Gearbox gear shifting control method and system

Abstract

The invention provides a gearbox gear shifting control method and system, and belongs to the technical field of vehicle control. The method comprises the following steps: performing logic interlocking processing on forward, backward and neutral position signals corresponding to a plurality of gears in response to a gear switching trigger signal; the logic interlocking processing result serves as a gear shifting control instruction to be sent to a gearbox control unit so as to drive a corresponding gear electromagnetic valve to act; wherein the holding time of the gear shifting control instruction is not less than the time threshold value. Through a logic interlocking mechanism, it is ensured that only one gear signal is activated at the same moment, the problems of gear shifting disorder, electromagnetic valve misoperation and the like caused by signal conflicts are solved fundamentally, and the safety and reliability of the gear shifting process are improved. By setting the minimum holding time, it is ensured that the gear electromagnetic valve has enough time to complete the gear shifting action, incomplete gear shifting or midway resetting caused by too short instruction time is avoided, and therefore the execution success rate and stability of gear shifting are improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicle control, and particularly relates to a gearbox shifting control method and system. BACKGROUND

[0002] With the continuous improvement of the requirements for mine safety and environmental protection, and the development of underground mining operations towards automation and high efficiency, the running reliability, operation continuity and dynamic response capability of the underground shovel loader as the key transportation equipment are increasingly valued. The smoothness, real-time performance and reliability of the shifting process of the gearbox as the core component of the power transmission of the shovel loader directly affect the operation efficiency, energy consumption level and operation safety of the whole machine. Especially in the continuous operation conditions such as loading, transfer and dumping, if the frequent forward, reverse and neutral switching is delayed or stalled, the operation cycle efficiency is reduced.

[0003] At present, the gearbox shifting control applied to the underground shovel loader is mainly realized based on the combination of hydraulic drive and simple electronic control. Usually, the gear oil way is directly controlled by a manual reversing valve; or a simple gear selection system based on a programmable logic controller (PLC) is used to directly drive the electromagnetic valve reversing according to the handle signal. Some systems introduce basic delay protection and interlocking logic to avoid shifting conflicts and misoperation.

[0004] However, the above-mentioned prior art still has obvious deficiencies in dealing with the high frequency and high real-time shifting requirements of the underground shovel loader: first, the shifting instruction response delay is large, the signal transmission and processing link lacks optimization, which leads to slow gear switching and affects the operation continuity; second, the gear signal is easily disturbed by electrical noise during transmission and processing, which may cause jitter or misfire, and the traditional de-bouncing method is fixed and rigid, which is difficult to adapt to the dynamically changing working conditions; third, the existing system lacks real-time and reliable feedback of the gear state, and cannot realize closed-loop monitoring and adaptive adjustment of the shifting process, which may cause shifting stall, jitter and even frequent operation of the electromagnetic valve due to signal asynchronization or logic conflict in complex working conditions, reducing the system reliability and shortening the service life of the components. Therefore, there is an urgent need for a shifting control method that integrates interlocking, dynamic delay, real-time feedback and adaptive processing to comprehensively improve the shifting performance and operation safety of the gearbox of the underground shovel loader. SUMMARY

[0005] The present application provides a gearbox shifting control method and system, which has the characteristics of integrating interlocking, dynamic delay, real-time feedback and adaptive processing, and can improve the shifting performance and operation safety of the gearbox of the underground shovel loader.

[0006] In a first aspect, the present application provides a gearbox shifting control method, comprising: The forward, reverse and neutral signals corresponding to the plurality of gears are logically interlocked in response to the gear switching trigger signal; The logical interlocking processing result is sent to the gearbox control unit as a gear shifting control instruction to drive the corresponding gear solenoid valve to act;

[0007] Optionally, the logical interlocking processing of the forward, reverse and neutral signals corresponding to the plurality of gears in response to the gear switching trigger signal comprises: The confidence C of the current gear signal is calculated according to the following formula current : ; Where e is a natural constant; k is a preset sensitivity coefficient; T hold is the current gear holding time; μ is the historical average effective signal holding time; In the case where the confidence of the current gear signal is greater than the preset confidence threshold, the logical interlocking processing of the forward, reverse and neutral signals corresponding to the plurality of gears is performed according to the following formula: ; Where S next is the next gear state; forward is the forward instruction state; reverse is the reverse instruction state; neutral is the neutral instruction state; S current is the current gear state; I joy is the instruction value obtained by normalizing the gear switching trigger signal; I th-f is the forward instruction trigger threshold; I th-r is the reverse instruction trigger threshold; I th-n is the neutral instruction trigger threshold; T max is the maximum allowed continuous gear holding time.

