Control method, device and equipment for gearbox of vehicle

Abstract

The embodiment of the invention provides a control method, device and equipment for a gearbox of a vehicle. The method comprises the steps that the left top tooth position, the left end point position, the right top tooth position and the right end point position of a gearbox of the vehicle are obtained; according to the left top tooth position, the left end point position, the right top tooth position and the right end point position, the neutral gear center position is determined; according to the moving requirement of the shifting fork of the vehicle, a segmented control mode corresponding to the moving requirement is determined; and according to the determined segmented control mode, the current of a gear shifting motor of the vehicle is controlled. The neutral gear center position is determined based on the left top tooth position, the left end point position, the right top tooth position and the right end point position; further, a neutral gear center position representing the neutral gear position can be accurately obtained, a gear shifting motor of the vehicle is controlled based on the neutral gear position, the control precision can be improved, and the gear shifting time is guaranteed; and in addition, gear shifting impact is reduced, and noise in the gear shifting process is lowered.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a control method, device and equipment of a gearbox of a vehicle. BACKGROUND

[0002] In the driving control process of a vehicle, the position of the gearbox of the vehicle needs to be learned, wherein the neutral position of the gearbox needs to be determined; and then the shift motor of the vehicle is controlled based on the determined neutral position.

[0003] In the prior art, the neutral position can be determined based on the end point positions in the gear positions.

[0004] However, in the above-mentioned manner, the determined neutral position is not accurate, which may cause over-regulation in the return-to-neutral process of the gearbox, and further cause the problem of gear tooth collision; and the shift motor of the vehicle is controlled based on the neutral position, which may cause low control accuracy, and further cause that the shift time cannot be guaranteed and noise occurs in the shift process. SUMMARY

[0005] The embodiments of the present application provide a control method, device and equipment of a gearbox of a vehicle, so as to determine a suitable neutral position, and further avoid the problem of gear tooth collision, and improve the control accuracy of the shift motor.

[0006] In a first aspect, the embodiments of the present application provide a control method of a gearbox of a vehicle, comprising:

[0007] obtaining a low gear position of the gearbox of the vehicle, the low gear position comprising a left top tooth position and a left end point position; and obtaining a high gear position of the gearbox, the high gear position comprising a right top tooth position and a right end point position;

[0008] determining a neutral center position according to the left top tooth position, the left end point position, the right top tooth position and the right end point position;

[0009] determining a segmented control mode corresponding to the movement requirement of the shift fork of the vehicle according to the movement requirement; wherein the segmented control mode indicates a control mode of the shift fork in at least one of the low gear position, the high gear position and the neutral center position;

[0010] controlling the current of the shift motor of the vehicle according to the determined segmented control mode.

[0011] In a possible implementation, the obtaining of the low gear position of the gearbox of the vehicle comprises:

[0012] If it is determined that the shift fork is currently located at the left top tooth position, the shift fork is controlled to move to a preset neutral position, and the main drive motor of the vehicle is rotated; when the rotation speed of the main drive motor is greater than a preset rotation speed, the torque of the main drive motor is cleared; when the rotation speed of the main drive motor is within a preset value range, the shift fork is controlled to move to the left to obtain a left end point position.

[0013] If it is determined that the shift fork is currently located at the left end point position, the shift fork is controlled to move to a preset neutral position, and the main drive motor of the vehicle is rotated; the shift fork is controlled to move to the left to obtain the left top tooth position.

[0014] In a possible implementation, the high gear position of the gearbox is obtained, including:

[0015] If it is determined that the shift fork is currently located at the right top tooth position, the shift fork is controlled to move to a preset neutral position, and the main drive motor of the vehicle is rotated; when the rotation speed of the main drive motor is greater than a preset rotation speed, the torque of the main drive motor is cleared; when the rotation speed of the main drive motor is within a preset value range, the shift fork is controlled to move to the right to obtain a right end point position.

[0016] If it is determined that the shift fork is currently located at the right end point position, the shift fork is controlled to move to a preset neutral position, and the main drive motor of the vehicle is rotated; the shift fork is controlled to move to the right to obtain the right top tooth position.

[0017] In a possible implementation, the neutral center position is determined according to the left top tooth position, the left end point position, the right top tooth position, and the right end point position, including:

[0018] A first center position is determined according to the left top tooth position and the right top tooth position; and a second center position is determined according to the left end point position and the right end point position.

[0019] The neutral center position is determined according to the first center position and the second center position.

[0020] In a possible implementation, the neutral center position is determined according to the first center position and the second center position, including:

[0021] Each of the neutral center positions is determined according to each of the first center positions and each of the second center positions; and a mean value of a plurality of the neutral center positions is determined as a final neutral center position.

[0022] In a possible implementation, before the low gear position of the gearbox of the vehicle is obtained, further including:

[0023] controlling the gear shifting motor to rotate to move the shift fork to the left side to obtain first movement information of the shift fork, wherein the first movement information comprises a first position representing a position of the shift fork after moving to the left side;

[0024] controlling the gear shifting motor to rotate to move the shift fork to the right side to obtain second movement information of the shift fork, wherein the second movement information comprises a second position representing a position of the shift fork after moving to the right side;

[0025] determining an absolute value of a difference between the second position and the first position to obtain a position difference, and determining a preset neutral position of the shift fork according to the position difference, the first position and the second position.

[0026] In a possible implementation, the determining of the preset neutral position of the shift fork according to the position difference, the first position and the second position comprises:

[0027] if it is determined that the position difference is less than or equal to a first threshold value or if it is determined that the position difference is greater than or equal to a second threshold value, determining the preset neutral position as a third position according to the first position and the second position, and controlling the shift fork to move to the third position;

[0028] wherein, when the position difference is less than or equal to the first threshold value, the first position represents a left top tooth position of the shift fork and the second position represents a right top tooth position of the shift fork; and when the position difference is greater than or equal to the second threshold value, the first position represents a left end point position of the shift fork and the second position represents a right end point position of the shift fork.

[0029] In a possible implementation, the first movement information further comprises a first movement distance representing a distance of the shift fork moving to the left side, and the second movement information further comprises a second movement distance representing a distance of the shift fork moving to the right side; and the method further comprises:

[0030] if it is determined that the position difference is less than or equal to the first threshold value and the position difference is less than the second threshold value, determining the preset neutral position as a fourth position according to the first position, the second position and a tooth width of a gear of the gearbox, and controlling the shift fork to move to the fourth position;

[0031] When the first moving distance is less than or equal to the tooth width and the second moving distance is greater than or equal to the tooth width, the first position represents that the shift fork is located at the left top tooth position and the second position represents that the shift fork is located at the right end point position; when the first moving distance is greater than the tooth width and the second moving distance is less than the tooth width, the first position represents that the shift fork is located at the left end point position and the second position represents that the shift fork is located at the right top tooth position.

[0032] In a possible implementation, the first threshold value is s-2h+Δh, and the second threshold value is s-h-Δh.

[0033] Wherein, s is the total stroke of gear shifting; h is the tooth width, and Δh is a preset error value.

[0034] In a possible implementation, the method further comprises:

[0035] Determining a specified position point between the left top tooth position and the left end point position as a left center position, and determining a specified position point between the right top tooth position and the right end point position as a right center position.

[0036] Wherein, the low gear position further comprises the left center position, and the high gear position further comprises the right center position.

[0037] In a possible implementation, according to the moving requirement of the shift fork of the vehicle, a segmented control mode corresponding to the moving requirement is determined, comprising:

[0038] If the moving requirement of the shift fork is to move from the neutral center position to the left end point position, the segmented control mode is determined as a first control mode, and the first control mode is a three-segmented proportional-integral-derivative (PID) control mode.

[0039] Wherein, a first segment in the first control mode represents that the shift fork moves from the neutral center position to the left top tooth position, a second segment in the first control mode represents that the shift fork moves from the left top tooth position to the left center position, and a third segment in the first control mode represents that the shift fork moves from the left center position to the left end point position; the current limit value of the second segment in the first control mode is greater than the current limit value of the first segment in the first control mode, and the current limit value of the second segment in the first control mode is greater than the current limit value of the third segment in the first control mode.

[0040] In a possible implementation, according to the moving requirement of the shift fork of the vehicle, a segmented control mode corresponding to the moving requirement is determined, comprising:

[0041] If the movement requirement of the shift fork is to move from the neutral center position to the right end position, it is determined that the segmented control mode is a second control mode, and the second control mode is a three-segment PID control mode;

[0042] In the second control mode, the first segment represents the movement of the shift fork from the neutral center position to the right top tooth position, the second segment represents the movement of the shift fork from the right top tooth position to the right center position, and the third segment represents the movement of the shift fork from the right center position to the right end position. The current limit value of the second segment in the second control mode is greater than the current limit value of the first segment in the second control mode, and the current limit value of the second segment in the second control mode is greater than the current limit value of the third segment in the second control mode.

[0043] In a possible implementation, according to the movement requirement of the shift fork of the vehicle, a segmented control mode corresponding to the movement requirement is determined, including:

[0044] If the movement requirement of the shift fork is to move from the left end position to the neutral center position, it is determined that the segmented control mode is a third control mode, and the third control mode is a two-segment PID control mode.

[0045] In the third control mode, the first segment represents the movement of the shift fork from the left end position to the left top tooth position, and the second segment represents the movement of the shift fork from the left top tooth position to the neutral center position. The current limit value of the first segment in the third control mode is greater than the current limit value of the second segment in the third control mode.

[0046] In a possible implementation, according to the movement requirement of the shift fork of the vehicle, a segmented control mode corresponding to the movement requirement is determined, including:

[0047] If the movement requirement of the shift fork is to move from the left end position to the right end position, it is determined that the segmented control mode is a fourth control mode, and the fourth control mode is a four-segment PID control mode.

[0048] In the fourth control mode, the first segment represents the movement of the shift fork from the left end position to the left top tooth position, the second segment represents the movement of the shift fork from the left top tooth position to the right top tooth position, the third segment represents the movement of the shift fork from the right top tooth position to the right center position, and the fourth segment represents the movement of the shift fork from the right center position to the right end position. The current limit value of the third segment in the fourth control mode is greater than the current limit value of the fourth segment in the fourth control mode.

[0049] In a possible implementation, the segmented control mode corresponding to the movement requirement of the shift fork of the vehicle is determined according to the movement requirement of the shift fork of the vehicle, including:

[0050] If the movement requirement of the shift fork is to move from the right end point position to the neutral center position, the segmented control mode is determined as a fifth control mode, and the fifth control mode is a two-segment PID control mode.

