Gear shifting method and apparatus, automobile, storage medium and computer program product

Abstract

Provided in the present disclosure are a gear shifting method and apparatus, an automobile, a storage medium and a computer program product. The gear shifting method comprises: during the process of an automobile performing gear shifting by means of a gear shifting assembly, acquiring a rotation parameter of a gear shifting drum in the gear shifting assembly; on the basis of the rotation parameter of the gear shifting drum, determining a synchronization state of a synchronizer in the gear shifting assembly corresponding to the rotation parameter; and on the basis of the synchronization state of the synchronizer, controlling a gear shifting electric motor to perform gear shifting.

Description

Gear shifting method and device, automobile, storage medium, and computer program product CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The embodiments of this application are based on the Chinese patent application with application number 202410115950.2 and application date January 26, 2024, and claim the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into the embodiments of this application as a reference. Technical Field

[0002] The present disclosure relates to the field of automobile technology, and in particular to a gear shifting method and device, an automobile, a storage medium, and a computer program product. Background Art

[0003] In a car's transmission system, shifting gears is a critical operation, requiring the coordinated operation of multiple components, such as the shift assembly, to ensure smooth driving. The existing shifting process is complex, requiring constant adjustment of various parameters within the shift assembly and the vehicle's control of the shift assembly, resulting in inefficient shifting. Summary of the Invention

[0004] In view of this, the present disclosure provides a gear shifting method and device, a vehicle, a storage medium, and a computer program product, which can simplify the control process of vehicle gear shifting and improve the efficiency of vehicle gear shifting.

[0005] In a first aspect, an embodiment of the present disclosure provides a shifting method, comprising:

[0006] During the gear shifting process of the vehicle through the gear shift assembly, obtaining the rotation parameters of the gear shift drum in the gear shift assembly;

[0007] determining, based on a rotation parameter of the shift drum, a synchronization state of a synchronizer in the shift assembly corresponding to the rotation parameter;

[0008] The shift motor is controlled to shift gears based on the synchronization state of the synchronizer.

[0009] In a second aspect, an embodiment of the present disclosure provides a shifting device, the device comprising:

[0010] an acquisition module configured to acquire a rotation parameter of a shift drum in the shift assembly during a shifting process of the vehicle;

[0011] a determination module configured to determine, based on a rotation parameter of the shift drum, a synchronization state of a synchronizer in the shift assembly corresponding to the rotation parameter;

[0012] The control module is configured to control the shift motor to shift gears based on the synchronization state of the synchronizer.

[0013] In a third aspect, an embodiment of the present disclosure provides an automobile, comprising:

[0014] processor;

[0015] a memory for storing processor-executable instructions;

[0016] Wherein, the processor is configured to execute the shifting method as described in the first aspect above.

[0017] In a fourth aspect, an embodiment of the present disclosure provides a non-temporary computer-readable storage medium, which, when the computer program or instructions in the storage medium are executed by a processor, implements the steps of the method described in the first aspect above.

[0018] In a fifth aspect, an embodiment of the present disclosure provides a computer program product, which, when executed by a processor, implements the steps of the method described in the first aspect above.

[0019] In the disclosed embodiment, during the process of shifting gears in a vehicle through a shift assembly, the rotational parameters of the shift drum in the shift assembly are obtained, and the synchronization state of the synchronizer corresponding to the rotational parameters is determined based on the rotational parameters of the shift drum. The rotational parameters of the shift drum reflect the internal motion state of the shift assembly. Thus, the vehicle can more quickly and accurately determine the timing of the shift based on the synchronization state of the synchronizer corresponding to the rotational parameters, thereby improving the accuracy and smoothness of the vehicle's shifting. Furthermore, the shift motor is controlled to shift gears based on the synchronization state of the synchronizer, which reduces the need for the vehicle to control the shift motor based on multiple complex operations during the shift process, thereby improving the efficiency of the vehicle's shifting. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG. 1 is an exploded view of a synchronizer structure according to an exemplary embodiment.

[0021] FIG. 2 is a cross-sectional view of a synchronizer according to an exemplary embodiment.

[0022] FIG3 is a flowchart illustrating a gear shifting method according to an exemplary embodiment.

[0023] FIG4 is a schematic structural diagram of a shift assembly according to an exemplary embodiment.

[0024] FIG5 is a schematic diagram showing an axial displacement of an engagement sleeve according to an exemplary embodiment.

[0025] FIG. 6 is a comparison diagram showing a shift control process according to an exemplary embodiment.

[0026] FIG. 7 is a block diagram of a gear shifting device according to an exemplary embodiment.

[0027] Fig. 8 is a schematic structural diagram of a car according to an exemplary embodiment. DETAILED DESCRIPTION

[0028] To make the purpose, technical solutions and advantages of the embodiments of the present disclosure more clear, the specific technical solutions of the invention will be further described in detail below in conjunction with the drawings in the embodiments of the present disclosure. The following embodiments are used to illustrate the present disclosure, but are not intended to limit the scope of the present disclosure.