[0008] Optionally, the logical interlocking processing result is sent to the gearbox control unit as a gear shifting control instruction to drive the corresponding gear solenoid valve to perform gear shifting action; wherein the maintenance time of the gear shifting control instruction is not less than the time threshold, comprising: The gear shifting control instruction is delay controlled to make the maintenance time of each gear control instruction not less than the time threshold; The delay controlled gear shifting control instruction is identified and de-bounced; The identified and de-bounced gear shifting control instruction is sent to the gearbox control unit to drive the corresponding gear solenoid valve to perform gear shifting action.

[0009] Optionally, the gear shifting control instruction is delay controlled to make the maintenance time of each gear control instruction not less than the time threshold, comprising: The delay control time X of the shift control instruction is calculated according to the following formula: ; Wherein, T base is a preset basic delay time; a is a vehicle speed influence coefficient; V curr is a current vehicle speed; V max is a maximum allowed vehicle speed; b is a temperature compensation coefficient; is a difference between the temperature of the gearbox oil and a standard temperature.

[0010] Optionally, the delay control on the shift control instruction is performed so that the maintenance time of each gear control instruction is not less than a time threshold, and the method further comprises: The time threshold Y is calculated according to the following formula: ; Wherein, Y base is a basic threshold time; n is a total number of working conditions; w i is a weight coefficient of the i-th working condition; C i is a correction factor of the i-th working condition.

[0011] Optionally, the delay-controlled shift control instruction is identified and de-bounced, and the method further comprises: The de-bouncing time T debounce is calculated according to the following formula: ; Wherein, T min is a minimum de-bouncing time; g is a noise adaptation coefficient; s noise is a standard deviation of noise; ln(·) is a logarithmic function with the natural constant e as the base; N err is a number of signal jumps; N total is a total number of sampling points.

[0012] Optionally, the shift control instruction after the identification and de-bouncing is sent to the gearbox control unit to drive the corresponding gear solenoid valve to perform a shift action, and the method further comprises: The driving current of the gear solenoid valve corresponding to the shift control instruction is calculated according to the deviation between the current gear state and the gear state corresponding to the shift control instruction: ; Wherein, I target is the driving current of the gear solenoid valve corresponding to the shift control instruction; I base is a basic current; K p is a first preset coefficient; K i is a second preset coefficient; e(t) is the deviation between the current gear state and the gear state corresponding to the shift control instruction. K represents the integral of the deviation e(t) with respect to time t. d This is the third preset coefficient; Let e(t) be the derivative of e(t) with respect to time t.

[0013] In a second aspect, the present invention provides a gearbox shifting control system, comprising: The logic interlock module is used to perform logic interlock processing on forward, reverse and neutral signals corresponding to multiple gears in response to the gear shift trigger signal; The shift module is used to send the logic interlock processing result as a shift control command to the transmission control unit to drive the corresponding gear solenoid valve to operate; wherein the duration of the shift control command is not less than a time threshold.

[0014] Thirdly, the present invention provides a computer device including a processor and a memory; wherein, when the processor executes a computer program stored in the memory, it implements the steps of the gearbox shift control method described in the first aspect.

[0015] Fourthly, the present invention provides a computer-readable storage medium for storing a computer program; when the computer program is executed by a processor, it implements the steps of the gearbox shift control method described in the first aspect.

[0016] This invention provides a transmission shift control method and system. The method employs a logic interlock mechanism to ensure that only one gear signal (forward, reverse, or neutral) is activated at any given time, fundamentally preventing shift chaos and solenoid valve malfunctions caused by signal conflicts, thus improving the safety and reliability of the shifting process. By setting a minimum holding time, the method ensures that the gear solenoid valve has sufficient time to complete the shift action, avoiding incomplete shifts or mid-shift resets due to insufficient command time, thereby improving the success rate and stability of shift execution. Attached Figure Description

[0017] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic flowchart of a gearbox shift control method provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a gearbox shift control system provided in an embodiment of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example 1 like Figure 1 As shown, this embodiment provides a gearbox shift control method, including: Step 101: In response to the gear shift trigger signal, perform logical interlocking processing on the forward, reverse and neutral signals corresponding to multiple gears.