[0051] In the fifth control mode, the first segment represents the movement of the shift fork from the right end point position to the right top tooth position, and the second segment represents the movement of the shift fork from the right top tooth position to the neutral center position; the current limit value of the first segment in the fifth control mode is greater than the current limit value of the second segment in the fifth control mode.

[0052] In a possible implementation, the segmented control mode corresponding to the movement requirement of the shift fork of the vehicle is determined according to the movement requirement of the shift fork of the vehicle, including:

[0053] If the movement requirement of the shift fork is to move from the right end point position to the left end point position, the segmented control mode is determined as a sixth control mode, and the sixth control mode is a four-segment PID control mode.

[0054] In the sixth control mode, the first segment represents the movement of the shift fork from the right end point position to the right top tooth position, the second segment represents the movement of the shift fork from the right top tooth position to the left top tooth position, the third segment represents the movement of the shift fork from the left top tooth position to the left center position, and the fourth segment represents the movement of the shift fork from the left center position to the left end point position; the current limit value of the third segment in the sixth control mode is greater than the current limit value of the fourth segment in the sixth control mode.

[0055] In a second aspect, an embodiment of the present application provides a control device of a gearbox of a vehicle, including:

[0056] A first acquisition unit is configured to acquire a low gear position of a gearbox of a vehicle, and the low gear position includes a left top tooth position and a left end point position.

[0057] A second acquisition unit is configured to acquire a high gear position of the gearbox, and the high gear position includes a right top tooth position and a right end point position.

[0058] A first determination unit is configured to determine a neutral center position according to the left top tooth position, the left end point position, the right top tooth position, and the right end point position.

[0059] A second determining unit is configured to determine a segmented control mode corresponding to a movement requirement of the shift fork of the vehicle according to the movement requirement; wherein the segmented control mode indicates a control mode of the shift fork in at least one of a low gear position, a high gear position, and a neutral center position.

[0060] A control unit is configured to control a current of a gear shifting motor of the vehicle according to the determined segmented control mode.

[0061] In a possible implementation, the first obtaining unit comprises:

[0062] A first control module is configured to, if it is determined that the shift fork is currently located at the left top gear position, control the shift fork to move to a preset neutral position, and rotate a main drive motor of the vehicle; when a rotating speed of the main drive motor is greater than a preset rotating speed, clear a torque of the main drive motor; and when the rotating speed of the main drive motor is within a preset value range, control the shift fork to move leftward to obtain a left end position.

[0063] A second control module is configured to, if it is determined that the shift fork is currently located at the left end position, control the shift fork to move to a preset neutral position, and rotate a main drive motor of the vehicle; and control the shift fork to move leftward to obtain a left top gear position.

[0064] In a possible implementation, the second obtaining unit comprises:

[0065] A third control module is configured to, if it is determined that the shift fork is currently located at the right top gear position, control the shift fork to move to a preset neutral position, and rotate a main drive motor of the vehicle; when a rotating speed of the main drive motor is greater than a preset rotating speed, clear a torque of the main drive motor; and when the rotating speed of the main drive motor is within a preset value range, control the shift fork to move rightward to obtain a right end position.

[0066] A fourth control module is configured to, if it is determined that the shift fork is currently located at the right end position, control the shift fork to move to a preset neutral position, and rotate a main drive motor of the vehicle; and control the shift fork to move rightward to obtain a right top gear position.

[0067] In a possible implementation, the first determining unit comprises:

[0068] A first determining module is configured to determine a first center position according to the left top gear position and the right top gear position, and determine a second center position according to the left end position and the right end position.

[0069] A second determining module is configured to determine the neutral center position according to the first center position and the second center position.

[0070] In a possible implementation, the second determining module is specifically configured to:

[0071] According to each of the first center positions and each of the second center positions, a final neutral center position is determined.

[0072] In a possible implementation, the apparatus further includes:

[0073] The first control unit is configured to control the gear shifting motor to rotate to move the shift fork to the left side to obtain first movement information of the shift fork before the first acquisition unit acquires the low gear position of the gearbox of the vehicle, wherein the first movement information includes a first position representing a position of the shift fork after moving to the left side.

[0074] The second control unit is configured to control the gear shifting motor to rotate to move the shift fork to the right side to obtain second movement information of the shift fork, wherein the second movement information includes a second position representing a position of the shift fork after moving to the right side.

[0075] The third determining unit is configured to determine an absolute value of a difference between the second position and the first position to obtain a position difference.

[0076] The fourth determining unit is configured to determine a preset neutral position of the shift fork according to the position difference, the first position, and the second position.

[0077] In a possible implementation, the fourth determining unit is specifically configured to:

[0078] If it is determined that the position difference is less than or equal to a first threshold value, or if it is determined that the position difference is greater than or equal to a second threshold value, the preset neutral position is determined as a third position according to the first position and the second position, and the shift fork is controlled to move to the third position.

[0079] When the position difference is less than or equal to the first threshold value, the first position represents a left top tooth position of the shift fork, and the second position represents a right top tooth position of the shift fork; when the position difference is greater than or equal to the second threshold value, the first position represents a left end point position of the shift fork, and the second position represents a right end point position of the shift fork.

[0080] In a possible implementation, the first movement information further includes a first movement distance representing a distance of the shift fork moving to the left side, and the second movement information further includes a second movement distance representing a distance of the shift fork moving to the right side; and the fourth determining unit is further configured to:

[0081] If it is determined that the position difference is less than or equal to a first threshold value and the position difference is less than a second threshold value, a fourth position is determined as the preset neutral position according to the first position, the second position and a tooth width of a gear of the gearbox; and the shift fork is controlled to move to the fourth position.

[0082] wherein, when the first moving distance is less than or equal to the tooth width and the second moving distance is greater than or equal to the tooth width, the first position represents that the shift fork is located at the left top tooth position and the second position represents that the shift fork is located at the right end point position; when the first moving distance is greater than the tooth width and the second moving distance is less than the tooth width, the first position represents that the shift fork is located at the left end point position and the second position represents that the shift fork is located at the right top tooth position.

[0083] In a possible implementation, the first threshold value is s-2h+Δh; and the second threshold value is s-h-Δh.

[0084] wherein, s is a total stroke of gear shifting, h is the tooth width, and Δh is a preset error value.

[0085] In a possible implementation, the device further comprises:

[0086] a fifth determining unit configured to determine a specified position point between the left top tooth position and the left end point position as a left center position, and determine a specified position point between the right top tooth position and the right end point position as a right center position.

[0087] wherein, the low gear position further comprises the left center position, and the high gear position further comprises the right center position.

[0088] In a possible implementation, the second determining unit is specifically configured to:

[0089] If the movement requirement of the shift fork is to move from the neutral center position to the left end point position, a first control mode is determined as the segmented control mode, and the first control mode is a three-segment PID control mode.

[0090] wherein, a first segment in the first control mode represents that the shift fork moves from the neutral center position to the left top tooth position, a second segment in the first control mode represents that the shift fork moves from the left top tooth position to the left center position, and a third segment in the first control mode represents that the shift fork moves from the left center position to the left end point position; a current limit value of the second segment in the first control mode is greater than a current limit value of the first segment in the first control mode, and the current limit value of the second segment in the first control mode is greater than a current limit value of the third segment in the first control mode.

[0091] In a possible implementation, the second determining unit is specifically configured to:

[0092] If the movement requirement of the shift fork is to move from the neutral center position to the right end position, it is determined that the segmented control mode is a second control mode, and the second control mode is a three-segment PID control mode.

[0093] In the second control mode, the first segment represents the movement of the shift fork from the neutral center position to the right top tooth position, the second segment represents the movement of the shift fork from the right top tooth position to the right center position, and the third segment represents the movement of the shift fork from the right center position to the right end position. The current limit value of the second segment in the second control mode is greater than the current limit value of the first segment in the second control mode, and the current limit value of the second segment in the second control mode is greater than the current limit value of the third segment in the second control mode.

[0094] In a possible implementation, the second determining unit is specifically configured to:

[0095] If the movement requirement of the shift fork is to move from the left end position to the neutral center position, it is determined that the segmented control mode is a third control mode, and the third control mode is a two-segment PID control mode.

[0096] In the third control mode, the first segment represents the movement of the shift fork from the left end position to the left top tooth position, and the second segment represents the movement of the shift fork from the left top tooth position to the neutral center position. The current limit value of the first segment in the third control mode is greater than the current limit value of the second segment in the third control mode.

[0097] In a possible implementation, the second determining unit is specifically configured to:

[0098] If the movement requirement of the shift fork is to move from the left end position to the right end position, it is determined that the segmented control mode is a fourth control mode, and the fourth control mode is a four-segment PID control mode.

[0099] In the fourth control mode, the first segment represents the movement of the shift fork from the left end position to the left top tooth position, the second segment represents the movement of the shift fork from the left top tooth position to the right top tooth position, the third segment represents the movement of the shift fork from the right top tooth position to the right center position, and the fourth segment represents the movement of the shift fork from the right center position to the right end position. The current limit value of the third segment in the fourth control mode is greater than the current limit value of the fourth segment in the fourth control mode.

[0100] In a possible implementation, the second determining unit is specifically configured to:

[0101] If the movement requirement of the shift fork is to move from the right end point position to the neutral center position, the segmented control mode is determined as a fifth control mode, and the fifth control mode is a two-segment PID control mode.

[0102] In the fifth control mode, a first segment represents movement of the shift fork from the right end point position to the right top tooth position, and a second segment represents movement of the shift fork from the right top tooth position to the neutral center position. The current limit value of the first segment in the fifth control mode is greater than the current limit value of the second segment in the fifth control mode.

[0103] In a possible implementation, the second determining unit is specifically configured to:

[0104] If the movement requirement of the shift fork is to move from the right end point position to the left end point position, the segmented control mode is determined as a sixth control mode, and the sixth control mode is a four-segment PID control mode.

[0105] In the sixth control mode, a first segment represents movement of the shift fork from the right end point position to the right top tooth position, a second segment represents movement of the shift fork from the right top tooth position to the left top tooth position, a third segment represents movement of the shift fork from the left top tooth position to the left center position, and a fourth segment represents movement of the shift fork from the left center position to the left end point position. The current limit value of the third segment in the sixth control mode is greater than the current limit value of the fourth segment in the sixth control mode.

[0106] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0107] The memory stores computer execution instructions.

[0108] The processor executes the computer execution instructions stored in the memory, so that the processor executes the first aspect and / or various possible implementation manners of the first aspect.

[0109] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, the computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by a processor to implement the first aspect and / or various possible implementation manners of the first aspect.