[0029] In the related art, Figure 1 is an exploded view of a synchronizer structure according to an exemplary embodiment. Figure 2 is a cross-sectional view of a synchronizer according to an exemplary embodiment. As shown in Figures 1 and 2, the synchronizer has a first gear 10 and a second gear 16 at opposite ends. The internal teeth of the coupling sleeve 12 mesh with the external teeth of the spline hub 14. The spline hub 14 is axially circumferentially provided with three receiving grooves. A slider 13 is mounted within the receiving grooves. The side of the slider 13 facing the coupling sleeve 12 has a protrusion, and the inner side of the coupling sleeve 12 facing the slider 13 has three grooves. The grooves mate with the protrusions of the slider 13, allowing the slider 13 to move axially within the receiving grooves via the coupling sleeve. A locking ring 21 is located between one side of the spline hub 14 and the first gear 10, and a locking ring 22 is located between the other side of the spline hub 14 and the second gear 16. Here, the locking ring 21 may also include an outer ring 201, a middle ring 202, and an inner ring 203, with the three rings nested within each other. The locking ring also has three notches corresponding to the sliders 13, allowing the sliders 13 to extend into the grooves. The first gear 10 is connected to a circle of coupling teeth 11, the second gear 16 is connected to a circle of coupling teeth 15, and the outer gear ring of the gear is a conical surface. The friction conical surface of the lock ring and the outer gear ring forms a conical clutch that can be engaged and disengaged by sliding.

[0030] During a vehicle's gear shifting process, the speed of the clutch is related to the vehicle's speed. The clutch is moved during the gear shift, pushing the slider against the notch in the lock ring. This creates friction between the inner conical surface of the lock ring and the outer conical surface of the gear's ring gear. This frictional force causes the gear's speed to align with the lock ring's. As the clutch moves further toward the gear, the slider is pressed against the side of the notch in the lock ring. The force acting on the lock ring in the direction of the gear no longer increases, and the chamfered surfaces of the clutch's teeth contact those of the lock ring. Consequently, the clutch's teeth, exerted by the chamfered surfaces, press the lock ring against the outer conical surface of the ring gear, engaging the cone clutch and further adjusting the gear's speed. When the clutch and lock ring reach the same speed, the clutch's teeth mesh with those of the lock ring. The clutch then engages frictionlessly with the lock ring and the ring gear, completing the vehicle's gear shift.

[0031] However, the current synchronizer-based method for controlling vehicle shifting involves detecting vehicle control signals to determine the synchronizer's current control phase; calculating the corresponding shift fork adjustment based on the synchronizer's current control phase; adjusting the shift fork lever's speed and force based on the fork adjustment; and using the shift fork lever to control synchronizer movement based on the adjusted speed and force. This current control method requires detecting each synchronizer control phase and calculating the shift fork's speed and force in real time to control synchronizer movement. This results in complex control operations during the vehicle's shifting process and low shifting efficiency.

[0032] Based on this, an embodiment of the present disclosure provides a shifting method that can improve the shifting efficiency of a vehicle. FIG3 is a flow chart of a shifting method according to an exemplary embodiment. As shown in FIG3 , the shifting method includes:

[0033] S101. During a gear shifting process of an automobile using a gear shift assembly, obtaining a rotation parameter of a gear shift drum in the gear shift assembly;

[0034] S102, determining a synchronization state of a synchronizer in the shift assembly corresponding to a rotation parameter of the shift drum based on the rotation parameter;

[0035] S103 : Control the shift motor to shift gears based on the synchronization state of the synchronizer.

[0036] The shifting method shown in the embodiment of the present disclosure can be applied to the automotive electronic control system of an automobile. The automotive electronic control system obtains the rotation parameters of the shift drum, determines the synchronization state of the synchronizer corresponding to the rotation parameters based on the rotation parameters, and the automotive electronic control system sends a control instruction to the shift motor based on the synchronization state of the synchronizer. The shift motor rotates in response to the control instruction to enable the automobile to shift gears.

[0037] The above-mentioned vehicles may include traditional vehicles and new energy vehicles. For example, traditional vehicles include fuel vehicles; new energy vehicles may include pure electric vehicles, hybrid vehicles, or fuel cell electric vehicles, etc., which are not limited in the embodiments of the present disclosure.

[0038] It's important to note that the hardware architecture of an automotive electronic control system includes sensors, an electronic control unit (ECU), and actuators. While the vehicle is in operation, sensors continuously monitor the vehicle's operating conditions and transmit this information in real time to the ECU via input interfaces. Upon receiving this information, the ECU makes decisions and processes it according to pre-programmed internal control programs, outputting control signals to the corresponding actuators. Upon receiving the control signals, the actuators execute the corresponding actions, achieving the intended functions corresponding to the control signals.

