified execution time, the gear position signal is fed back as the non-P gear, and is fed back to the SCU, and the PEU no longer responds to the SCU request. If the number of rotations is less than 11.5, a P failure parking fault is reported, and a signal is fed back to the SCU, and the PEU no longer responds to the SCU request, when the SCU requests to enter P, the PEU requests the EPB to pull up and feeds back the signal to the SCU.

[0081] It should be noted that through the above control strategy, when the communication is abnormal or the position sensor itself fails or the line fails, the signal given by the parking position sensor is invalid, the parking motor can still be controlled to perform the out-of-P and into-P operation, the P gear parking function of the whole vehicle is ensured, and the safety of the whole vehicle is improved.

[0082] For better understanding, the following is specifically described:

[0083] Figure 2 The logic diagram of the parking motor control strategy of the parking controller for performing the out-of-P is shown in FIG. 1. Figure 2As shown, when the duty cycle feedback by the position sensor is < 9% or > 91% or the position sensor does not feedback a signal, at this time, the PEU determines that a valid duty cycle signal has been read before the position sensor fails, if there is a signal, it is further determined that the gear is P gear or non-P gear or intermediate position, when the target gear of the SCU is consistent with the current gear, the PEU does not perform any action, and waits for the SCU to give a valid instruction, when the target gear of the SCU is not consistent with the current gear, a specified duty cycle corresponding to the target gear is reduced by the duty cycle read before the failure, the absolute value of the difference is divided by 3.2% to obtain a target mechanical revolution number of the motor, and the motor is open-loop controlled according to the target mechanical revolution number to perform a corresponding action; when no duty cycle signal has been read before the position sensor fails, and the gear after the last action (or the gear read after power-on and stored) is a non-P gear position, when the SCU requests to get out of P, the PEU does not perform any action, and waits for the SCU to give a valid instruction; when no duty cycle signal has been read before the position sensor fails, and the gear after the last action (or the gear read after power-on and stored) is a P gear position, when the SCU requests to get out of P, the PEU open-loop controls the motor to rotate out of P until the motor is locked, and records the mechanical revolution number of the motor, and whether the motor successfully rotates out of P is determined according to the actual mechanical revolution number.

[0084] Figure 3 A logic diagram for showing that the parking controller executes the parking motor control strategy of entering P is shown in FIG. 6. Figure 3 As shown, when the duty cycle feedback by the position sensor is < 9% or > 91% or the position sensor does not feedback a signal, at this time, the PEU determines that a valid duty cycle signal has been read before the position sensor fails, if there is a signal, it is further determined that the gear is P gear or non-P gear or intermediate position, when the target gear of the SCU is consistent with the current gear, the PEU does not perform any action, and waits for the SCU to give a valid instruction, when the target gear of the SCU is not consistent with the current gear, a specified duty cycle corresponding to the target gear is reduced by the duty cycle read before the failure, the absolute value of the difference is divided by 3.2% to obtain a target mechanical revolution number of the motor, and the motor is open-loop controlled according to the target mechanical revolution number to perform a corresponding action; when no duty cycle signal has been read before the position sensor fails, and the gear after the last action (or the gear read after power-on and stored) is a non-P gear position, when the SCU requests to get out of P, the PEU does not perform any action, and waits for the SCU to give a valid instruction; when no duty cycle signal has been read before the position sensor fails, and the gear after the last action (or the gear read after power-on and stored) is a P gear position, when the SCU requests to get out of P, the PEU open-loop controls the motor to rotate out of P until the motor is locked, and records the mechanical revolution number of the motor, and whether the motor successfully rotates out of P is determined according to the actual mechanical revolution number.

[0085] It should be noted that the embodiment further provides a control device for realizing the gear switching of the transmission in the execution method of the target gear shifting instruction.