[0110] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, and the computer program is executed by a processor to implement the first aspect and / or various possible implementation manners of the first aspect.

[0111] The control method, device and equipment of the gearbox of the vehicle provided by the embodiments of the present application can learn the left top tooth position and the left endpoint position, and the right top tooth position and the right endpoint position of the gearbox; determine the neutral center position based on the four positions of the left top tooth position, the left endpoint position, the right top tooth position and the right endpoint position; and further obtain a neutral center position representing the neutral position. The determined endpoint position and neutral position are accurate; the situation of misjudging the shift fork as being in the neutral position is avoided, and the movement of the vehicle during the learning of the endpoint position and the neutral position of the gearbox is avoided, thereby avoiding danger. Based on the four positions of the left top tooth position, the left endpoint position, the right top tooth position and the right endpoint position, the neutral center position representing the neutral position is determined; the neutral center position can be accurately obtained; and the over-regulation of the gearbox during the neutral return process is avoided, thereby avoiding the problem of gear tooth. Based on the neutral position, the control precision of the gear shifting motor of the vehicle is improved, the gear shifting time is ensured, the gear shifting impact is reduced, and the noise during the gear shifting process is reduced. For the movement requirement of the shift fork, a corresponding segmented control mode (i.e., a segmented PID control mode) is provided to control the gear shifting motor of the vehicle; the segmented PID control mode can further improve the control precision of the gear shifting motor, thereby ensuring the gear shifting time, reducing the gear shifting impact and reducing the noise during the gear shifting process. BRIEF DESCRIPTION OF DRAWINGS

[0112] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0113] Figure 1 Flowchart of the control method of the gearbox of the vehicle provided by the present application Figure One ;

[0114] Figure 2 Flowchart of the control method of the gearbox of the vehicle provided by the present application Figure Two ;

[0115] Figure 3 Schematic diagram of the gear position provided by the embodiments of the present application

[0116] Figure 4 Schematic diagram of the current limit value provided by the embodiments of the present application

[0117] Figure 5 Structure diagram of the control device of the gearbox of the vehicle provided by the present application Figure One ;

[0118] Figure 6Structure diagram of control device of gearbox of vehicle Figure Two ;

[0119] Figure 7 Structure diagram of electronic device.

[0120] The specific embodiments of the present application have been shown by the above-described drawings, and will be described in more detail hereinafter. These drawings and detailed description are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0121] The exemplary embodiments will be described in detail herein with reference to the accompanying drawings. In the following description, unless otherwise indicated, like numbers in the different drawings represent the same or similar elements. The following exemplary embodiments described in this specification are not meant to be construed in any way as imposing limitations upon the scope of the present application. Conversely, it is to be understood that the exemplary embodiments are merely examples and are not intended to limit the scope of the present application to any of the exemplary embodiments described in this specification.

[0122] In the driving control process of the vehicle, the position of the gearbox of the vehicle needs to be learned, wherein the neutral position of the gearbox needs to be determined; and then based on the determined neutral position, the gear shifting motor of the vehicle is controlled.

[0123] In one example, the neutral position can be determined based on the end position in the gear. And in the determination of the end position, the shift fork of the gearbox is directly defaulted to be in the neutral position, or the shift fork of the gearbox is set in the neutral position at the time of installation (for example, at the time of first installation of the gearbox, or at the time of first installation of the position sensor, or at the time of replacement of the position sensor); and then the shift fork is controlled to move to obtain the end position; and then the neutral position is determined based on the end position in the gear.

[0124] However, in the above-mentioned manner, in the determination of the end position, the shift fork is defaulted to be in the neutral position, and then the shift fork is controlled to move, and thus the end position and the neutral position are determined. However, when the shift fork is defaulted to be in the neutral position, the shift fork is actually in other gears, and thus the determined end position and the neutral position are incorrect; and the vehicle will move in the process of learning the end position and the neutral position of the gearbox, and thus danger will occur.

[0125] In the determination of the end position, the shift fork of the gearbox is set in the neutral position, but the shift fork can move to other gears, and thus the determined end position and the neutral position are incorrect; and the vehicle will move in the process of learning the end position and the neutral position of the gearbox, and thus danger will occur.

[0126] In addition, the way of determining the neutral position based on the end position is not accurate enough, which may cause over-regulation of the gearbox during the neutral return process, and further cause gear tooth problems. Moreover, controlling the gear shifting motor of the vehicle based on the neutral position results in low control accuracy, and cannot guarantee the gear shifting time, and causes large gear shifting impact and noise during the gear shifting process.

[0127] The control method, device and equipment of the gearbox of the vehicle provided in the application learn the left top tooth position and the left end position, and the right top tooth position and the right end position of the gearbox. The neutral center position is determined based on the left top tooth position, the left end position, the right top tooth position and the right end position, and the neutral center position representing the neutral position can be accurately obtained. The determined end position and neutral position are accurate, and the situation of misjudging the shift fork as being in the neutral position is avoided, and the movement of the vehicle during the learning of the end position and the neutral position of the gearbox is avoided, and danger is avoided. The neutral center position representing the neutral position is determined based on the left top tooth position, the left end position, the right top tooth position and the right end position, and the neutral center position can be accurately obtained. The over-regulation of the gearbox during the neutral return process is avoided, and gear tooth problems are avoided. The control accuracy of the gear shifting motor of the vehicle is improved based on the neutral position, the gear shifting time is guaranteed, the gear shifting impact is reduced, and the noise during the gear shifting process is reduced. The segmented control mode (i.e., the segmented PID control mode) is provided to control the gear shifting motor of the vehicle according to the movement demand of the shift fork. The segmented PID control mode can further improve the control accuracy of the gear shifting motor, and further guarantee the gear shifting time, reduce the gear shifting impact, and reduce the noise during the gear shifting process.

[0128] The technical solutions of the application and how the technical solutions solve the above technical problems will be described in detail in specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the application will be described below with reference to the drawings.

[0129] Figure 1 Flowchart of the control method of the gearbox of the vehicle provided in the application Figure One As shown in the method, the method comprises the following steps. Figure 1

[0130] S101, acquiring the low gear position of the gearbox of the vehicle, the low gear position comprising the left top tooth position and the left end position, and acquiring the high gear position of the gearbox, the high gear position comprising the right top tooth position and the right end position.

[0131] ​Exemplarily, before controlling the gear shifting motor of the vehicle to shift gears, the low gear position of the gearbox of the vehicle is obtained, and the low gear position includes the left tooth top position and the left end point position. At this time, the left tooth top position and the left end point position can be learned by continuously controlling the gear shifting motor of the vehicle to rotate and further moving the shift fork of the gearbox.

[0132] And, before controlling the gear shifting motor of the vehicle to shift gears, the high gear position of the gearbox of the vehicle is obtained, and the high gear position includes the right tooth top position and the right end point position. At this time, the right tooth top position and the right end point position can be learned by continuously controlling the gear shifting motor of the vehicle to rotate and further moving the shift fork of the gearbox.

[0133] Wherein, the tooth top position refers to the position where the shift fork driving sleeve moves to the position where the teeth cannot engage during the gear shifting process.

[0134] The end point position refers to the position where the sliding tooth sleeve completely engages to the position where it cannot move during the gear shifting process.

[0135] Therefore, the left tooth top position refers to the position where the shift fork driving sleeve moves to the position where the teeth cannot engage during the gear shifting process.

[0136] The left end point position refers to the position where the shift fork moves to the position where the sliding tooth sleeve completely engages to the position where it cannot move during the gear shifting process.

[0137] The right tooth top position refers to the position where the shift fork driving sleeve moves to the position where the teeth cannot engage during the gear shifting process.

[0138] The right end point position refers to the position where the shift fork moves to the position where the sliding tooth sleeve completely engages to the position where it cannot move during the gear shifting process.

[0139] S102, determining the neutral center position according to the left tooth top position, the left end point position, the right tooth top position, and the right end point position.

[0140] Exemplarily, the neutral center position is determined according to the learned left tooth top position, left end point position, right tooth top position, and right end point position. Here, we determine a neutral center position, which represents the center of the neutral position.

[0141] S103, determining a segmented control mode corresponding to the movement requirement of the shift fork of the vehicle according to the movement requirement of the shift fork of the vehicle; wherein the segmented control mode indicates the control mode of the shift fork in at least one of the low gear position, the high gear position, and the neutral center position.

[0142] Exemplarily, the movement requirement of the shift fork of the gearbox of the vehicle is obtained. For example, the movement requirement represents that the current position of the shift fork is the neutral center position, and the target position is the left end position; that is, the movement requirement is that the shift fork needs to move from the neutral center position to the left end position.

[0143] For another example, the movement requirement represents that the current position of the shift fork is the neutral center position, and the target position is the right end position; that is, the movement requirement is that the shift fork needs to move from the neutral center position to the right end position.

[0144] For another example, the movement requirement represents that the current position of the shift fork is the left end position, and the target position is the neutral center position; that is, the movement requirement is that the shift fork needs to move from the left end position to the neutral center position.

[0145] For another example, the movement requirement represents that the current position of the shift fork is the left end position, and the target position is the right end position; that is, the movement requirement is that the shift fork needs to move from the left end position to the right end position.

[0146] For another example, the movement requirement represents that the current position of the shift fork is the right end position, and the target position is the neutral center position; that is, the movement requirement is that the shift fork needs to move from the right end position to the neutral center position.

[0147] For another example, the movement requirement represents that the current position of the shift fork is the right end position, and the target position is the left end position; that is, the movement requirement is that the shift fork needs to move from the right end position to the left end position.

[0148] Different movement requirements correspond to different segmented control modes; the segmented control modes corresponding to different movement requirements have been set in advance. For example, the segmented control mode is a two-segment PID (Proportion-Integral-Derivative) control mode, or the segmented control mode is a three-segment PID control mode, or the segmented control mode is a four-segment PID control mode.

[0149] It can be known that the segmented control mode indicates the control mode of the shift fork in at least one of the low gear position, the high gear position, and the neutral center position.

[0150] S104, controlling the current of the gear shift motor of the vehicle according to the determined segmented control mode.

[0151] Exemplarily, after obtaining the segmented control mode, the current of the gear shift motor of the vehicle is controlled based on the segmented control mode (i.e., the segmented PID control mode) at different positions.

[0152] In one example, the movement requirement of the fork is to move from the neutral center position to the left end position, and the segmented control mode is a three-segment PID control mode; the segmented control mode indicates the current of the gear shifting motor when the fork moves from the neutral center position to the left top gear position; the segmented control mode indicates the current of the gear shifting motor when the fork moves from the left top gear position to the left center position; and the segmented control mode indicates the current of the gear shifting motor when the fork moves from the left center position to the left end position.