[0039] In step S101, FIG4 is a schematic diagram of a shift assembly structure according to an exemplary embodiment. As shown in FIG4 , a vehicle shifts gears using the shift assembly, which may include a shift motor 301, a reduction mechanism 302, a shift drum 303, a shift fork 304, and a synchronizer 305.

[0040] Among them, the above-mentioned shift motor is used to provide driving force for the shift assembly, and when the shift motor rotates, it can drive the reduction mechanism to rotate; the above-mentioned reduction mechanism is connected to the shift drum, and the reduction mechanism is used to drive the shift drum to rotate; the surface of the above-mentioned shift drum has grooves, and when the shift drum rotates, the shift fork will slide in the groove; the above-mentioned shift fork is connected to the synchronizer, and is used to drive the synchronizer to move axially on the shift drum; the above-mentioned synchronizer is used to achieve gear meshing of different transmission ratios for shifting.

[0041] In the above-mentioned process of shifting gears of the automobile through the shift assembly, obtaining the rotation parameters of the shift drum includes direct acquisition or indirect acquisition, which is not limited in the embodiment of the present disclosure.

[0042] For example, in one embodiment, the rotation parameters of the shift drum can be obtained by setting a sensor on the shift drum, and the automobile electronic control system can directly obtain the rotation parameters transmitted by the sensor through the sensor of the shift drum; in another embodiment, the rotation parameters of the shift drum can also be obtained by obtaining the rotation parameters of the shift motor. Since the shift motor is connected to the shift drum and can drive the shift drum to rotate, the rotation parameters of the shift motor have a corresponding relationship with the rotation parameters of the shift drum, and the automobile electronic control system can indirectly obtain the rotation parameters of the shift drum by obtaining the rotation parameters of the shift motor.

[0043] It should be noted that the rotation parameters of the shift drum obtained by the automobile include parameters such as rotation angle, rotational inertia or rotational torque, and the embodiments of the present disclosure do not limit this.

[0044] In step S102 , determining the synchronization state of the synchronizer corresponding to the rotation parameter based on the rotation parameter of the shift drum includes acquiring the synchronization state corresponding to the rotation parameter of the shift drum based on a mapping relationship between the rotation parameter of the shift drum and the synchronization state of the synchronizer.

[0045] In the disclosed embodiment, the synchronization state of the synchronizer includes: neutral state, pre-synchronization state or locked state, etc. Here, the rotation parameter of the shift drum corresponds to the synchronization state of the synchronizer, and the rotation parameter of the shift drum may correspond to one or more synchronization states of the synchronizer.

[0046] Exemplarily, the synchronization state of the synchronizer includes a pre-synchronization state, and the first rotation parameter of the shift drum corresponds to the pre-synchronization state of the synchronizer; the synchronization state of the synchronizer can also include a locking state and a locking release state, and the second rotation parameter of the shift drum corresponds to the locking state and the locking release state of the synchronizer.

[0047] It should be noted that since the shift drum rotates and drives the shift fork to move, and the shift fork is connected to the synchronizer, the shift fork movement drives the synchronizer to move. Therefore, the rotation parameter of the shift drum is related to the displacement length of the synchronizer. For example, the relationship between the rotation angle of the shift drum and the displacement length of the synchronizer is shown in formula (1):

[0048] (1)

[0049] Wherein, L represents the displacement length of the synchronizer during the shifting process, Indicates the rotation angle of the shift drum, Indicates the transmission ratio of the reduction mechanism, represents the effective radius of the slider, and α represents the groove rise angle of the shift drum.

[0050] In the disclosed embodiment, the synchronizer displacement length can be obtained based on the shift drum rotation parameter, and the synchronizer displacement length reflects the synchronizer synchronization state. Furthermore, the synchronization state corresponding to the shift drum rotation parameter can be obtained based on the shift drum rotation angle.

[0051] In step S103 , the vehicle electronic control system sends a control instruction to the shift motor based on the synchronization state of the synchronizer, and the shift motor rotates in response to the control instruction to perform gear shifting.

[0052] It should be noted that the vehicle's electronic control system calculates the optimal shift timing based on feedback from vehicle speed, throttle position, and other sensors, and issues corresponding control signals. These control signals activate the corresponding circuits to control the operation of the shift motor. Exemplarily, these circuits include switching circuits, relay circuits, and power drive circuits. These circuits convert the power supply voltage into signals that activate the shift motor, and then control the shift motor's relays to switch it on and off.

[0053] Shifting gears in a car is the process of changing the gear lever position while driving, based on road conditions or the driver's wishes. Gear shifting involves upshifting or downshifting. Upshifting involves increasing vehicle speed by shifting the gear lever into a higher gear, while downshifting involves decreasing vehicle speed by shifting the gear lever into a lower gear.