[0086] Figure 4is a structural block diagram of an optional control device according to the embodiment of the application, the control device comprising:

[0087] A parking motor 402, wherein the parking motor 402 comprises a motor screw shaft, the motor screw shaft drives a driving nut 404 to move axially linearly by rotating;

[0088] Optionally, the parking motor is a three-hall direct-current brushless motor, the position of the motor rotor is detected by three hall switches, and the PEU drives the parking motor to rotate after receiving the rotor position signal.

[0089] The driving nut 404, wherein the inner thread of the driving nut 404 matches the outer thread of the motor screw shaft of the parking motor 402, and the driving nut 404 is provided with a magnet, and the magnet moves linearly in the process of the motor screw shaft rotating;

[0090] A rocker arm cam 406, wherein the rocker arm cam 406 comprises a driving rocker arm, a driving cam, a pin shaft and a cam torsional spring; the head of the driving rocker arm is installed in the groove of the driving nut 404; the driving rocker arm and the driving cam are installed on the outer cylindrical surface of the pin shaft through respective inner holes; the outer cylindrical surface of the driving rocker arm is installed in the open groove of the driving cam; and the two end lugs of the cam torsional spring are installed in the inner holes of the driving rocker arm and the driving cam, respectively.

[0091] A pawl 408, wherein the pawl 408 is used to enter or pop out of the tooth groove of the ratchet wheel of the transmission according to the external force applied by the driving cam to the pawl 408.

[0092] In the embodiment, the control device is designed by modularization, so that the parking mechanism is highly integrated, the space arrangement is compact, the number of parts is less, the cost is lower, the total assembly space of the transmission is small, and the weight is light. The problems that the integration degree of the P-gear parking mechanism in the transmission is not high, the parking mechanism is not compact, and the layout of the internal components of the transmission is not conducive in the related art are solved.

[0093] In an exemplary embodiment, the position sensor is installed on the housing of the parking motor by a bolt.

[0094] It should be noted that, in the embodiment, the position sensor is installed on the housing of the parking motor by a bolt, so that the length of the assembly size chain is reduced, the sensing accuracy of the position sensor is improved, and the problems that the existing parking position sensor is installed on the housing of the transmission, the length of the assembly size chain is long, and the sensing accuracy of the position sensor is poor are solved.

[0095] In order to better understand, Figure 5A schematic diagram of a parking motor integrated position sensor is shown in Figure 5 , where number 1 points to the position sensor, number 2 and number 4 both point to the bolt, number 3 points to the drive nut with a magnet, and number 5 points to the parking motor.

[0096] As shown in Figure 5 , the position sensor is mounted to the housing of the parking motor by a bolt, integrated with the parking motor, and the magnet of the position sensor is mounted on the drive nut by a bolt. The inner thread of the drive nut cooperates with the outer thread of the motor screw shaft of the drive motor to achieve transmission, that is, the motor screw shaft drives the drive nut to move axially in a straight line through a rotary motion. The rectangular edge of the drive nut is mounted in the groove of the drive motor housing to prevent the drive nut from rotating and to prevent the drive nut from being subjected to additional forces.

[0097] Figure 6 and Figure 7 A structural schematic diagram of the drive nut and the rocker cam is shown in Figure 6 , where number 1 and 3 point to the torsional spring force, and number 2 points to the limit surface. In Figure 7 , number 1 points to the drive nut with a magnet, number 2 points to the drive rocker, number 3 points to the drive cam, number 4 points to the pin shaft, and number 5 points to the cam torsional spring.

[0098] As shown in Figure 6 and Figure 7 , the drive rocker and the drive cam are mounted to the outer cylindrical surface of the pin shaft through their inner holes. The outer cylindrical surface of the rocker is mounted in the open groove of the drive cam. The two ends of the cam torsional spring are respectively mounted in the inner holes of the drive rocker and the drive cam. The drive cam and the drive rocker limit the range of opening of the drive rocker and the drive cam through the contact of the limit surface and the torsional spring force. The head of the drive rocker is mounted in the groove of the drive nut.