[0153] In this embodiment, the left top gear position and the left end position, and the right top gear position and the right end position of the gearbox are learned, the neutral center position is determined based on the left top gear position, the left end position, the right top gear position, and the right end position, and the neutral center position representing the neutral position can be accurately obtained. The determined end positions and neutral position are accurate, and the fork is not misjudged as being in the neutral position, thereby avoiding vehicle movement during learning of the end positions and the neutral position of the gearbox, and avoiding danger. Based on the left top gear position, the left end position, the right top gear position, and the right end position, the neutral center position representing the neutral position is determined, the neutral center position is accurately obtained, and over-shoot during return of the gearbox to the neutral position is avoided, thereby preventing gear tooth problems. Based on the neutral position, the gear shifting motor of the vehicle is controlled, the control accuracy is improved, the gear shifting time is ensured, the gear shifting impact is reduced, and the noise during gear shifting is reduced.

[0154] In addition, for the movement requirement of the fork, a corresponding segmented control mode (i.e., a segmented PID control mode) is provided to control the gear shifting motor of the vehicle. The segmented PID control mode can further improve the control accuracy of the gear shifting motor, thereby ensuring the gear shifting time, reducing the gear shifting impact, and reducing the noise during gear shifting.

[0155] Figure 2 Flowchart of the control method of the gearbox of the vehicle provided in the present application Figure Two As shown in Figure 2 , the method comprises:

[0156] S201, the gear shifting motor of the vehicle is controlled to rotate to move the fork to the left side, and first movement information of the fork is obtained; wherein the first movement information includes a first position representing the position of the fork after moving to the left side.

[0157] Exemplarily, before learning the left top tooth position and the left end point position in the learning step S205 and learning the right top tooth position and the right end point position in the learning step S206, a preset neutral position is calculated first, and the shift fork is controlled to move to the preset neutral position; so as to ensure that the shift fork can be controlled to be located at the neutral position before learning the low gear position (the left top tooth position and the left end point position) and the high gear position (the right top tooth position and the right end point position).

[0158] Firstly, the gear shifting motor of the vehicle is controlled to rotate, and then the shift fork is controlled to move to the left side to move to the leftmost side, and first movement information of the shift fork is obtained, the first movement information including a first position P1 and a first movement distance x1; the first position represents the position of the shift fork after moving to the left side, and the first movement distance represents the distance of the shift fork moving to the left side.

[0159] The first position may be the left top tooth position or the left end point position.

[0160] S202, the gear shifting motor is controlled to rotate to move the shift fork to the right side, and second movement information of the shift fork is obtained; wherein the second movement information includes a second position, and the second position represents the position of the shift fork after moving to the right side.

[0161] Exemplarily, the gear shifting motor of the vehicle is controlled to rotate, and then the shift fork is controlled to move to the right side to move to the rightmost side, and second movement information of the shift fork is obtained, the second movement information including a second position P2 and a second movement distance x2; the second position represents the position of the shift fork after moving to the right side, and the second movement distance represents the distance of the shift fork moving to the right side.

[0162] The second position may be the right top tooth position or the right end point position.

[0163] S203, the absolute value of the difference between the second position and the first position is determined to obtain a position difference.

[0164] Exemplarily, the absolute value of the difference between the second position P2 and the first position P1 is calculated to obtain a position difference ΔP = |P2-P1|.

[0165] S204, according to the position difference, the first position and the second position, a preset neutral position of the shift fork is determined.

[0166] Exemplarily, according to the position difference ΔP, the first position P1 and the second position P2, a preset neutral position of the shift fork is determined.

[0167] Therefore, before learning the left top tooth position and the left end point position in the learning step S205 and learning the right top tooth position and the right end point position in the learning step S206, a preset neutral position is calculated first, and the shift fork is controlled to move to the preset neutral position; so as to ensure that the shift fork can be controlled to be located in the neutral position before learning the low gear position (the left top tooth position and the left end point position) and the high gear position (the right top tooth position and the right end point position), and then ensure that the low gear position (the left top tooth position and the left end point position), the high gear position (the right top tooth position and the right end point position) and the neutral center position can be learned accurately in the subsequent steps S205, S206 and S208.

[0168] In one example, the step S204 includes the following implementation manners.

[0169] The first implementation manner is: if it is determined that the position difference is less than or equal to the first threshold value or if it is determined that the position difference is greater than or equal to the second threshold value, then according to the first position and the second position, the preset neutral position is determined as the third position; and the shift fork is controlled to move to the third position.

[0170] In the case that the position difference is less than or equal to the first threshold value, the first position represents that the shift fork is located at the left top tooth position, and the second position represents that the shift fork is located at the right top tooth position; in the case that the position difference is greater than or equal to the second threshold value, the first position represents that the shift fork is located at the left end point position, and the second position represents that the shift fork is located at the right end point position.

[0171] The second implementation manner is: the first movement information further includes a first movement distance, and the first movement distance represents the distance of the shift fork moving to the left side; the second movement information further includes a second movement distance, and the second movement distance represents the distance of the shift fork moving to the right side.

[0172] If it is determined that the position difference is less than or equal to the first threshold value and the position difference is less than the second threshold value, then according to the first position, the second position and the gear width of the gearbox, the preset neutral position is determined as the fourth position; and the shift fork is controlled to move to the fourth position.

[0173] In the case that the first movement distance is less than or equal to the gear width and the second movement distance is greater than or equal to the gear width, the first position represents that the shift fork is located at the left top tooth position, and the second position represents that the shift fork is located at the right end point position; in the case that the first movement distance is greater than the gear width and the second movement distance is less than the gear width, the first position represents that the shift fork is located at the left end point position, and the second position represents that the shift fork is located at the right top tooth position.

[0174] In one example, the first threshold value is s-2h+Δh, and the second threshold value is s-h-Δh; wherein s is the total stroke of the gear shifting, h is the gear width, and Δh is a preset error value.

[0175] Exemplarily, the step S204 includes the following cases.

[0176] According to the total stroke s of the gear shifting of the vehicle, the tooth width h of the gear of the gearbox, and a preset error value Ah, a first threshold value is determined as s-2h+Ah, and a second threshold value is determined as s-h-Ah. The value of s can be 20 millimeters (mm), the value of the tooth width can be 7.5 millimeters (mm), Ah is an empirical value, and the value of Ah can be 0.2 millimeters (mm).

[0177] The first case. If the position difference is less than or equal to the first threshold value, it is determined that the first position represents that the shift fork is located at the left top tooth position, and the second position represents that the shift fork is located at the right top tooth position; according to the first position and the second position, a preset neutral position is determined as a third position, wherein the value of the third position is (P1+P2) / 2; the shift fork is controlled to move to the preset neutral position.

[0178] The second case. If the position difference is greater than or equal to the second threshold value, it is determined that the first position represents that the shift fork is located at the left end point position, and the second position represents that the shift fork is located at the right end point position; according to the first position and the second position, a preset neutral position is determined as a third position, wherein the value of the third position is (P1+P2) / 2; the shift fork is controlled to move to the preset neutral position.

[0179] The third case. If the position difference is less than or equal to the first threshold value, the position difference is less than the second threshold value, the first moving distance is less than or equal to the tooth width, and the second moving distance is greater than or equal to the tooth width, it is determined that the first position represents that the shift fork is located at the left top tooth position, and the second position represents that the shift fork is located at the right end point position; according to the first position, the second position, and the tooth width, a preset neutral position is determined as a fourth position, wherein the value of the fourth position is (P1+P2-h) / 2; the shift fork is controlled to move to the preset neutral position.

[0180] The fourth case. If the position difference is less than or equal to the first threshold value, the position difference is less than the second threshold value, the first moving distance is greater than the tooth width, and the second moving distance is less than the tooth width, it is determined that the first position represents that the shift fork is located at the left end point position, and the second position represents that the shift fork is located at the right top tooth position; according to the first position, the second position, and the tooth width, a preset neutral position is determined as a fourth position, wherein the value of the fourth position is (P1+P2-h) / 2; the shift fork is controlled to move to the preset neutral position.

[0181] The steps S201-S204 can be executed only once.

[0182] S205, acquiring a low gear position of a gearbox of the vehicle, the low gear position including a left top tooth position and a left end point position.

[0183] In one example, the step S205 includes:

[0184] If it is determined that the shift fork is currently located at the left top tooth position, the shift fork is controlled to move to a preset neutral position, and the main drive motor of the vehicle is rotated; when the rotation speed of the main drive motor is greater than a preset rotation speed, the torque of the main drive motor is cleared; when the rotation speed of the main drive motor is within a preset value range, the shift fork is controlled to move to the left to obtain a left end point position.

[0185] If it is determined that the shift fork is currently located at the left end point position, the shift fork is controlled to move to a preset neutral position, and the main drive motor is rotated; the shift fork is controlled to move to the left to obtain the left top tooth position.

[0186] Exemplarily, the first case. If the shift fork is currently located at the left top tooth position T1, the shift fork is controlled to move to a preset neutral position, and the main drive motor is rotated. The preset neutral position can be the third position or the fourth position in the above steps.

[0187] Then, when the rotation speed of the main drive motor is greater than a preset rotation speed, a torque clearing request is sent, and then the torque of the main drive motor is cleared; for example, the preset rotation speed is 100 revolutions per second.

[0188] Then, when the rotation speed of the main drive motor is within a preset value range, the shift fork is controlled to move to an end point position, which is the left end point position E1. The preset value range is a synchronization window; the preset value range is a value range of a difference between the rotation speed of the main drive motor and the rotation speed of the output shaft.

[0189] The second case. If the shift fork is currently located at the left end point position E1, the shift fork is controlled to move to a preset neutral position, and the main drive motor is rotated. The preset neutral position can be the third position or the fourth position in the above steps.

[0190] Then, the shift fork is controlled to move to a top tooth position, which is the left top tooth position T1.

[0191] S206, obtaining a high gear position of the gearbox, the high gear position including a right top tooth position and a right end point position.

[0192] In one example, the step S206 includes:

[0193] If it is determined that the shift fork is currently located at the right top tooth position, the shift fork is controlled to move to a preset neutral position, and the main drive motor of the vehicle is rotated; when the rotation speed of the main drive motor is greater than a preset rotation speed, the torque of the main drive motor is cleared; when the rotation speed of the main drive motor is within a preset value range, the shift fork is controlled to move to the right to obtain a right end point position.