[0054] It is understandable that in the process of a car shifting gears through a shift assembly, the control of the shift motor is different. Based on the synchronization state of the synchronizer, controlling the shift motor to shift gears can improve the accuracy of the shift timing, thereby reducing the car's kinetic energy loss and reducing the car's energy consumption.

[0055] In the disclosed embodiment, during the process of shifting gears in a vehicle through a shift assembly, the rotational parameters of the shift drum in the shift assembly are obtained, and the synchronization state of the synchronizer corresponding to the rotational parameters is determined based on the rotational parameters of the shift drum. The rotational parameters of the shift drum reflect the internal motion state of the shift assembly. Thus, the vehicle can more quickly and accurately determine the timing of the shift based on the synchronization state of the synchronizer corresponding to the rotational parameters, thereby improving the accuracy and smoothness of the vehicle's shifting. Furthermore, the shift motor is controlled to shift gears based on the synchronization state of the synchronizer, which reduces the need for the vehicle to control the shift motor based on multiple complex operations during the shift process, thereby improving the efficiency of the vehicle's shifting.

[0056] In some embodiments, the rotation parameter includes a rotation angle; and determining the synchronization state of the synchronizer in the shift assembly corresponding to the rotation parameter based on the rotation parameter of the shift drum includes:

[0057] When the current rotation angle of the shift drum is within a first preset angle range, determining that the synchronization state of the synchronizer is a first state, the first state including a pre-synchronization state;

[0058] When the current rotation angle of the shift drum is within a second preset angle range, determining that the synchronization state of the synchronizer is a second state, the second state including a locked state and a locked released state;

[0059] When the current rotation angle of the shift drum is within a third preset angle range, the synchronization state of the synchronizer is determined to be a third state, which includes a tooth top tooth state, an inverted cone relative state, and a shift completion state.

[0060] In the embodiment of the present disclosure, the synchronization state of the synchronizer includes a pre-synchronization state, a locking state, a locking release state, a tooth top tooth state, a reverse cone relative state and a shift completion state.

[0061] It should be noted that when the coupling sleeve is about to contact the locking ring, the synchronizer is in the pre-synchronization state; when the tooth surface of the coupling sleeve and the tooth surface of the locking ring abut each other, the synchronizer is in the locked state; when the coupling sleeve is engaged with the locking ring and is not in contact with the gear, the synchronizer is in the locked release state; when the tooth tip of the coupling sleeve and the tooth tip of the gear are relative, the synchronizer is in the tooth top tooth state; when the inverted cone angle of the coupling sleeve and the inverted cone angle of the gear are relative, the synchronizer is in the inverted cone relative state; when the teeth of the coupling sleeve and the gear ring are engaged with each other, the synchronizer is in the shift completion state.

[0062] Figure 5 is a schematic diagram illustrating the axial displacement of a clutch sleeve according to an exemplary embodiment. As shown in Figure 5, when the shift drum rotates, the clutch sleeve of the synchronizer moves axially. Because the clutch sleeve's position corresponds to the synchronizer's synchronization state, which in turn corresponds to the shift drum's rotational angle, the synchronizer's synchronization state can be determined based on the shift drum's current rotational angle.

[0063] For example, when the current rotation angle of the shift drum is θ1, the coupling sleeve is displaced to a position where it is about to contact the lock ring, that is, the synchronizer is in a pre-synchronization state; when the current rotation angle of the shift drum is θ2, the coupling sleeve is displaced to abut against the tooth surface of the lock ring, that is, the synchronizer is in a locked state.

[0064] Based on this, the rotation angle of the shift drum is divided, and the angle division areas include a first preset angle interval, a second preset angle interval, and a third preset angle interval.

[0065] Among them, the first preset angle interval corresponds to the pre-synchronization state of the synchronizer; the second preset angle interval corresponds to the locking state and locking release state of the synchronizer; the third preset angle interval corresponds to the tooth top tooth state, inverted cone relative state and shift completion state of the synchronizer.

[0066] It can be understood that the coupling sleeve of the synchronizer in the first state only needs to reach the target position, and the engagement of the teeth of the coupling sleeve and the teeth of the lock ring of the synchronizer in the second state will generate an interaction force, so the interaction force between the coupling sleeve and the lock ring needs to be adjusted. As for the synchronizer in the third state, since the rotational speeds of the coupling sleeve, lock ring and gear tend to be the same, it is also only necessary to control the position of the coupling sleeve so that the teeth of the coupling sleeve and the coupling teeth engage with each other.

[0067] In the disclosed embodiment, the first, second, and third preset angle intervals all have interval thresholds. It is understood that if the current rotation angle of the shift drum is less than the interval threshold of the first preset angle interval, the synchronizer is in the first state; if the current rotation angle of the shift drum is greater than the interval threshold of the first preset angle interval but less than the interval threshold of the second preset angle interval, the synchronizer is in the second state; and if the rotation angle of the shift drum is greater than the interval threshold of the second preset angle interval but less than the interval threshold of the third preset angle interval, the synchronizer is in the third state.