[0021] The transmission shift control method provided in this embodiment is implemented using a control lever, a vehicle control unit (VCU), and a transmission electronic control unit (TCU). The control lever is the trigger source for gear shifting, the VCU is the carrier for implementing the shift control logic, and the TCU is the drive unit that receives shift signals and processes them through the shift solenoid valve. At the same time, it feeds back the current status information of the gear and sends a message to the VCU.

[0022] Control handles (such as Hall effect sensors, potentiometers, or microswitches) are used to generate and output electrical signals. These electrical signals can take the form of: Analog voltage signal: The handle outputs a continuous voltage value (e.g., 0-5V DC) at different positions (e.g., forward, neutral, reverse) depending on the position. For example, the neutral position outputs 2.5V, the forward position outputs a voltage that varies from 2.5V to 5V, and the backward position outputs a voltage that varies from 2.5V to 0V. The electrical signal is acquired by the analog-to-digital converter (ADC) of the vehicle control unit (VCU) to obtain the input source I for logic processing. joy .

[0023] Digital encoded signals: The handlebar directly outputs digital encoded or switch signals representing specific gear positions (such as "Forward F", "Neutral N", "Reverse R") through a built-in encoder or switch array.

[0024] Pulse Width Modulation (PWM) Signal: A PWM wave output by the handle with a duty cycle proportional to the operating position.

[0025] This embodiment uses an analog voltage signal scheme, which can provide continuous and stepless position information, which is conducive to achieving smoother control logic and more precise threshold judgment.

[0026] For example, the confidence level C of the current gear signal is calculated according to the following formula. current : .

[0027] Where e is the natural constant; k is the preset sensitivity coefficient; T hold is the current gear holding time; μ is the historical average valid signal holding time.

[0028] If the confidence level of the current gear signal is greater than a preset confidence threshold, the forward, reverse, and neutral signals corresponding to multiple gears are logically interlocked according to the following formula: .

[0029] Among them, S next The next gear is in the forward position; forward is the forward command; reverse is the reverse command; neutral is the neutral command; S current Current gear position; I joy This is the command value obtained after normalizing the gear shift trigger signal; I th-f Forward command trigger threshold; I th-r The threshold for triggering the backtrack command; I th-n The threshold for triggering the neutral command; T max The maximum allowed continuous gear holding time.

[0030] Step 102: The logic interlock processing result is sent to the transmission control unit as a shift control command to drive the corresponding gear solenoid valve to operate; wherein the duration of the shift control command is not less than a time threshold.

[0031] For example, this step includes delaying the shift control command so that the duration of each gear control command is not less than a time threshold.

[0032] The delay control time X of the shift control command is calculated according to the following formula: .

[0033] Among them, T base The preset base delay time ranges from 0.1s to 0.3s; α is the vehicle speed influence coefficient, ranging from 0.1 to 0.5; V curr V represents the current vehicle speed. max β is the maximum permissible vehicle speed; β is the temperature compensation coefficient, with a value range of 0.05~0.2. This is the difference between the transmission oil temperature and the standard temperature.

[0034] Calculate the time threshold Y using the following formula: .

[0035] Among them, Y base The base threshold time; n is the total number of operating conditions; wi C represents the weighting coefficient for the i-th working condition; i Let be the correction factor for the i-th operating condition.

[0036] The shift control commands of the time-delay control are identified and de-jittered.

[0037] The de-shake time T is calculated according to the following formula. debounce : .

[0038] Among them, T min γ is the minimum dejitter time, ranging from 5ms to 20ms; γ is the noise adaptation coefficient, ranging from 0.5 to 2.0; σ noise is the noise standard deviation; ln(·) is the logarithmic function with the natural constant e as the base; N err N represents the number of signal transitions. total This represents the total number of sampling points.

[0039] In this embodiment, the noise standard deviation σ noise It represents a recent sampled data I joy The degree of dispersion around its mean. Noise standard deviation σ noise This is calculated in real time by the VCU. Specifically, the VCU maintains a first-in-first-out (FIFO) buffer of length N in memory to store the N most recent control handle signals I. joy The sampled value. Each time a new sample is taken, the VCU updates σ according to the following steps. noise : Store the new sampled value in the buffer and remove the oldest value.

[0040] Calculate the arithmetic mean μ' of all N data in the buffer.

[0041] Calculate the sum of squares of the deviations of each data point from the mean μ'.

[0042] Taking the square root of the sum of squares divided by N gives the latest estimate of the noise standard deviation σ at the current time. noise .

[0043] The window length N can be calibrated according to the system response speed and the smoothness requirements of noise assessment, with a typical range corresponding to a sampling duration of 20ms to 100ms.