[0194] If it is determined that the shift fork is currently located at the right end point position, the shift fork is controlled to move to a preset neutral position, and the main drive motor is rotated; the shift fork is controlled to move to the right to obtain the right top tooth position.

[0195] Exemplarily, the third case. If the fork is currently located at the right top tooth position T2, the fork is controlled to move to a preset neutral position, and the main drive motor is rotated. The preset neutral position can be the third position or the fourth position in the above steps.

[0196] Then, when the rotation speed of the main drive motor is greater than a preset rotation speed, a clear torque request is sent, and the torque of the main drive motor is cleared; for example, the preset rotation speed is 100 revolutions per second.

[0197] Then, when the rotation speed of the main drive motor is in a preset value range, the fork is controlled to move to an end point position, which is the right end point position E2. The preset value range is a synchronization window; the preset value range is a value range of the difference between the rotation speed of the main drive motor and the rotation speed of the output shaft.

[0198] The third case. If the fork is currently located at the right end point position E2, the fork is controlled to move to a preset neutral position, and the main drive motor is rotated. The preset neutral position can be the third position or the fourth position in the above steps.

[0199] Then, the fork is controlled to move to a top tooth position, which is the right top tooth position T2.

[0200] S207, according to the left top tooth position and the right top tooth position, a first center position is determined; and according to the left end point position and the right end point position, a second center position is determined.

[0201] Exemplarily, according to the left top tooth position T1 obtained in step 205 and the right top tooth position T2 obtained in step 206, the first center position N1=(T1+T2) / 2 is calculated.

[0202] For example, according to the left top tooth position T1 obtained after the fork is controlled to move in step S205, and the right top tooth position T2 obtained after the fork is controlled to move in step S206, the first center position is calculated.

[0203] Alternatively, according to the left top tooth position T1 in step S205 (which can be the left top tooth position T1 where the fork is currently located, or which can be the left top tooth position T1 obtained after the fork is controlled to move), and the right top tooth position T2 in step S206 (which can be the right top tooth position T2 where the fork is currently located, or which can be the right top tooth position T2 obtained after the fork is controlled to move), the first center position is calculated.

[0204] According to the left end point position E1 obtained in step 205 and the right end point position E2 obtained in step 206, the second center position N2=(E1+E2) / 2 is calculated.

[0205] For example, the second center position is calculated according to the left end position E1 obtained after the shift fork is moved in step S205, and the right end position E2 obtained after the shift fork is moved in step S206.

[0206] Alternatively, the second center position is calculated according to the left end position E1 in step S205 (which can be the left end position E1 where the shift fork is currently located, or can be the left end position E1 obtained after the shift fork is moved), and the right end position E2 in step S206 (which can be the right end position E2 where the shift fork is currently located, or can be the right end position E2 obtained after the shift fork is moved).

[0207] S208, determining the neutral center position according to the first center position and the second center position.

[0208] In one example, step S208 includes: determining each neutral center position according to each first center position and each second center position; and determining the average of the plurality of neutral center positions as the final neutral center position.

[0209] For example, the neutral center position is determined as N=(N1+N2) / 2 according to the first center position N1 and the second center position N2.

[0210] The steps S205-S208 can be repeatedly executed, and each time the steps S205-S208 are executed, a first center position and a second center position are obtained, and the average of the first center position and the second center position is determined as the neutral center position. Then, a plurality of neutral center positions are obtained, and the average of the plurality of neutral center positions is calculated to obtain the final neutral center position.

[0211] S209, determining the specified position point between the left tip tooth position and the left end position as the left center position, and determining the specified position point between the right tip tooth position and the right end position as the right center position.

[0212] The low gear position further includes the left center position, and the high gear position further includes the right center position.

[0213] For example, the specified position point between the left tip tooth position T1 and the left end position E1 is determined as the left center position C1. For example, the left center position C1 is the position from 1 / 3 to 2 / 3 of the left tip tooth position T1 to the left end position E1.

[0214] For example, the specified position point between the left tip tooth position T1 obtained after the shift fork is moved in step S205 and the left end position E1 obtained after the shift fork is moved in step S205 is determined as the left center position C1.

[0215] Alternatively, according to the left tip tooth position T1 possessed in step S205 (which can be the left tip tooth position T1 where the fork is currently located, or which can be the left tip tooth position T1 obtained after controlling the fork to move) and the left end point position E1 possessed in step S205 (which can be the left end point position E1 where the fork is currently located, or which can be the left end point position E1 obtained after controlling the fork to move), a specified position point between the two is the left center position C1.

[0216] A specified position point between the right tip tooth position T2 and the right end point position E2 is determined as the right center position C2. For example, the right center position C2 is a position at 1 / 3 to 2 / 3 from the right tip tooth position T2 to the right end point position E2.

[0217] For example, according to the right tip tooth position T2 obtained after controlling the fork to move in step S206 and the right end point position E2 obtained after controlling the fork to move in step S206, a specified position point between the two is the right center position C2.

[0218] Alternatively, according to the right tip tooth position T2 possessed in step S206 (which can be the right tip tooth position T2 where the fork is currently located, or which can be the right tip tooth position T2 obtained after controlling the fork to move) and the right end point position E2 possessed in step S206 (which can be the right end point position E2 where the fork is currently located, or which can be the right end point position E2 obtained after controlling the fork to move), a specified position point between the two is the right center position C2.

[0219] S210, according to the movement demand of the fork of the vehicle, determining a segmented control mode corresponding to the movement demand; wherein the segmented control mode indicates a control mode of the fork in at least one of the low gear position, the high gear position, and the neutral center position.

[0220] In one example, step S210 includes the following implementation manners:

[0221] The first implementation manner: if the movement demand of the fork is to move from the neutral center position to the left end point position, it is determined that the segmented control mode is a first control mode, and the first control mode is a three-segment PID control mode.

[0222] The first segment in the first control mode represents movement of the shift fork from the neutral center position to the left top gear position, the second segment in the first control mode represents movement of the shift fork from the left top gear position to the left center position, and the third segment in the first control mode represents movement of the shift fork from the left center position to the left end position.

[0223] The second implementation manner is that: if the movement requirement of the shift fork is from the neutral center position to the right end position, it is determined that the segmented control mode is a second control mode, and the second control mode is a three-segment PID control mode.

[0224] The first segment in the second control mode represents movement of the shift fork from the neutral center position to the right top gear position, the second segment in the second control mode represents movement of the shift fork from the right top gear position to the right center position, and the third segment in the second control mode represents movement of the shift fork from the right center position to the right end position.

[0225] The third implementation manner is that: if the movement requirement of the shift fork is from the left end position to the neutral center position, it is determined that the segmented control mode is a third control mode, and the third control mode is a two-segment PID control mode.

[0226] The first segment in the third control mode represents movement of the shift fork from the left end position to the left top gear position, and the second segment in the third control mode represents movement of the shift fork from the left top gear position to the neutral center position.

[0227] The fourth implementation manner is that: if the movement requirement of the shift fork is from the left end position to the right end position, it is determined that the segmented control mode is a fourth control mode, and the fourth control mode is a four-segment PID control mode.

[0228] The first segment in the fourth control mode represents movement of the shift fork from the left end position to the left top gear position, the second segment in the fourth control mode represents movement of the shift fork from the left top gear position to the right top gear position, the third segment in the fourth control mode represents movement of the shift fork from the right top gear position to the right center position, and the fourth segment in the fourth control mode represents movement of the shift fork from the right center position to the right end position.

[0229] The fifth implementation manner is: if the moving demand of the shift fork is to move from the right end position to the neutral center position, it is determined that the segmented control mode is the fifth control mode, and the fifth control mode is a two-segment PID control mode.

[0230] The first segment in the fifth control mode represents the shift fork moving from the right end position to the right top gear position, and the second segment in the fifth control mode represents the shift fork moving from the right top gear position to the neutral center position. The current limit value of the first segment in the fifth control mode is greater than the current limit value of the second segment in the fifth control mode.

[0231] The sixth implementation manner is: if the moving demand of the shift fork is to move from the right end position to the left end position, it is determined that the segmented control mode is the sixth control mode, and the sixth control mode is a four-segment PID control mode.

[0232] The first segment in the sixth control mode represents the shift fork moving from the right end position to the right top gear position, the second segment in the sixth control mode represents the shift fork moving from the right top gear position to the left top gear position, the third segment in the sixth control mode represents the shift fork moving from the left top gear position to the left center position, and the fourth segment in the sixth control mode represents the shift fork moving from the left center position to the left end position. The current limit value of the third segment in the sixth control mode is greater than the current limit value of the fourth segment in the sixth control mode.

[0233] Exemplarily, after step S209, the low gear position, the high gear position, and the neutral center position are learned, wherein the low gear position includes the left top gear position, the left end position, and the left center position, and the high gear position includes the right top gear position, the right end position, and the right center position. The neutral center position is determined based on the first center position N1 and the second center position N2.

[0234] Figure 3 The schematic diagram of gear positions provided by the embodiment of the present application is shown in FIG. 1. Figure 3 As shown in FIG. 1, the sequence from the low gear to the neutral gear and from the neutral gear to the high gear shows the left end position E1, the left center position C1, the left top gear position T1, the first center position N1, the second center position N2, the right top gear position T2, the right center position C2, and the right end position E2.

[0235] Then, based on the moving demand of the shift fork, the segmented control mode corresponding to the moving demand of the shift fork is determined. Each segment in the segmented control mode has a corresponding current limit value.

[0236] Figure 4 The schematic diagram of the current limit value provided by the embodiment of the present application is shown in FIG. 2. Figure 4 As shown in FIG. 2, Figure 4 the horizontal axis is the gear position, Figure 4 and the vertical axis is the current limit value.Figure 4 As shown in the figure, the shift fork moves from the neutral center position to the left top tooth position, i.e. N->T1; the shift fork moves from the neutral center position to the right top tooth position, i.e. N->T2; the shift fork moves from the left top tooth position to the left center position, T1->C1; the shift fork moves from the right top tooth position to the right center position, T2->C2; the shift fork moves from the left center position to the left end point position, C1->E1; the shift fork moves from the right center position to the right end point position, C2->E2.

[0237] As shown in the figure, the current limit value corresponding to N->T1 is less than the current limit value corresponding to T1->C1; and the current limit value corresponding to N->T1 is less than the current limit value corresponding to T2->C2. The current limit value corresponding to N->T2 is less than the current limit value corresponding to T1->C1; and the current limit value corresponding to N->T2 is less than the current limit value corresponding to T2->C2. Figure 4 Thus, during the movement of the shift fork to advance the gear, since T1 and T2 are top tooth positions, the current is prevented from being too large at the top tooth position, thereby preventing a large shift shock. The current limit values of T1->C1 and T2->C2 are large because the resistance increases after the gear is advanced, requiring a larger current.