[0099] Figure 8 A structural schematic diagram of the integrated motor parking assembly is shown in Figure 8 , where number 1 points to the parking motor, number 2 points to the pawl, number 3 points to the pawl shaft, number 4 points to the pawl torsional spring, number 5 points to the ratchet wheel, number 6 points to the drive cam, number 7 points to the cam torsional spring, and number 8 points to the drive rocker.

[0100] It should be noted that the integrated motor parking assembly mainly includes a power part (such as a parking motor), a speed reduction sensing part (such as a screw shaft and a drive nut), and an execution part (such as a drive cam, a drive rocker, a pawl, and a ratchet wheel). It should be noted that changing different modules can achieve the application of the same type of product on different transmissions and platforms.

[0101] In one exemplary embodiment, when the motor screw rotates in a first axial direction, the drive nut is driven to move linearly in a second axial direction; when the drive nut moves linearly in the second axial direction, the drive rocker is pushed to rotate in a third direction; when the drive rocker rotates in the third direction, the drive cam is pushed to rotate in a fourth direction; when the drive cam rotates in the fourth direction, a downward pressure is applied to the pawl; when the pawl obtains the downward pressure, the pawl enters the tooth slot of the ratchet wheel; and / or when the motor screw rotates in a fifth axial direction, the drive nut is driven to move linearly in a sixth axial direction; when the drive nut moves linearly in the sixth axial direction, the drive rocker is pushed to rotate in a seventh direction; when the drive rocker rotates in the seventh direction, the drive cam is pushed to rotate in an eighth direction; when the drive cam rotates in the eighth direction, the pressure applied by the drive cam to the pawl is eliminated, and the pawl is ejected from the tooth slot of the ratchet wheel; wherein the first direction and the fifth direction are opposite, the second direction and the sixth direction are opposite, the third direction and the seventh direction are opposite, and the fourth direction and the eighth direction are opposite.

[0102] Optionally, the first direction is counterclockwise, and the fifth direction is clockwise.

[0103] Optionally, when the PEU receives a P-gear parking request from the driver, the parking motor is driven to rotate counterclockwise, the motor screw drives the drive nut to move linearly, in order to convert the rotational motion of the screw into the linear motion of the nut, the rotational freedom of the nut needs to be limited, the rectangular edge of the nut is matched with the groove of the motor shell to prevent rotation and make the nut not subject to additional force, the head of the drive rocker is installed in the drive nut groove, the edge of the drive nut groove pushes the drive rocker to rotate, the drive rocker and the parking cam are respectively matched with the gap of the pin shaft, the spring force of the outwardly opened cam torsional spring elastically connects the drive rocker and the drive cam, the drive rocker directly pushes the cam to rotate through the limiting surface when entering P, the drive cam rotates and contacts the inclined surface of the pawl, and the pawl is pushed to rotate to generate a downward pressure to make the pawl enter the tooth slot of the ratchet wheel, thereby realizing the parking locking function. When the PEU receives a P-gear release request from the driver, the parking motor is driven to rotate clockwise, the motor shaft drives the drive nut to move linearly in the opposite direction, the drive nut pushes the drive rocker to rotate in the opposite direction, the drive rocker pushes the drive cam to rotate in the opposite direction, the pressure applied by the drive cam to the pawl is eliminated, and the pawl is ejected from the tooth slot of the ratchet wheel, thereby releasing the parking locking function.

[0104] In order to better understand, Figure 9The integrated motor parking process from non-P gear to P gear is shown, the electric screw rod shaft of the parking motor rotates to drive the driving nut to move linearly, and then drives the driving rocker arm, the driving cam and the pawl to rotate, so that the pawl enters or exits the ratchet tooth groove, and the parking locking or unlocking function is realized.

[0105] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be realized by means of software and necessary general hardware platform, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes a plurality of instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device) to execute the methods of the various embodiments of the present application.