[0044] Specifically, the VCU operates at a fixed period T s (For example, 1ms) to obtain a discrete signal sequence I joy (k'), I joy (k'-1), ..., I joy(k'-N+1), where N is the length of the sliding window (e.g., N=50, representing 50ms of data).

[0045] The formula for calculating the standard deviation of signal-to-noise ratio within this window is: .

[0046] Where k' is the sequence number of the current discrete sampling time; μ' is the arithmetic mean of the data within the window; and i' is the relative position index within the sliding window.

[0047] The shift control command, after identification and de-shaking processing, is sent to the transmission control unit to drive the corresponding gear solenoid valve to perform the shift action.

[0048] For example, the drive current of the gear solenoid valve corresponding to the gear shift control command is calculated based on the deviation between the current gear position and the gear position corresponding to the shift control command: .

[0049] Among them, I target I is the drive current of the gear solenoid valve corresponding to the gear shift control command; base Based on the base current; K p K is the first preset coefficient; i t is the second preset coefficient; e(t) is the deviation between the current gear state and the gear state corresponding to the shift control command; K represents the integral of the deviation e(t) with respect to time t. d This is the third preset coefficient; Let e(t) be the derivative of e(t) with respect to time t.

[0050] Taking the underground loader accelerating by switching from "transport" mode to "forward 3rd gear": The operator pushes the handle forward, and the VCU collects I joy >0.6.

[0051] If the VCU state machine determines that it is currently in a neutral state and the signal confidence level is sufficient (e.g., 0.7 is required for the signal to be considered valid and participate in the state machine decision), it will prepare to switch to the forward state.

[0052] The VCU calculates a shorter delay X (e.g., 0.18s) based on the current vehicle speed (higher). The signal remains valid for the duration of X.

[0053] After the delay ends, the VCU starts the closed-loop PID algorithm, targeting level 3, and calculates I. target And send it to the TCU.

[0054] The TCU drives the 3rd gear forward solenoid valve, and the VCU monitors the gear position in real time via CAN messages to ensure that the gear is accurately engaged in 3rd gear.

[0055] The entire switching process is rapid (due to dynamic delay optimization), smooth (due to PID current closed-loop control), and without any intermediate gear conflicts (due to strict interlocking), achieving efficient, continuous, and lag-free gear shifting.

[0056] In summary, this embodiment provides a gearbox shift control method. Through a logic interlock mechanism, it ensures that only one gear signal (forward, reverse, or neutral) is activated at any given time, fundamentally avoiding shifting confusion and solenoid valve malfunctions caused by signal conflicts, thus improving the safety and reliability of the shifting process. By setting a minimum holding time, it ensures that the gear solenoid valve has sufficient time to complete the shifting action, avoiding incomplete shifting or mid-shift reset due to insufficient command time, thereby improving the success rate and stability of shifting.

[0057] By employing confidence level judgment and formulaic interlocking logic, the reliability of gear position signals and the rationality of state switching are improved, reducing unnecessary gear shifts caused by noise or false triggering. The introduction of delay control and debouncing further optimizes the stability and anti-interference capability of commands, enhancing the system's adaptability under complex operating conditions. Dynamically adjusting the delay time based on vehicle speed and oil temperature achieves matching of shift timing with operating conditions, improving shift smoothness and system efficiency. Weighted calculation of time thresholds for multiple operating conditions enhances the shift control's adaptability and intelligence. Noise-adaptive debouncing time calculation improves the system's dynamic suppression of signal interference and strengthens signal processing robustness. Using PID closed-loop control to calculate the solenoid valve drive current enables precise control and real-time feedback during the shift process, further improving shift smoothness and response speed.

[0058] Example 2 Based on the same inventive concept as Embodiment 1, this embodiment provides a gearbox shift control system. Since the principle of solving the problem in this system is similar to that of the gearbox shift control method described in Embodiment 1, the implementation of this system can refer to the implementation of the gearbox shift control method.

[0059] like Figure 2 As shown, this embodiment provides a gearbox shift control system, including: The logic interlock module 10 is used to perform logic interlock processing on forward, reverse and neutral signals corresponding to multiple gears in response to the gear shift trigger signal; The shift module 20 is used to send the logic interlock processing result as a shift control command to the transmission control unit to drive the corresponding gear solenoid valve to operate; wherein the duration of the shift control command is not less than a time threshold.

[0060] For example, the logical interlock module includes: The first calculation unit is used to calculate the confidence level C of the current gear signal according to the following formula. current : .