[0238] As shown in the figure, the current limit value corresponding to C1->E1 is less than the current limit value corresponding to T1->C1; and the current limit value corresponding to C1->E1 is less than the current limit value corresponding to T2->C2. The current limit value corresponding to C2->E2 is less than the current limit value corresponding to T1->C1; and the current limit value corresponding to C2->E2 is less than the current limit value corresponding to T2->C2.

[0239] Figure 4 Thus, the current limit values of C1->E1 and C2->E2 are reduced, which can reduce the movement speed of the shift fork, thereby preventing a shift shock and reducing noise during the shift.

[0240] The first case. The movement requirement represents that the current position of the shift fork is the neutral center position N, and the target position is the left end point position E1; that is, the movement requirement is that the shift fork needs to move from the neutral center position N to the left end point position E1.

[0241] At this time, it is determined that the segmented control mode is the first control mode, wherein the first control mode is a three-segment PID control mode.

[0242] The first control mode is represented as:

[0243]

[0244]

[0245] ​​The first segment in the first control mode represents the movement of the shift fork from the neutral center position to the left top tooth position, i.e., the first segment in the first control mode is N->T1; the second segment in the first control mode represents the movement of the shift fork from the left top tooth position to the left center position, i.e., the second segment in the first control mode is T1->C1; and the third segment in the first control mode represents the movement of the shift fork from the left center position to the left end point position, i.e., the third segment in the first control mode is C1->E1.

[0246] The current limit value of the second segment in the first control mode is greater than the current limit value of the first segment in the first control mode, and the current limit value of the second segment in the first control mode is greater than the current limit value of the third segment in the first control mode.

[0247] Then, in S211, the current of the gear shifting motor in each segment is controlled based on the current limit value indicated by each segment of the first control mode when the shift fork completes the movement requirement of the first case.

[0248] The second case. The movement requirement represents that the current position of the shift fork is the neutral center position N, and the target position is the right end point position E2; that is, the movement requirement is that the shift fork needs to move from the neutral center position N to the right end point position E2.

[0249] At this time, it is determined that the segment control mode is the second control mode, wherein the second control mode is a three-segment PID control mode.

[0250] The second control mode is represented as:

[0251]

[0252] The first segment in the second control mode represents the movement of the shift fork from the neutral center position to the right top tooth position, i.e., the first segment in the second control mode is N->T2; the second segment in the second control mode represents the movement of the shift fork from the right top tooth position to the right center position, i.e., the second segment in the second control mode is T2->C2; and the third segment in the second control mode represents the movement of the shift fork from the right center position to the right end point position, i.e., the third segment in the second control mode is C2->E2.

[0253] The current limit value of the second segment in the second control mode is greater than the current limit value of the first segment in the second control mode, and the current limit value of the second segment in the second control mode is greater than the current limit value of the third segment in the second control mode.

[0254] Then, in S211, the current of the gear shifting motor in each segment is controlled based on the current limit value indicated by each segment of the second control mode when the shift fork completes the movement requirement of the second case.

[0255] The third case. The moving demand represents that the current position of the shift fork is the left end position E1, and the target position is the neutral center position N; that is, the moving demand is that the shift fork needs to move from the left end position E1 to the neutral center position N.

[0256] At this time, it is determined that the segmented control mode is a third control mode, where the third control mode is a two-segment PID control mode.

[0257] The third control mode is represented as:

[0258]

[0259] In the third control mode, the first segment represents that the shift fork moves from the left end position to the left top tooth position, that is, the first segment in the third control mode is E1->T1; and the second segment represents that the shift fork moves from the left top tooth position to the neutral center position, that is, the second segment in the third control mode is T1->N.

[0260] In the third control mode, the current limit value of the first segment is greater than the current limit value of the second segment.

[0261] In the third control mode, the "target position is the neutral center position N" in the moving demand is the neutral center position N calculated based on the first center position N1 and the second center position N2 in the above calculation step.

[0262] Alternatively, in the third control mode, the "target position is the neutral center position N" in the moving demand can take the position closer to the left end position E1 from the first center position N1 and the second center position N2 as the current "target position is the neutral center position N". In the control process, if the actual position of the shift fork exceeds the "target position is the neutral center position N", the "target position is the neutral center position N" will be modified to the first center position N1.

[0263] Then, in S211, based on the current limit value indicated by each segment of the third control mode, the current of the gear shifting motor in each segment is controlled when the shift fork completes the moving demand in the third case.

[0264] The fourth case. The moving demand represents that the current position of the shift fork is the left end position E1, and the target position is the right end position E2; that is, the moving demand is that the shift fork needs to move from the left end position E1 to the right end position E2.

[0265] At this time, it is determined that the segmented control mode is a fourth control mode, where the fourth control mode is a four-segment PID control mode.

[0266] The fourth control mode is represented as:

[0267]

[0268] The first segment in the fourth control mode represents the movement of the fork from the left end point position to the left top tooth position, i.e., the first segment in the fourth control mode is E1->T1; the second segment in the fourth control mode represents the movement of the fork from the left top tooth position to the right top tooth position, i.e., the second segment in the fourth control mode is T1->T2; the third segment in the fourth control mode represents the movement of the fork from the right top tooth position to the right center position, i.e., the third segment in the fourth control mode is T2->C2; and the fourth segment in the fourth control mode represents the movement of the fork from the right center position to the right end point position, i.e., the fourth segment in the fourth control mode is C2->E2.

[0269] The current limit value of the third segment in the fourth control mode is greater than the current limit value of the fourth segment in the fourth control mode.

[0270] Then, in S211, the current of the gear shifting motor in each segment is controlled based on the current limit value indicated by each segment of the fourth control mode when the fork moves to meet the movement requirement in the fourth case.

[0271] The fifth case. The movement requirement represents that the current position of the fork is the right end point position E2, and the target position is the neutral center position N; i.e., the movement requirement is that the fork needs to move from the right end point position E2 to the neutral center position N.

[0272] At this time, it is determined that the segment control mode is the fifth control mode, wherein the fifth control mode is a two-segment PID control mode.

[0273] The fifth control mode is represented as:

[0274]

[0275] The first segment in the fifth control mode represents the movement of the fork from the right end point position to the right top tooth position, i.e., the first segment in the fifth control mode is E2->T2; and the second segment in the fifth control mode represents the movement of the fork from the right top tooth position to the neutral center position, i.e., the second segment in the fifth control mode is T2->N.

[0276] The current limit value of the first segment in the fifth control mode is greater than the current limit value of the second segment in the fifth control mode.

[0277] In the fifth control mode, the "target position is the neutral center position N" in the movement requirement is the neutral center position N calculated based on the first center position N1 and the second center position N2 in the above calculation step.

[0278] Alternatively, in the fifth control mode, the "target position as neutral center position N" in the movement demand can be the position closer to the right end point position E2 between the first center position N1 and the second center position N2, as the current "target position as neutral center position N". During the control, if the actual position of the fork exceeds the "target position as neutral center position N", the "target position as neutral center position N" will be modified to the first center position N1.

[0279] Then, in S211, the current of the gear shifting motor in each segment is controlled based on the current limit value indicated by each segment of the fifth control mode when the fork moves according to the movement demand in the fifth case.

[0280] The sixth case. The movement demand represents that the current position of the fork is the right end point position E2 and the target position is the left end point position E1; that is, the movement demand is that the fork needs to move from the right end point position E2 to the left end point position E1.

[0281] At this time, it is determined that the segment control mode is the sixth control mode, wherein the sixth control mode is a four-segment PID control mode.

[0282] The sixth control mode is represented as:

[0283]

[0284] In the sixth control mode, the first segment represents that the fork moves from the right end point position to the right top tooth position, that is, the first segment in the sixth control mode is E2->T2; the second segment in the sixth control mode represents that the fork moves from the right top tooth position to the left top tooth position, that is, the second segment in the sixth control mode is T2->T1; the third segment in the sixth control mode represents that the fork moves from the left top tooth position to the left center position, that is, the third segment in the sixth control mode is T1->C1; the fourth segment in the sixth control mode represents that the fork moves from the left center position to the left end point position, that is, the fourth segment in the sixth control mode is C1->E1.

[0285] In the sixth control mode, the current limit value of the third segment is greater than the current limit value of the fourth segment.

[0286] Then, in S211, the current of the gear shifting motor in each segment is controlled based on the current limit value indicated by each segment of the sixth control mode when the fork moves according to the movement demand in the sixth case.

[0287] The "current limit value" of each case described above represents that the current of the gear shifting motor in each segment does not exceed the corresponding "current limit value".

[0288] S211, control the current of the gear shifting motor of the vehicle according to the determined segmented control mode.

[0289] Exemplarily, the above steps are performed, and details are not described herein.

[0290] In this embodiment, the preset neutral position can be determined through steps S201-S204, the shift fork can be moved to the preset neutral position, or the shift fork is controlled to move to the preset neutral position in subsequent steps, thereby ensuring the range of the neutral position. Based on the left top tooth position, the left end point position, the right top tooth position, and the right end point position, the accurate neutral center position is determined. For the movement requirement of the shift fork, the corresponding segmented control mode (i.e., the segmented PID control mode) is provided to control the gear shifting motor of the vehicle. Therefore, on different segments, the current of the gear shifting motor does not exceed the corresponding current limit value, thereby precisely controlling the current of the gear shifting motor. The control accuracy of the gear shifting motor is improved, thereby ensuring the gear shifting time, reducing the gear shifting impact, and reducing the noise in the gear shifting process.

[0291] Figure 5 Structure diagram of the control device of the transmission of the vehicle provided in the present application Figure One As shown in Figure 5 The control device 500 of the transmission of the vehicle provided in this embodiment includes:

[0292] The first acquisition unit 501 is configured to acquire the low gear position of the transmission of the vehicle, and the low gear position includes the left top tooth position and the left end point position.

[0293] The second acquisition unit 502 is configured to acquire the high gear position of the transmission, and the high gear position includes the right top tooth position and the right end point position.

[0294] The first determination unit 503 is configured to determine the neutral center position according to the left top tooth position, the left end point position, the right top tooth position, and the right end point position.

[0295] The second determination unit 504 is configured to determine the segmented control mode corresponding to the movement requirement of the shift fork of the vehicle according to the movement requirement of the shift fork; wherein the segmented control mode indicates the control mode of the shift fork in at least one of the low gear position, the high gear position, and the neutral center position.

[0296] The control unit 505 is configured to control the current of the gear shifting motor of the vehicle according to the determined segmented control mode.