[0106] In the embodiment, a target gear shift instruction execution device is also provided, which is used to implement the above embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware or a combination of software and hardware is also possible and is contemplated.

[0107] Figure 10 is a structural block diagram of an optional target gear shift instruction execution device according to an embodiment of the present application; as Figure 10 shown, the target gear shift instruction execution device comprises:

[0108] The determining module 1002 is configured to determine whether a first signal is acquired before a target time point in a case where a target gear shift instruction sent by a gear shift controller SCU is acquired and a position sensor of a transmission fails, the first signal being a signal last fed back by the position sensor before the position sensor fails, the target gear shift instruction being used to instruct to adjust a gear position of the transmission to a target gear position, the first signal being used to indicate a gear position of the transmission, and the target time point being a time point when it is determined that the position sensor fails.

[0109] The executing module 1004 is configured to execute the target gear shift instruction according to the first signal in a case where the first signal is acquired before the target time point.

[0110] In the case that the target gear shift instruction sent by the SCU is acquired and the position sensor of the transmission fails, the device determines whether the first signal last fed back before the position sensor fails is acquired before the target time, and if the first signal is acquired, the target gear shift instruction is executed according to the first signal. Since the target gear shift instruction is executed according to the first signal last fed back before the position sensor fails, the problem that the P gear operation cannot be executed in the case that the position sensor fails is solved, and the technical effect that the P gear operation can still be executed in the case that the position sensor fails is achieved.

[0111] In an example embodiment, the execution module 1004 is further configured to, in the case that the first signal indicates that the gear position of the transmission is the target gear position, prohibit issuing a control instruction to the parking motor; and / or in the case that the first signal indicates that the gear position of the transmission is not the target gear position, control the motor screw shaft of the parking motor to rotate according to a specified duty ratio corresponding to the target gear position and a reference duty ratio carried in the first signal, wherein the parking motor rotates the motor screw shaft to realize gear position switching of the transmission, the duty ratio is used to indicate the gear position of the transmission, and the duty ratio includes the specified duty ratio and the reference duty ratio.

[0112] In an example embodiment, the execution module 1004 is further configured to subtract the reference duty ratio from the specified duty ratio to obtain a duty ratio difference value, divide the absolute value of the duty ratio difference value by a first preset threshold to obtain a first value, wherein the first value is used to indicate the number of rotations of the parking motor, and control the parking motor to rotate the motor screw shaft at the first value and a target direction, wherein the target direction is determined according to the target gear position.

[0113] In an example embodiment, the device further includes a processing module configured to, after the parking motor is controlled to rotate the motor screw shaft at the first value and the target direction, determine a first number of rotations of the motor screw shaft actually rotated within a preset time, feed back gear shift success information to the SCU and determine a duty ratio calculated based on the first number of rotations as a specified duty ratio of the target gear position in the case that the first number of rotations is greater than or equal to the first value; and / or feed back gear shift failure information to the SCU in the case that the first number of rotations is less than the first value.

[0114] In an example embodiment, the execution module 1004 is further configured to, in a case where the first signal is not acquired before the target time point and the target gear is a parking gear, implement a parking brake function through an electronic parking brake system (EPB); and in a case where the first signal is not acquired before the target time point and the target gear is a non-parking gear, execute a reference gear shifting instruction according to a target gear shifting instruction, wherein the reference gear shifting instruction is a gear shifting instruction sent by the SCU acquired last time.

[0115] In an example embodiment, the execution module 1004 is further configured to, in a case where the reference gear shifting instruction is used to indicate that the gear of the transmission is adjusted to a non-parking gear, prohibit issuing a control instruction to a parking motor; and / or in a case where the reference gear shifting instruction is used to indicate that the gear of the transmission is adjusted to a parking gear, control a motor screw shaft of the parking motor to rotate in a direction corresponding to the non-parking gear until the motor screw shaft cannot rotate, wherein the parking motor adjusts the gear of the transmission by rotating the motor screw shaft.