[0061] Where e is the natural constant; k is the preset sensitivity coefficient; T hold is the current gear holding time; μ is the historical average valid signal holding time.

[0062] The second calculation unit is used to perform logical interlocking processing on the forward, reverse, and neutral signals corresponding to multiple gears according to the following formula, when the confidence level of the current gear signal is greater than a preset confidence threshold: .

[0063] Among them, S next The next gear is in the forward position; forward is the forward command; reverse is the reverse command; neutral is the neutral command; S current Current gear position; I joy This is the command value obtained after normalizing the gear shift trigger signal; I th-f Forward command trigger threshold; I th-r The threshold for triggering the backtrack command; I th-n The threshold for triggering the neutral command; T max The maximum allowed continuous gear holding time.

[0064] For example, the shift module includes: The delay control unit is used to delay the shift control command so that the duration of each gear control command is not less than the time threshold. The de-jitter unit is used to identify and de-jitter the shift control commands of the time-delay control. The shift unit is used to send the shift control command after identification and de-shaking processing to the transmission control unit to drive the corresponding gear solenoid valve to perform the shift action.

[0065] For example, the delay control unit includes: A first computing unit is used to calculate the delay control time X of the shift control command according to the following formula: .

[0066] Among them, T base The preset base delay time; α is the vehicle speed influence coefficient; V curr V represents the current vehicle speed. maxβ is the maximum permissible vehicle speed; β is the temperature compensation coefficient. This is the difference between the transmission oil temperature and the standard temperature.

[0067] For example, the delay control unit further includes: The second computing device is used to calculate the time threshold Y according to the following formula: .

[0068] Among them, Y base The base threshold time; n is the total number of operating conditions; w i C represents the weighting coefficient for the i-th working condition; i Let be the correction factor for the i-th operating condition.

[0069] For example, the de-jitter unit includes: The third calculation unit is used to calculate the de-jitter time T according to the following formula. debounce : .

[0070] Among them, T min Minimum dejitter time; γ is the noise adaptation factor; σ noise is the noise standard deviation; ln(·) is the logarithmic function with the natural constant e as the base; N err N represents the number of signal transitions. total This represents the total number of sampling points.

[0071] For example, the shifting unit includes: The fourth calculation unit is used to calculate the drive current of the gear solenoid valve corresponding to the gear shift control command based on the deviation between the current gear position and the gear position corresponding to the shift control command. .

[0072] Among them, I target I is the drive current of the gear solenoid valve corresponding to the gear shift control command; base Based on the base current; K p K is the first preset coefficient; i t is the second preset coefficient; e(t) is the deviation between the current gear state and the gear state corresponding to the shift control command; K represents the integral of the deviation e(t) with respect to time t. d This is the third preset coefficient; Let e(t) be the derivative of e(t) with respect to time t.

[0073] For more detailed information on the working process of each of the above modules, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0074] Example 3 This embodiment provides a computer device, including a processor and a memory; wherein, when the processor executes a computer program stored in the memory, it implements the steps of the gearbox shift control method described in Embodiment 1.

[0075] For a more detailed explanation of the above method, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0076] Example 4 This embodiment provides a computer-readable storage medium for storing a computer program; when the computer program is executed by a processor, it implements the steps of the gearbox shift control method described in Embodiment 1.

[0077] For a more detailed explanation of the above method, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0078] Example 5 This embodiment provides a computer program product, including computer-executable instructions or a computer program. When the computer-executable instructions or the computer program are executed by a processor, they implement the steps of the gearbox shift control method described in Embodiment 1.

[0079] For a more detailed explanation of the above method, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0080] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems, devices, storage media, and computer program products disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0081] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments of the present invention.

[0082] In some embodiments, computer-executable instructions may take the form of programs, software, software modules, scripts, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.

[0083] As an example, computer-executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple co-located files (e.g., files that store one or more modules, subroutines, or code sections).

[0084] As an example, computer-executable instructions can be deployed to execute on a single electronic device, or on multiple electronic devices located at one location, or on multiple electronic devices distributed across multiple locations and interconnected via a communication network.

[0085] The present invention has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present invention. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and embodiments of the present invention without departing from the spirit and scope of the invention, and all such modifications and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims.