[0068] Among them, the interval critical value of the first preset angle interval, the interval critical value of the second preset interval, and the interval critical value of the third preset interval can be set according to actual conditions, and the embodiment of the present disclosure does not limit this.

[0069] For example, in one embodiment, the interval thresholds for the first preset angle interval, the second preset interval, and the third preset interval can be determined by the preset rotation angle of the shift drum. Here, the preset angle of the shift drum can be determined based on a dimension chain of the shift assembly. Specifically, a dimension chain of the shift assembly is established based on the structure of the shift assembly, and the dimensions of the shift assembly in the dimension chain, such as the synchronizer and the shift drum, are counted. Based on the dimension chain, the preset rotation angle corresponding to the synchronization state of the shift drum and the synchronizer is obtained.

[0070] It should be noted that the dimension chain refers to a combination of closed dimensions that are interconnected and connected in a certain order during the process of part processing or machine assembly, including length, angle, form and position tolerances, etc.

[0071] In another embodiment, the interval critical value of the first preset interval, the interval critical value of the second preset interval, and the interval critical value of the third preset interval are all determined by a preset rotation angle and an angle tolerance of the shift drum.

[0072] It should be noted that the preset rotation angle of the shift drum can be obtained based on the dimensional chain of the shift assembly, and the angular tolerance of the shift drum can be calculated using the large number interchange method. A mapping table is formed based on the synchronization state of the synchronizer, the preset rotation angle of the shift drum, and the angular tolerance. For example, mapping table 1 is as follows:

[0073] Mapping Table 1

[0074] No. Step Preset rotation angle Angle tolerance 1 Pre-synchronization θ1±d1 2 Lock θ2±d2 3 Lock release θ3±d3 4 Tooth top tooth θ4±d4 5 Reverse cone relative θ5±d5 6 Shift θ6±d6

[0075] The interval critical value may be a difference or a sum of a preset rotation angle of the shift drum and an angle tolerance, which is not limited in the embodiment of the present disclosure.

[0076] Exemplarily, the interval critical value of the first preset interval can be the difference between the preset rotation angle of the shift drum and the angle tolerance, the interval critical value of the second preset interval can be the sum of the preset rotation angle of the shift drum and the angle tolerance, and the interval critical value of the third preset interval can be the difference between the preset rotation angle of the shift drum and the angle tolerance.

[0077] It can be understood that when the first interval critical value is the difference between the preset rotation angle of the shift drum and the angle tolerance, the automobile electronic control system can control the shift motor to slow down in advance before the synchronizer is in the locked state to prevent the synchronizer's coupling sleeve and lock ring from engaging.

[0078] In this disclosed embodiment, the synchronizer's six synchronization states are divided into three, simplifying the control process of the vehicle's electronic control system and improving shifting efficiency. Furthermore, by determining the synchronization state based on the preset angle intervals determined by the shift drum's current rotation angle, the electronic control system achieves more precise shifting control, helping to reduce friction and impact during the shifting process and improve driving stability.

[0079] In some embodiments, controlling the shift motor to shift gears based on the synchronization state of the synchronizer in the shift assembly includes:

[0080] determining, based on a synchronization state of a synchronizer in the shift assembly, a rotation operation performed by the shift motor corresponding to the synchronization state of the synchronizer;

[0081] controlling the shift motor to rotate based on the rotation operation;

[0082] Gear shifting is completed based on the rotation of the gear shifting motor.

[0083] In the embodiment of the present disclosure, the automobile electronic control system can store rotation operations corresponding to the synchronization states of multiple synchronizers, and the rotation operations performed by the shift motor corresponding to the synchronization states of the synchronizers can be stored in the automobile electronic control system through a mapping relationship between the synchronization states and the rotation operations.

[0084] The process of obtaining the rotational operations corresponding to different synchronizer synchronization states can be performed by searching for the corresponding rotational operations from a mapping relationship between synchronization states and rotational operations. In this way, the disclosed embodiment can obtain the rotational operations by searching the mapping relationship without requiring real-time calculation, thereby improving the efficiency of vehicle shifting.

[0085] For example, the first state of the synchronizer corresponds to a first rotation operation; the second state of the synchronizer corresponds to a second rotation operation; and the third state of the synchronizer corresponds to a third rotation operation. Different synchronization states may correspond to different rotation operations performed by the shift motor, or may correspond to the same rotation operation performed by the shift motor, and this is not limited in the present embodiment.

[0086] In the embodiment of the present disclosure, the rotation operation may be a rotation of a preset distance, a rotation of a preset angle, or a preset torque, etc., and the embodiment of the present disclosure does not limit this.