[0116] In an example embodiment, the processing module is further configured to, after controlling the motor screw shaft of the parking motor to rotate in the direction corresponding to the non-parking gear until the motor screw shaft cannot rotate, determine a second number of rotations of the motor screw shaft actually rotated; in a case where the second number of rotations is greater than or equal to a second preset threshold, feed back a gear shifting success information to the SCU and determine a duty cycle calculated based on the second number of rotations as a specified duty cycle of the target gear; and / or in a case where the second number of rotations is less than the second preset threshold, feed back a gear shifting failure information to the SCU.

[0117] In an example embodiment, the determination module 1002 is further configured to determine whether the position sensor is faulty by at least one of the following: in a case where the signal sent by the position sensor is not acquired, determining that the position sensor is faulty; and in a case where the signal sent by the position sensor is acquired and a duty cycle carried in the signal is not located in a preset range, determining that the position sensor is faulty, wherein the duty cycle is used to represent the gear condition of the transmission.

[0118] Embodiments of the present application also provide a storage medium including a stored program, wherein the program performs any of the above methods when executed.

[0119] Optionally, in the present embodiment, the storage medium can be configured to store program code for performing the following steps:

[0120] S1, in the case that the target shift instruction sent by the shift controller SCU is acquired and the position sensor of the transmission fails, determining whether the first signal is acquired before the target time, wherein the first signal is the last signal fed back before the position sensor fails, the target shift instruction is used to indicate that the gear of the transmission is adjusted to the target gear, the first signal is used to indicate the gear condition of the transmission, and the target time is the time when the position sensor fails;

[0121] S2, in the case that the first signal is acquired before the target time, executing the target shift instruction according to the first signal.

[0122] Embodiments of the present application also provide an electronic device, comprising a memory and a processor, the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any of the above method embodiments.

[0123] Optionally, the electronic device can further comprise a transmission device and an input-output device, wherein the transmission device is connected with the processor, and the input-output device is connected with the processor.

[0124] Optionally, in the embodiment, the processor can be configured to execute the following steps through the computer program:

[0125] S1, in the case that the target shift instruction sent by the shift controller SCU is acquired and the position sensor of the transmission fails, determining whether the first signal is acquired before the target time, wherein the first signal is the last signal fed back before the position sensor fails, the target shift instruction is used to indicate that the gear of the transmission is adjusted to the target gear, the first signal is used to indicate the gear condition of the transmission, and the target time is the time when the position sensor fails;

[0126] S2, in the case that the first signal is acquired before the target time, executing the target shift instruction according to the first signal.

[0127] Optionally, in the embodiment, the storage medium can include but is not limited to a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk and various program code storage media.

[0128] The embodiment of the present application further provides a computer program product comprising a nonvolatile computer readable storage medium storing a computer program product, which, when executed by a processor, implements the steps of the method described in various embodiments of the present application.

[0129] Optionally, in the embodiment, the computer program described above can be configured to, when executed by the processor, implement the following steps:

[0130] S1, in the case that the target shift instruction sent by the shift controller SCU is acquired and the position sensor of the transmission fails, determining whether the first signal is acquired before the target time, wherein the first signal is the signal last fed back before the position sensor fails, the target shift instruction is used to instruct to adjust the gear of the transmission to a target gear, the first signal is used to indicate the gear condition of the transmission, and the target time is the time when it is determined that the position sensor fails;

[0131] S2, in the case that the first signal is acquired before the target time, executing the target shift instruction according to the first signal.

[0132] Optionally, specific examples in the embodiment can refer to the examples described in the above embodiments and optional implementation manners, and the embodiment will not be described here.

[0133] Obviously, those skilled in the art should understand that each module or each step of the present application described above can be realized by a general computing device, which can be concentrated on a single computing device or distributed on a network composed of multiple computing devices, and optionally, each module or each step can be realized by program code executable by a computing device, so that each module or each step can be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described can be executed in different order, or each module or each step can be manufactured into an individual integrated circuit module, or multiple modules or steps can be manufactured into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.