Claims

1. A transmission shift control method characterized by, The method comprises the following steps: performing logical interlocking processing on the forward, reverse and neutral signals corresponding to the plurality of gears in response to a gear switching trigger signal; sending the logical interlocking processing result as a gear shifting control instruction to a gearbox control unit to drive the corresponding gear solenoid valve to actuate; 2. The transmission shift control method according to claim 1, characterized by, wherein the maintenance time of the gear shifting control instruction is not less than a time threshold. The confidence C of the current gear signal is calculated according to the following formula current : ； Wherein, e is a natural constant; k is a preset sensitivity coefficient; T hold is the current gear holding time; μ is the historical average effective signal holding time; The logical interlocking processing on the forward, reverse and neutral signals corresponding to the plurality of gears in response to a gear switching trigger signal comprises: ； Wherein, S next is the next gear state; forward is the forward instruction state; reverse is the reverse instruction state; neutral is the neutral instruction state; S current is the current gear state; I joy is the instruction value obtained after the gear switching trigger signal is normalized; I th-f is the forward instruction trigger threshold; I th-r is the reverse instruction trigger threshold; I th-n is the neutral instruction trigger threshold; T max is the maximum allowed continuous gear holding time.

3. The transmission shift control method according to claim 1, characterized by, when the confidence level of the current gear signal is greater than a preset confidence threshold, performing logical interlocking processing on the forward, reverse and neutral signals corresponding to the plurality of gears according to the following formula: The sending of the logical interlocking processing result as a gear shifting control instruction to a gearbox control unit to drive the corresponding gear solenoid valve to actuate comprises: delaying the gear shifting control instruction to ensure that the maintenance time of each gear control instruction is not less than a time threshold; identifying and debouncing the delayed gear shifting control instruction; 4. The transmission shift control method according to claim 3, characterized by, sending the identified and debounced gear shifting control instruction to the gearbox control unit to drive the corresponding gear solenoid valve to actuate. The delaying of the gear shifting control instruction to ensure that the maintenance time of each gear control instruction is not less than a time threshold comprises: ； Wherein, T base is a preset basic delay time; α is a vehicle speed influence coefficient; V curr is a current vehicle speed; V max is a maximum allowable vehicle speed; β is a temperature compensation coefficient; is a difference between the gearbox oil temperature and a standard temperature.

5. The transmission shift control method according to claim 3, characterized by, calculating the delay control time X of the gear shifting control instruction according to the following formula: The delaying of the gear shifting control instruction to ensure that the maintenance time of each gear control instruction is not less than a time threshold further comprises: ； wherein Y base is the basic threshold time; n is the total number of working conditions; w i is the weight coefficient of the i-th working condition; C i is the i-th working condition correction factor.

6. The transmission shift control method according to claim 3, characterized by, calculating the time threshold Y according to the following formula: The de-bounce time T is calculated according to the following formula debounce : ； Wherein, T min is the minimum de-bouncing time; γ is the noise adaptation coefficient; σ noise is the noise standard deviation; ln(·) is the logarithm function with the natural constant e as the base; N err is the signal jump number; N total is the total sampling point number.

7. The transmission shift control method according to claim 3, characterized by, The identifying and debouncing of the delayed gear shifting control instruction comprises: The sending of the identified and debounced gear shifting control instruction to the gearbox control unit to drive the corresponding gear solenoid valve to actuate comprises: ； I target is a driving current of the gear electromagnetic valve corresponding to the gear shift control command; I base is a basic current; K p is a first preset coefficient; K i is a second preset coefficient; e(t) is a deviation of a current gear state from a gear state corresponding to the gear shift control command; represents an integral of the deviation e(t) with respect to time t; K d is a third preset coefficient; represents a derivative of e(t) with respect to time t.

8. A gearbox shift control system characterized by, calculating the driving current of the gear solenoid valve corresponding to the gear shifting control instruction according to the deviation between the current gear state and the gear state corresponding to the gear shifting control instruction: The method comprises the following steps: a logical interlocking module for performing logical interlocking processing on the forward, reverse and neutral signals corresponding to the plurality of gears in response to a gear switching trigger signal; 9. A computer device, comprising: a gear shifting module for sending the logical interlocking processing result as a gear shifting control instruction to a gearbox control unit to drive the corresponding gear solenoid valve to actuate; wherein the maintenance time of the gear shifting control instruction is not less than a time threshold.

10. A computer-readable storage medium, characterized in that, The method comprises the following steps: a processor and a memory; wherein the processor executes the computer program saved in the memory to realize the steps of the gearbox gear shifting control method of any one of claims 1-7. a computer program for storing; the computer program is executed by the processor to realize the steps of the gearbox gear shifting control method of any one of claims 1-7.

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