[0297] The device provided in this embodiment can perform the method provided in the above method embodiment, and has similar implementation principles and technical effects, which are not described herein.

[0298] Figure 6Structure diagram of control device of gearbox of vehicle Figure Two As shown in Figure 6 The control device 600 of the gearbox of the vehicle provided by the embodiment comprises:

[0299] A first acquisition unit 601 is configured to acquire low-gear positions of the gearbox of the vehicle, the low-gear positions comprising a left top gear position and a left end position.

[0300] A second acquisition unit 602 is configured to acquire high-gear positions of the gearbox, the high-gear positions comprising a right top gear position and a right end position.

[0301] A first determination unit 603 is configured to determine a neutral center position according to the left top gear position, the left end position, the right top gear position, and the right end position.

[0302] A second determination unit 604 is configured to determine a segmented control mode corresponding to a movement requirement of a shift fork of the vehicle according to the movement requirement; the segmented control mode indicates a control mode of the shift fork in at least one of the low-gear positions, the high-gear positions, and the neutral center position.

[0303] A control unit 605 is configured to control a current of a gear shifting motor of the vehicle according to the determined segmented control mode.

[0304] In one example, the first acquisition unit 601 comprises:

[0305] A first control module 6011 is configured to, if it is determined that the shift fork is currently located at the left top gear position, control the shift fork to move to a preset neutral position and rotate a main drive motor of the vehicle; clear a torque of the main drive motor when a rotating speed of the main drive motor is greater than a preset rotating speed; and control the shift fork to move left to obtain the left end position when the rotating speed of the main drive motor is within a preset value range.

[0306] A second control module 6012 is configured to, if it is determined that the shift fork is currently located at the left end position, control the shift fork to move to a preset neutral position and rotate the main drive motor; and control the shift fork to move left to obtain the left top gear position.

[0307] In one example, the second acquisition unit 602 comprises:

[0308] A third control module 6021 is configured to, if it is determined that the shift fork is currently located at the right top gear position, control the shift fork to move to a preset neutral position and rotate the main drive motor of the vehicle; clear a torque of the main drive motor when a rotating speed of the main drive motor is greater than a preset rotating speed; and control the shift fork to move right to obtain the right end position when the rotating speed of the main drive motor is within a preset value range.

[0309] The fourth control module 6022 is configured to, if it is determined that the fork is currently located at the right end point position, control the fork to move to a preset neutral position and rotate the main drive motor; and control the fork to move to the right to obtain the right top tooth position.

[0310] In one example, the first determination unit 603 includes:

[0311] The first determination module 6031 is configured to determine a first center position according to the left top tooth position and the right top tooth position; and determine a second center position according to the left end point position and the right end point position.

[0312] The second determination module 6032 is configured to determine a neutral center position according to the first center position and the second center position.

[0313] In one example, the second determination module 6032 is specifically configured to: determine each neutral center position according to each first center position and each second center position; and determine an average of the plurality of neutral center positions as the final neutral center position.

[0314] In one example, the apparatus provided by the embodiment further includes:

[0315] The first control unit 606 is configured to, before the first acquisition unit 601 acquires the low gear position of the gearbox of the vehicle, control the shift motor of the vehicle to rotate to move the fork to the left side to obtain first movement information of the fork; wherein the first movement information includes a first position, and the first position represents a position of the fork after moving to the left side.

[0316] The second control unit 607 is configured to control the shift motor to rotate to move the fork to the right side to obtain second movement information of the fork; wherein the second movement information includes a second position, and the second position represents a position of the fork after moving to the right side.

[0317] The third determination unit 608 is configured to determine an absolute value of a difference between the second position and the first position to obtain a position difference.

[0318] The fourth determination unit 609 is configured to determine a preset neutral position of the fork according to the position difference, the first position and the second position.

[0319] In one example, the fourth determination unit 609 is specifically configured to:

[0320] If it is determined that the position difference is less than or equal to a first threshold value, or if it is determined that the position difference is greater than or equal to a second threshold value, the preset neutral position is determined as the third position according to the first position and the second position; and the fork is controlled to move to the third position.

[0321] wherein, when the position difference is less than or equal to the first threshold value, the first position represents that the fork is located at the left top tooth position, and the second position represents that the fork is located at the right top tooth position; and when the position difference is greater than or equal to the second threshold value, the first position represents that the fork is located at the left end point position, and the second position represents that the fork is located at the right end point position.

[0322] In an example, the first movement information further includes a first movement distance, and the first movement distance represents a distance of movement of the fork to the left; the second movement information further includes a second movement distance, and the second movement distance represents a distance of movement of the fork to the right; and the fourth determination unit 609 is further configured to:

[0323] If it is determined that the position difference is less than or equal to the first threshold value and the position difference is less than the second threshold value, a fourth position is determined as the preset neutral position according to the first position, the second position and a tooth width of a gear of the gearbox; and the fork is controlled to move to the fourth position.

[0324] wherein, when the first movement distance is less than or equal to the tooth width and the second movement distance is greater than or equal to the tooth width, the first position represents that the fork is located at the left top tooth position, and the second position represents that the fork is located at the right end point position; and when the first movement distance is greater than the tooth width and the second movement distance is less than the tooth width, the first position represents that the fork is located at the left end point position, and the second position represents that the fork is located at the right top tooth position.

[0325] In an example, the first threshold value is s-2h+Δh, and the second threshold value is s-h-Δh; wherein, s is a total stroke of gear shifting, h is the tooth width, and Δh is a preset error value.

[0326] In an example, the apparatus provided by the embodiment further includes:

[0327] The fifth determination unit 610 is configured to determine a specified position point between the left top tooth position and the left end point position as a left center position, and determine a specified position point between the right top tooth position and the right end point position as a right center position.

[0328] wherein, the low gear position further includes the left center position, and the high gear position further includes the right center position.

[0329] In an example, the second determination unit 604 is specifically configured to:

[0330] If the movement requirement of the fork is to move from the neutral center position to the left end point position, the segmented control mode is determined as the first control mode, and the first control mode is a three-segment PID control mode.

[0331] The first segment in the first control mode represents movement of the shift fork from the neutral center position to the left top gear position, the second segment in the first control mode represents movement of the shift fork from the left top gear position to the left center position, and the third segment in the first control mode represents movement of the shift fork from the left center position to the left end point position. The current limit value of the second segment in the first control mode is greater than the current limit value of the first segment in the first control mode, and the current limit value of the second segment in the first control mode is greater than the current limit value of the third segment in the first control mode.

[0332] In one example, the second determination unit 604 is specifically configured to:

[0333] If the movement requirement of the shift fork is to move from the neutral center position to the right end point position, it is determined that the segmented control mode is a second control mode, and the second control mode is a three-segment PID control mode.

[0334] The first segment in the second control mode represents movement of the shift fork from the neutral center position to the right top gear position, the second segment in the second control mode represents movement of the shift fork from the right top gear position to the right center position, and the third segment in the second control mode represents movement of the shift fork from the right center position to the right end point position. The current limit value of the second segment in the second control mode is greater than the current limit value of the first segment in the second control mode, and the current limit value of the second segment in the second control mode is greater than the current limit value of the third segment in the second control mode.

[0335] In one example, the second determination unit 604 is specifically configured to:

[0336] If the movement requirement of the shift fork is to move from the left end point position to the neutral center position, it is determined that the segmented control mode is a third control mode, and the third control mode is a two-segment PID control mode.

[0337] The first segment in the third control mode represents movement of the shift fork from the left end point position to the left top gear position, and the second segment in the third control mode represents movement of the shift fork from the left top gear position to the neutral center position. The current limit value of the first segment in the third control mode is greater than the current limit value of the second segment in the third control mode.

[0338] In one example, the second determination unit 604 is specifically configured to:

[0339] If the movement requirement of the shift fork is to move from the left end point position to the right end point position, it is determined that the segmented control mode is a fourth control mode, and the fourth control mode is a four-segment PID control mode.

[0340] In the fourth control mode, the first segment represents the shift fork moving from the left end position to the left top tooth position; the second segment represents the shift fork moving from the left top tooth position to the right top tooth position; the third segment represents the shift fork moving from the right top tooth position to the right center position; and the fourth segment represents the shift fork moving from the right center position to the right end position. The current limit of the third segment in the fourth control mode is greater than the current limit of the fourth segment in the fourth control mode.

[0341] In one example, the second determining unit 604 is specifically used for:

[0342] If the shift fork's movement requirement is to move from the right end position to the neutral center position, then the segmented control mode is determined to be the fifth control mode, which is a two-segment PID control mode.

[0343] In the fifth control mode, the first segment represents the shift fork moving from the right end position to the right top tooth position, and the second segment represents the shift fork moving from the right top tooth position to the neutral center position; the current limit of the first segment in the fifth control mode is greater than the current limit of the second segment in the fifth control mode.

[0344] In one example, the second determining unit 604 is specifically used for:

[0345] If the movement requirement of the shift fork is to move from the right end position to the left end position, then the segmented control mode is determined to be the sixth control mode, which is a four-segment PID control mode.

[0346] In the sixth control mode, the first segment represents the shift fork moving from the right end position to the right top tooth position; the second segment represents the shift fork moving from the right top tooth position to the left top tooth position; the third segment represents the shift fork moving from the left top tooth position to the left center position; and the fourth segment represents the shift fork moving from the left center position to the left end position. The current limit of the third segment in the sixth control mode is greater than the current limit of the fourth segment in the sixth control mode.

[0347] The apparatus provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0348] Figure 7 A schematic diagram of the structure of the electronic device provided in this application. Figure 7 As shown, the electronic device 700 provided in this embodiment includes at least one processor 701 and a memory 702. Optionally, the device 700 further includes a communication component 703. The processor 701, memory 702, and communication component 703 are connected via a bus 704.

[0349] In a specific implementation process, the at least one processor 701 executes computer execution instructions stored in the memory 702, so that the at least one processor 701 executes the above-mentioned method.

[0350] The specific implementation process of the processor 701 can refer to the method embodiments described above, which have similar implementation principles and technical effects, and will not be described here in detail.

[0351] In the above embodiments, it should be understood that the processor can be a central processing unit (English: Central Processing Unit, for short: CPU), and can also be other general-purpose processors, digital signal processors (English: Digital Signal Processor, for short: DSP), application specific integrated circuits (English: Application Specific Integrated Circuit, for short: ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in combination with the application can be directly embodied as hardware processor execution completion, or executed by hardware and software modules in the processor.