[0134] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of executing a target shift command, characterized by, The method comprises the following steps: In the case that the target shift instruction sent by the shift controller SCU is acquired and the position sensor of the transmission fails, it is determined whether the first signal is acquired before the target time, wherein the first signal is the last signal fed back before the position sensor fails, the target shift instruction is used to indicate that the gear of the transmission is adjusted to the target gear, the first signal is used to indicate the gear condition of the transmission, and the target time is the time when the position sensor fails; In the case that the first signal is acquired before the target time, the target shift instruction is executed according to the first signal.

2. The method of claim 1, wherein, The execution of the target shift instruction according to the first signal comprises the following steps: In the case that the first signal indicates that the gear of the transmission is the target gear, the control instruction for controlling the parking motor is prohibited to be issued; and / or In the case that the first signal indicates that the gear of the transmission is not the target gear, the motor screw shaft of the parking motor is controlled to rotate according to the specified duty ratio corresponding to the target gear and the reference duty ratio carried in the first signal, wherein the parking motor rotates the motor screw shaft to realize the gear switching of the transmission, the duty ratio is used to indicate the gear condition of the transmission, and the duty ratio comprises the specified duty ratio and the reference duty ratio.

3. The method of claim 2, wherein, The control of the rotation of the motor screw shaft of the parking motor according to the specified duty ratio corresponding to the target gear and the reference duty ratio carried in the first signal comprises the following steps: The specified duty ratio is subtracted by the reference duty ratio to obtain a duty ratio difference value; The absolute value of the duty ratio difference value is divided by a first preset threshold to obtain a first value, wherein the first value is used to indicate the number of rotations of the parking motor to be rotated; The parking motor is controlled to rotate the motor screw shaft with the first value and a target direction as the target, wherein the target direction is determined according to the target gear.

4. The method of claim 3, wherein, After the control of the rotation of the motor screw shaft of the parking motor with the first value and the target direction as the target, the method further comprises the following steps: It is determined that the first number of rotations of the motor screw shaft actually rotated within a preset time is determined; In the case that the first number of rotations is greater than or equal to the first value, the shift success information is fed back to the SCU, and the duty ratio calculated according to the first number of rotations is determined as the specified duty ratio of the target gear; and / or In the case that the first number of rotations is less than the first value, the shift failure information is fed back to the SCU.

5. The method of claim 1, wherein, After the determination of whether the first signal is acquired before the target time, the method further comprises the following steps: In the case that the first signal is not acquired before the target time and the target gear is the parking gear, the parking brake function is realized through the electronic parking brake system EPB; In the case that the first signal is not acquired before the target time and the target gear is the non-parking gear, the target shift instruction is executed according to the reference shift instruction, wherein the reference shift instruction is the shift instruction sent by the SCU acquired last time.

6. The method of claim 5, wherein, The execution of the target shift instruction according to the reference shift instruction comprises the following steps: in a case where the reference shift instruction is used to instruct to adjust the gear of the transmission to a non-parking gear, issuing no control instruction to control the parking motor; and / or in a case where the reference shift instruction is used to instruct to adjust the gear of the transmission to a parking gear, rotating a motor screw shaft of the parking motor to a direction corresponding to the non-parking gear until the motor screw shaft cannot be rotated, wherein the parking motor rotates the motor screw shaft to realize gear switching of the transmission.

7. The method of claim 6, wherein, After rotating the motor screw shaft of the parking motor to the direction corresponding to the non-parking gear until the motor screw shaft cannot be rotated, the method further comprises: determining a second number of rotations of the motor screw shaft actually rotated; in a case where the second number of rotations is greater than or equal to a second preset threshold, feeding back a shift success information to the SCU and determining a duty cycle calculated based on the second number of rotations as a specified duty cycle of the target gear; and / or in a case where the second number of rotations is less than the second preset threshold, feeding back a shift failure information to the SCU.