[0087] It should be noted that the automotive electronic system controls the shift motor using closed-loop control modes, such as current loop, speed loop, and position loop. When the shift motor's rotation is controlled by the current loop, the output current is adjusted to control the phase current of each phase of the shift motor, thereby controlling the shift motor's torque. When the shift motor's rotation is controlled by the speed loop, the speed loop includes both the speed loop and the current loop to control the shift motor's rotation speed and position. When the shift motor's rotation is controlled by the position loop, the automotive electronic system simultaneously performs calculations for the current loop, speed loop, and position loop. In this case, the automotive electronic system performs the largest amount of calculations, resulting in the most precise control of the shift motor's rotation.

[0088] In the embodiment of the present disclosure, controlling the shift motor to rotate based on the rotation operation may be that the vehicle electronic control system sends a control instruction containing the rotation operation to the shift motor, and the shift motor responds to the control instruction containing the rotation operation and performs the rotation operation to rotate.

[0089] In some embodiments, controlling the shift motor to rotate based on the rotation operation includes:

[0090] When the rotation operation is a rotation operation of a first preset distance, controlling the shift motor to rotate the first preset distance;

[0091] When the rotation operation is a constant torque rotation operation, controlling the shift motor to rotate at the constant torque;

[0092] In a case where the rotation operation is a rotation operation of a second preset distance, the shift motor is controlled to rotate the second preset distance.

[0093] In the disclosed embodiment, when the synchronizer is in the first state, clearances between components in the synchronizer (e.g., the spline hub, the coupling sleeve, and the lock ring) need to be eliminated. The shift motor rotates at a preset speed to move the synchronizer through the first state. Specifically, when the synchronizer is in the first state, the shift motor can rotate by a first preset distance.

[0094] It should be noted that when the synchronizer is in the second state, shifting is performed based on a shifting force, which must take into account both the synchronizer's friction life and shifting time. A shifting force greater than a preset threshold can result in incomplete synchronization, with the synchronizer's clutch teeth passing through the lock ring and directly contacting the ring gear of the engaging teeth, causing tooth clashing. A shifting force less than the preset threshold can extend the synchronizer's synchronization time, thereby increasing the shifting time. The shifting force can be calculated based on the torque of the shifting motor, meaning that when the synchronizer is in the second state, the shifting motor can rotate based on a constant torque rotation operation.

[0095] For example, the shifting force is converted based on the torque of the shifting motor as shown in formula (2):

[0096] (2)

[0097] in, Indicates the shifting force of the shift drum on the shift fork. represents the torque of the shift motor, μ represents the friction coefficient between the groove of the shift drum and the slider, Indicates the efficiency of the reduction mechanism.

[0098] The above-mentioned constant torque of the shift motor is determined based on the shift force, and the shift motor rotates based on the constant torque, that is, the automotive electronic control system controls the shift force of the shift motor so that the teeth of the synchronizer's coupling sleeve can engage with the ring gear of the engaging teeth, and then when the synchronizer is in the second state, the friction life of the synchronizer and the shift time are taken into account, thereby improving the shift efficiency.

[0099] Similarly, when the synchronizer is in the third state, it has completed synchronization and enters the second free travel phase (i.e., the travel between the lock release state and the tooth top tooth state). This second free travel phase corresponds to the first free travel phase of the synchronizer in the first state (i.e., the synchronizer is in the pre-synchronization state). Due to the shaft drag torque, there is a speed difference between the clutch and the engaging teeth. To ensure a successful shift, the shift motor needs to drive the synchronizer through the third state at a predetermined speed, thereby reducing the speed difference between the clutch and the engaging teeth during the second free travel phase.

[0100] Furthermore, between the synchronizer's top-tooth state and the shift-completed state, the coupling sleeve must generate the shifting force and inertia to shift the coupling teeth to ensure a successful shift. Before the shift-completed state, the shift motor must decelerate to prevent the limiting surfaces of the coupling sleeve from colliding with those of the coupling teeth, which can cause shift noise.

[0101] Figure 6 is a diagram comparing a shift control process according to an exemplary embodiment. As shown in Figure 6 , in a two-dimensional coordinate system, the x-axis represents the rotation angle of the shift drum, i.e., the synchronizer state range, and the y-axis represents the duty cycle of the shift motor, i.e., the percentage of the shift motor's circuit-on time relative to the total circuit duty cycle.

[0102] It is understandable that the traditional shifting process requires detecting the six synchronization states of the synchronizer, and the shift motor needs to be rotationally controlled in each synchronization state. However, the shifting control process of the present application only requires detecting the first, second, and third states of the synchronizer, and only requires rotational control of the shift motor in these three synchronization states. The disclosed embodiment has more reasonable circuit resource allocation, a simpler control process, and can achieve fast shifting while reducing shift shock. The vehicle's shift time can be controlled to less than or equal to 0.5 seconds.