[0352] The memory can contain a random access memory (Random Access Memory, RAM), and can also include a non-volatile memory (Non-volatile Memory, NVM), for example, at least one disk memory.

[0353] The bus can be an industry standard architecture (Industry Standard Architecture, ISA) bus, a peripheral component interconnect (Peripheral Component, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, the bus in the drawings of the present application does not limit only one bus or one type of bus.

[0354] The present application also provides a computer program product, comprising a computer program, which is executed by a processor to implement the above-mentioned method.

[0355] The present application also provides a computer readable storage medium, which stores computer execution instructions, and when the processor executes the computer execution instructions, the above-mentioned method is implemented.

[0356] The above-mentioned readable storage medium can be realized by any type of volatile or nonvolatile storage devices or their combinations, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0357] An exemplary readable storage medium is coupled to the processor, so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the device.

[0358] The division of units is only a logical function division, and in actual implementation, there can be another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0359] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0360] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0361] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the method of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0362] It can be understood by those skilled in the art that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The aforementioned program can be stored in a computer readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, and various media that can store program codes.

[0363] Finally, it should be noted that: those skilled in the art will easily think of other embodiments of the present application after considering the specification and practicing the application disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application that follow the general principles of the present application and include common knowledge or conventional technical means in the art that are not disclosed in the present application, and is not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present application is only limited by the appended claims.

Claims

1. A method for controlling a vehicle's transmission, characterized in that, The method includes: Obtain the low gear position of the vehicle's transmission, the low gear position including the left top tooth position and the left end point position; and obtain the high gear position of the transmission, the high gear position including the right top tooth position and the right end point position; The neutral center position is determined based on the position of the left top tooth, the position of the left end point, the position of the right top tooth, and the position of the right end point. Based on the movement requirements of the shift fork of the vehicle, a segmented control method corresponding to the movement requirements is determined; wherein, the segmented control method indicates the control method of the shift fork at at least one of the following positions: low gear position, high gear position, and neutral center position. The current of the vehicle's shift motor is controlled according to the determined segmented control method.

2. The method according to claim 1, characterized in that, The process of obtaining the low gear position of the vehicle's transmission includes: If it is determined that the shift fork is currently in the left top tooth position, then the shift fork is controlled to move to the preset neutral position and the main drive motor of the vehicle is rotated; when the speed of the main drive motor is greater than the preset speed, the torque of the main drive motor is cleared; when the speed of the main drive motor is within the preset range, the shift fork is controlled to move to the left to obtain the left end position. If it is determined that the shift fork is currently at the left end position, then control the shift fork to move to the preset neutral position and rotate the main drive motor; control the shift fork to move to the left to obtain the left top tooth position.

3. The method according to claim 1, characterized in that, Obtaining the high gear position of the transmission includes: If it is determined that the shift fork is currently in the right top tooth position, then the shift fork is controlled to move to the preset neutral position and the main drive motor of the vehicle is rotated; when the speed of the main drive motor is greater than the preset speed, the torque of the main drive motor is cleared; when the speed of the main drive motor is within the preset range, the shift fork is controlled to move to the right to obtain the right end position. If it is determined that the shift fork is currently at the right end position, then control the shift fork to move to the preset neutral position and rotate the main drive motor; control the shift fork to move to the right to obtain the right top tooth position.

4. The method according to claim 1, characterized in that, The neutral center position is determined based on the position of the left top tooth, the position of the left endpoint, the position of the right top tooth, and the position of the right endpoint, including: The first center position is determined based on the position of the left cusp tooth and the position of the right cusp tooth; and the second center position is determined based on the position of the left endpoint and the position of the right endpoint. The neutral center position is determined based on the first center position and the second center position.

5. The method according to claim 4, characterized in that, Determining the neutral center position based on the first center position and the second center position includes: Each neutral center position is determined based on each first center position and each second center position; and the average of the multiple neutral center positions is determined as the final neutral center position.

6. The method according to claim 1, characterized in that, Before obtaining the low gear position of the vehicle's transmission, the following is also included: The vehicle's shift motor is controlled to rotate so that the shift fork moves to the left, thereby obtaining first movement information of the shift fork; wherein, the first movement information includes a first position, which represents the position of the shift fork after it has moved to the left. The shift motor is controlled to rotate so that the shift fork moves to the right, thereby obtaining the second movement information of the shift fork; wherein, the second movement information includes a second position, which represents the position of the shift fork after it has moved to the right; The absolute value of the difference between the second position and the first position is determined to obtain the position difference; and the preset neutral position of the shift fork is determined based on the position difference, the first position, and the second position.

7. The method according to claim 6, characterized in that, Determining the preset neutral position of the shift fork based on the position difference, the first position, and the second position includes: If the position difference is determined to be less than or equal to a first threshold, or if the position difference is determined to be greater than or equal to a second threshold, then based on the first position and the second position, the preset neutral position is determined to be a third position; and the shift fork is controlled to move to the third position. Wherein, when the position difference is less than or equal to a first threshold, the first position indicates that the shift fork is located at the left top tooth position, and the second position indicates that the shift fork is located at the right top tooth position; when the position difference is greater than or equal to a second threshold, the first position indicates that the shift fork is located at the left end point position, and the second position indicates that the shift fork is located at the right end point position.

8. The method according to claim 7, characterized in that, The first movement information further includes a first movement distance, which represents the distance the shift fork moves to the left; the second movement information further includes a second movement distance, which represents the distance the shift fork moves to the right; the method further includes: If it is determined that the position difference is less than or equal to the first threshold and the position difference is less than the second threshold, then based on the first position, the second position and the tooth width of the gear in the gearbox, the preset neutral position is determined as the fourth position; and the shift fork is controlled to move to the fourth position. Wherein, when the first moving distance is less than or equal to the tooth width and the second moving distance is greater than or equal to the tooth width, the first position indicates that the shift fork is located at the left top tooth position and the second position indicates that the shift fork is located at the right end position; when the first moving distance is greater than the tooth width and the second moving distance is less than the tooth width, the first position indicates that the shift fork is located at the left end position and the second position indicates that the shift fork is located at the right top tooth position.

9. The method according to claim 8, characterized in that, The first threshold is s-2h+Δh; the second threshold is sh-Δh; Where s is the total shift stroke; h is the gear width; and Δh is the preset error value.

10. The method according to any one of claims 1-9, characterized in that, The method further includes: A designated point between the position of the left top tooth and the position of the left endpoint is determined as the left center position; and a designated point between the position of the right top tooth and the position of the right endpoint is determined as the right center position. The low gear position also includes the left center position, and the high gear position also includes the right center position.

11. The method according to claim 10, characterized in that, Based on the movement requirements of the vehicle's shift fork, a segmented control method corresponding to the movement requirements is determined, including: If the movement requirement of the shift fork is to move from the center position of neutral to the left end position, then the segmented control method is determined to be the first control method, which is a three-segment PID proportional-integral-derivative control method. In the first control method, the first segment represents the shift fork moving from the neutral center position to the left top tooth position; the second segment represents the shift fork moving from the left top tooth position to the left center position; and the third segment represents the shift fork moving from the left center position to the left end position. The current limit of the second segment in the first control method is greater than the current limit of the first segment in the first control method, and the current limit of the second segment in the first control method is greater than the current limit of the third segment in the first control method.

12. The method according to claim 10, characterized in that, Based on the movement requirements of the vehicle's shift fork, a segmented control method corresponding to the movement requirements is determined, including: If the movement requirement of the shift fork is to move from the center position of neutral to the right end position, then the segmented control method is determined to be the second control method, and the second control method is a three-segment PID control method. In the second control method, the first segment represents the shift fork moving from the neutral center position to the right top tooth position; the second segment represents the shift fork moving from the right top tooth position to the right center position; and the third segment represents the shift fork moving from the right center position to the right end position. The current limit of the second segment in the second control method is greater than the current limit of the first segment in the second control method, and the current limit of the second segment in the second control method is greater than the current limit of the third segment in the second control method.

13. The method according to claim 10, characterized in that, Based on the movement requirements of the vehicle's shift fork, a segmented control method corresponding to the movement requirements is determined, including: If the movement requirement of the shift fork is to move from the left end position to the neutral center position, then the segmented control method is determined to be the third control method, and the third control method is a two-segment PID control method. In the third control method, the first segment represents the shift fork moving from the left end position to the left top tooth position, and the second segment represents the shift fork moving from the left top tooth position to the neutral center position; the current limit of the first segment in the third control method is greater than the current limit of the second segment in the third control method.

14. The method according to claim 10, characterized in that, Based on the movement requirements of the vehicle's shift fork, a segmented control method corresponding to the movement requirements is determined, including: If the movement requirement of the shift fork is to move from the left end position to the right end position, then the segmented control method is determined to be the fourth control method, and the fourth control method is the four-segment PID control method. In the fourth control method, the first segment represents the shift fork moving from the left end position to the left top tooth position; the second segment represents the shift fork moving from the left top tooth position to the right top tooth position; the third segment represents the shift fork moving from the right top tooth position to the right center position; and the fourth segment represents the shift fork moving from the right center position to the right end position. The current limit of the third segment in the fourth control method is greater than the current limit of the fourth segment in the fourth control method.

15. The method according to claim 10, characterized in that, Based on the movement requirements of the vehicle's shift fork, a segmented control method corresponding to the movement requirements is determined, including: If the movement requirement of the shift fork is to move from the right end position to the neutral center position, then the segmented control method is determined to be the fifth control method, and the fifth control method is a two-segment PID control method. In the fifth control method, the first segment represents the shift fork moving from the right end position to the right top tooth position, and the second segment represents the shift fork moving from the right top tooth position to the neutral center position; the current limit of the first segment in the fifth control method is greater than the current limit of the second segment in the fifth control method.

16. The method according to claim 10, characterized in that, Based on the movement requirements of the vehicle's shift fork, a segmented control method corresponding to the movement requirements is determined, including: If the movement requirement of the shift fork is to move from the right end position to the left end position, then the segmented control method is determined to be the sixth control method, and the sixth control method is a four-segment PID control method. In the sixth control method, the first segment represents the shift fork moving from the right end position to the right top tooth position; the second segment represents the shift fork moving from the right top tooth position to the left top tooth position; the third segment represents the shift fork moving from the left top tooth position to the left center position; and the fourth segment represents the shift fork moving from the left center position to the left end position. The current limit of the third segment in the sixth control method is greater than the current limit of the fourth segment in the sixth control method.

17. A control device for a vehicle's transmission, characterized in that, The apparatus includes a unit for performing the method as described in any one of claims 1-16.

18. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-16.

19. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-16.

20. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method of any one of claims 1-16.

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