8. The method according to any one of claims 1-7, characterized in that, The method further comprises: determining whether the position sensor is faulty by at least one of the following: in a case where the signal sent by the position sensor is not acquired, determining that the position sensor is faulty; in a case where the signal sent by the position sensor is acquired and a duty cycle carried in the signal is not located in a preset range, determining that the position sensor is faulty, wherein the duty cycle is used to represent a gear condition of the transmission.

9. A control device for implementing the gear shift of the transmission according to any one of claims 1 to 8, characterized in that, comprises: a parking motor, wherein the parking motor comprises a motor screw shaft, the motor screw shaft drives a driving nut shaft to move linearly by rotating; the driving nut, wherein an inner thread of the driving nut matches an outer thread of the motor screw shaft of the parking motor, the driving nut is provided with a magnet, and the magnet moves linearly in a process of rotating movement of the motor screw shaft; a rocker arm cam, wherein the rocker arm cam comprises a driving rocker arm, a driving cam, a pin shaft and a cam torsional spring; a head of the driving rocker arm is mounted in a groove of the driving nut; the driving rocker arm and the driving cam are mounted on an outer cylindrical surface of the pin shaft through respective inner holes; an outer cylindrical surface of the driving rocker arm is mounted in an open groove of the driving cam; and two end lugs of the cam torsional spring are respectively mounted in the inner holes of the driving rocker arm and the driving cam; a pawl, wherein the pawl is used to enter or pop out of a tooth groove of a ratchet wheel of the transmission according to a force condition, and the force condition is used to represent an external force applied to the pawl by the driving cam.

10. The control device of claim 9, wherein The position sensor is mounted on an outer shell of the parking motor through a bolt.

11. The control device according to claim 9, wherein When the motor screw rotates in the first axial direction, the driving nut moves linearly in the second axial direction; when the driving nut moves linearly in the second axial direction, the driving rocker arm rotates in the third direction; when the driving rocker arm rotates in the third direction, the driving cam rotates in the fourth direction; when the driving cam rotates in the fourth direction, the pawl is pressed downward; when the pawl is pressed downward, the pawl enters the tooth slot of the ratchet wheel; and / or When the motor screw rotates in the fifth axial direction, the driving nut moves linearly in the sixth axial direction; when the driving nut moves linearly in the sixth axial direction, the driving rocker arm rotates in the seventh direction; when the driving rocker arm rotates in the seventh direction, the driving cam rotates in the eighth direction; when the driving cam rotates in the eighth direction, the driving cam removes the pressure on the pawl, and the pawl is ejected from the tooth slot of the ratchet wheel. The first direction is opposite to the fifth direction, the second direction is opposite to the sixth direction, the third direction is opposite to the seventh direction, and the fourth direction is opposite to the eighth direction.

12. An execution device of a target shift instruction, characterized by comprising: The method comprises: The determining module is configured to determine whether a first signal is acquired before a target time in a case where a target shift instruction sent by a shift controller SCU is acquired and a position sensor of a transmission fails, the first signal being a signal last fed back by the position sensor before the position sensor fails, the target shift instruction being used to instruct to adjust a gear of the transmission to a target gear, the first signal being used to indicate a gear condition of the transmission, and the target time being a time when it is determined that the position sensor fails. The executing module is configured to execute the target shift instruction according to the first signal in a case where the first signal is acquired before the target time.

13. A computer readable storage medium, characterized in that, The computer-readable storage medium comprises a stored program, wherein the program is executed to perform the method in any one of claims 1 to 8. 14.An electronic device comprising a memory and a processor, the electronic device characterized by, The memory stores a computer program, and the processor is configured to execute the method in any one of claims 1 to 8 by using the computer program.

15. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the method in any one of claims 1 to 8.

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