[0103] In the disclosed embodiment, based on the rotation operation corresponding to the synchronization state of the synchronizer, the automotive electronic control system realizes precise control of the shift motor, ensures smooth transition of the gears during the shifting process, improves the real-time responsiveness of the automotive electronic control system, and enables the automotive electronic control system to be more flexible and adaptable to different shifting situations.

[0104] In some embodiments, obtaining the rotation parameter of the shift drum in the shift assembly includes:

[0105] determining a rotation angle of the shift motor based on a position sensor of the shift motor;

[0106] The rotation angle of the shift drum is determined based on the rotation angle of the shift motor and a gear ratio between the shift motor and the shift drum.

[0107] In the disclosed embodiment, the automotive electronic control system can monitor and obtain the rotation angle of the shift motor in real time through a position sensor installed on the shift motor.

[0108] The position sensor includes a contact sensor or a proximity sensor, etc., which is not shown in the embodiment of the present disclosure.

[0109] Furthermore, since the rotation of the shift motor drives the rotation of the shift drum, the transmission ratio between the shift motor and the shift drum is the ratio of the rotational speed or angular velocity of the shift motor to the rotational speed or angular velocity of the shift drum. Therefore, the rotational speed or angular velocity of the shift motor is obtained based on the current rotational angle of the shift motor, and the rotational speed or angular velocity of the shift drum is determined based on the rotational speed of the shift motor. The rotational angle of the shift drum can be determined based on the rotational speed or angular velocity of the shift drum.

[0110] It should be noted that the automotive electronic control system obtains the rotation parameters of the shift drum in the shift assembly to determine the synchronization state of the synchronizer in the shift assembly, and based on the synchronization state of the synchronizer, the automotive electronic control system can control the shift motor to shift gears.

[0111] In the disclosed embodiment, a position sensor is used to provide a real-time rotation angle of the shift motor, enabling the vehicle electronic control system to quickly respond to changing driving conditions. The rotation angle of the shift drum is determined by the transmission ratio, and the design of different vehicle models and shift components can be adapted to improve the flexibility of vehicle design.

[0112] The present disclosure also provides a shifting device. FIG7 is a block diagram of a shifting device according to an exemplary embodiment. As shown in FIG7 , the shifting device 1000 includes:

[0113] An acquisition module 1001 is configured to acquire a rotation parameter of a shift drum in a shift assembly during a shifting process of a vehicle;

[0114] A determination module 1002 is configured to determine, based on a rotation parameter of the shift drum, a synchronization state of a synchronizer in the shift assembly corresponding to the rotation parameter;

[0115] The control module 1003 is configured to control the shift motor to shift gears based on the synchronization state of the synchronizer.

[0116] In some embodiments, the rotation parameter includes a rotation angle; the determination module is further configured to determine that the synchronization state of the synchronizer is a first state when the current rotation angle of the shift drum is within a first preset angle range, and the first state includes a pre-synchronization state; when the current rotation angle of the shift drum is within a second preset angle range, the synchronization state of the synchronizer is determined to be a second state, and the second state includes a locking state and a locking release state; when the current rotation angle of the shift drum is within a third preset angle range, the synchronization state of the synchronizer is determined to be a third state, and the third state includes a tooth top tooth state, a reverse cone relative state and a shift completion state.

[0117] In some embodiments, the interval critical value of the first preset interval, the interval critical value of the second preset interval, and the interval critical value of the third preset interval are all determined by a preset rotation angle and an angle tolerance of the shift drum.

[0118] In some embodiments, the control module is further configured to determine the rotation operation performed by the shift motor corresponding to the synchronization state of the synchronizer in the shift assembly based on the synchronization state of the synchronizer; control the rotation of the shift motor based on the rotation operation; and complete the shift based on the rotation of the shift motor.

[0119] In some embodiments, the control module is further configured to determine the rotation operation performed by the shift motor corresponding to the synchronization state of the synchronizer based on the synchronization state of the synchronizer and a mapping relationship between a preset synchronization state and the rotation operation.

[0120] In some embodiments, the control module is configured to control the shift motor to rotate the first preset distance when the rotation operation is a rotation operation of rotating a first preset distance; control the shift motor to rotate with a constant torque when the rotation operation is a rotation operation of rotating a constant torque; and control the shift motor to rotate the second preset distance when the rotation operation is a rotation operation of rotating a second preset distance.

[0121] In some embodiments, the acquisition module is further configured to determine the rotation angle of the shift motor based on the position sensor of the shift motor; and determine the rotation angle of the shift drum based on the rotation angle of the shift motor and the transmission ratio of the shift motor and the shift drum.

[0122] FIG8 is a schematic diagram showing the structure of a car according to an exemplary embodiment. Referring to FIG8 , a car 400 provided by an embodiment of the present disclosure may include: a processor 401 , a communication interface 402 , and a memory 403 .

[0123] The processor 401 generally controls the overall operation of the router.

[0124] The communication interface 402 enables the electronic device to communicate with other terminals or servers through a network.

[0125] The memory 403 is configured to store instructions and applications executable by the processor 401 and to cache data to be processed or processed by the processor 401 and various modules in the router. The memory 403 may be implemented by flash memory (FLASH) or random access memory (RAM).

[0126] A storage medium, when instructions in the storage medium are executed by a processor of an automobile, enables the automobile to perform a gear shifting method, the gear shifting method comprising: obtaining rotational parameters of a shift drum in the gear shifting assembly during the process of the automobile shifting gears through the gear shifting assembly; determining, based on the rotational parameters of the shift drum, a synchronization state of a synchronizer in the gear shifting assembly corresponding to the rotational parameters; and controlling the gear shifting motor to shift gears based on the synchronization state of the synchronizer.

[0127] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0128] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0129] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0130] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0131] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0132] Memory may include non-permanent storage in the form of random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash RAM. Memory is an example of a computer storage medium.

[0133] Computer storage media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer storage media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0134] It should also be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0135] The above description is merely an embodiment of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A shifting method, applied to an electronic device of a vehicle, comprising: During the shifting process of the vehicle through a shifting component, obtaining the rotation parameters of a shifting drum in the shifting component; Based on the rotation parameters of the shifting drum, determining the synchronization state of a synchronizer in the shifting component corresponding to the rotation parameters; Based on the synchronization state of the synchronizer, controlling a shifting motor to perform shifting.

2. The method according to claim 1, wherein The rotation parameters include a rotation angle; the determining the synchronization state of the synchronizer in the shifting component corresponding to the rotation parameters based on the rotation parameters of the shifting drum includes: When the current rotation angle of the shifting drum is within a first preset angle range, determining the synchronization state of the synchronizer as a first state, where the first state includes a pre-synchronization state; When the current rotation angle of the shifting drum is within a second preset angle range, determining the synchronization state of the synchronizer as a second state, where the second state includes a locking state and a locking release state; When the current rotation angle of the shifting drum is within a third preset angle range, determining the synchronization state of the synchronizer as a third state, where the third state includes a tooth tip to tooth state, an inverted cone relative state, and a shifting completion state.

3. The method according to claim 2, wherein, The interval critical values of the first preset angle range, the interval critical values of the second preset angle range, and the interval critical values of the third preset angle range are all determined by a preset rotation angle of the shifting drum and an angle tolerance.

4. The method according to any one of claims 1 to 3, wherein, The controlling the shifting motor to perform shifting based on the synchronization state of the synchronizer in the shifting component includes: Based on the synchronization state of the synchronizer in the shifting component, determining a rotation operation performed by the shifting motor corresponding to the synchronization state of the synchronizer; Controlling the shifting motor to rotate based on the rotation operation; Completing shifting based on the rotation of the shifting motor.

5. The method according to claim 4, wherein, The determining the rotation operation performed by the shifting motor corresponding to the synchronization state of the synchronizer based on the synchronization state of the synchronizer in the shifting component includes: Based on the synchronization state of the synchronizer and a mapping relationship between the preset synchronization state and the rotation operation, determining the rotation operation performed by the shifting motor corresponding to the synchronization state of the synchronizer.

6. The method according to claim 4, wherein, The controlling the shifting motor to rotate based on the rotation operation includes: When the rotation operation is a rotation operation of rotating a first preset distance, controlling the shifting motor to rotate the first preset distance; When the rotation operation is a rotation operation with a constant torque, controlling the shifting motor to rotate with a constant torque; When the rotation operation is a rotation operation of rotating a second preset distance, controlling the shifting motor to rotate the second preset distance.

7. The method according to any one of claims 1 to 3, wherein The obtaining the rotation parameters of the shifting drum in the shifting component includes: Based on a position sensor of the shifting motor, determining the rotation angle of the shifting motor; Based on the rotation angle of the shifting motor and the transmission ratio between the shifting motor and the shifting drum, determining the rotation angle of the shifting drum.

8. A shifting device, comprising: An acquisition module, configured to acquire rotation parameters of a shift drum in the shift assembly during a gear shifting process of an automobile by the shift assembly; A determination module, configured to determine a synchronization state of a synchronizer in the shift assembly corresponding to the rotation parameters based on the rotation parameters of the shift drum; A control module, configured to control the shift motor to perform gear shifting based on the synchronization state of the synchronizer.

9. An automobile, wherein the automobile at least comprises: A processor; A memory for storing processor-executable instructions; Wherein, the processor is configured to execute the gear shifting method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, wherein the storage medium stores a computer program or instructions, and when the computer program or instructions in the storage medium are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

11. A computer program product, comprising a computer program or instructions, and when the computer program or instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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