Hard stop position learning method and system for vehicle disconnection mechanism, and vehicle

Abstract

A hard stop position learning method and system for a vehicle disconnection mechanism, and a vehicle. The method comprises: controlling a rotating motor (5) to rotate so as to drive a shifting fork (7) to move to a hard stop position on a synchronizer assembly (8); acquiring first information and second information of the rotating motor (5) during rotation, and a movement position of the shifting fork (7), wherein the first information comprises a rotation direction and a rotation angle, and the second information comprises a working current; on the basis of the first information, the second information and the movement position, performing stall detection on a hard stop; and on the basis of a detection result, determining whether to exit hard stop position learning.

Description

A method, system, and vehicle for learning the hard stop position of a vehicle disconnection mechanism.

[0001] This application claims priority to Chinese Patent Application No. 202411213576.6, filed on August 30, 2024, entitled “A method, system and vehicle for learning the hard stop position of a vehicle disconnection mechanism”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application belongs to the field of vehicle technology, specifically relating to a method, system, and vehicle for learning the hard stop position of a vehicle disconnection mechanism. Background Technology

[0003] In the four-wheel drive system of new energy vehicles, the auxiliary drive motor usually adopts a permanent magnet synchronous motor. In order to achieve the best efficiency performance, it is usually necessary to add a disconnection mechanism to the auxiliary drive permanent magnet synchronous motor to minimize the energy loss generated by the permanent magnet motor at high speed. However, the entire size chain of this disconnection mechanism from the shift component, shift fork to synchronizer is long, which often causes shift jamming and leads to shift failure. Summary of the Invention

[0004] In view of the above problems, embodiments of this application provide a method, system and vehicle for learning the hard stop position of a vehicle disconnection mechanism, so as to overcome the above problems or at least partially solve the above problems.

[0005] In a first aspect, this application provides a method for learning the hard stop position of a vehicle disconnection mechanism. The disconnection mechanism includes a rotary motor, a shift fork, and a synchronizer assembly connected in sequence. The learning method includes:

[0006] The rotary motor is controlled to rotate and drive the shift fork to move toward the hard stop position on the synchronizer assembly;

[0007] Acquire first and second information during the rotation of the rotary motor, as well as the moving position of the shift fork; wherein, the first information includes the rotation direction and rotation angle, and the second information includes the operating current;

[0008] Based on the first information, the second information, and the movement position, stall detection is performed at the hard stop point;

[0009] Based on the detection results, determine whether to exit the learning of hard stop positions.

[0010] Furthermore, based on the first information, the second information, and the movement position, stall detection is performed on the hard stop, including:

[0011] Based on the first information, the target rotation angle and the rate of change of rotation angle of the rotary motor are determined; wherein, the target rotation angle is the rotation angle of the rotary motor's rotary drive fork reaching the hard stop position; the rate of change of rotation angle is the difference in rotation angle between the current cycle Hall position and the previous cycle Hall position of the rotary motor.

[0012] Based on the target rotation angle and the rate of change of rotation angle, the first stall detection is performed on the rotary motor;

[0013] Based on the second information and the rate of change of rotation angle, a second stall detection is performed on the rotary motor;

[0014] Based on the difference between the moving position and the hard stop position, the shift fork is jammed.

[0015] Based on the first stall detection, the second stall detection, and the jamming detection, stall detection is performed on the hard stop.

[0016] Furthermore, based on the target rotation angle and the rate of change of rotation, a first stall detection is performed on the rotary motor, including:

[0017] Determine whether the rate of change of rotation angle of the rotary motor is lower than the preset rate of change of angle during rotation, and whether the rotary motor has reached the target rotation angle;

[0018] If the rate of change of rotation angle is lower than the preset rate of change of angle, and the rotary motor has not rotated to the target rotation angle, it is determined that the motor has stalled for the first time.

[0019] Furthermore, based on the second information and the rate of change of rotation angle, a second stall detection is performed on the rotary motor, including:

[0020] Based on the second information and the rate of change of rotation angle, determine the current rate of change of rotation angle and the current operating current of the rotating motor;

[0021] If the current rate of change of rotation angle is lower than the preset rate of change of angle and the current operating current is greater than the preset operating current, it is determined that the rotary motor has experienced a second stall; where the preset operating current corresponds to the maximum driving force of the rotary motor.

[0022] Furthermore, based on the difference between the moving position and the hard stop position, jamming detection is performed on the shift fork, including:

[0023] Determine whether the moving position is within the preset range; the preset range is the area excluding the hard stop position. Within the preset range, the shift fork cannot complete gear shifting.

[0024] If the movement position is within the preset range, it is determined that the shift fork is stuck;

[0025] If the movement position is outside the preset range, it is confirmed that the shift fork has not jammed.

[0026] Furthermore, before determining whether to exit the learning of hard stop positions based on the detection results, the method also includes:

[0027] Determine if the shift fork sensor is faulty;

[0028] Based on the detection results, determine whether to exit the learning of hard stop positions, including:

[0029] In the event of a sensor malfunction, the system determines whether to exit the learning process for the hard stop position based on the results of the first stall detection and the second stall detection.

[0030] If the sensor is not faulty, based on the results of the first stall detection, the second stall detection, and the jamming detection, it is determined whether to exit the learning of the hard stop position.

[0031] Furthermore, based on the results of the first and second stall detections, the determination of whether to exit the hard stop position learning includes:

[0032] If the result of the first stall detection indicates that the rotary motor has not experienced a first stall, and / or the result of the second stall detection indicates that the rotary motor has not experienced a second stall, then continue learning and obtain the learning results;

[0033] If the result of the first stall detection indicates that the rotating motor has experienced a first stall, and the result of the second stall detection indicates that the rotating motor has experienced a second stall, the learning process is terminated and fault information is generated.

[0034] Furthermore, based on the results of the first and second stall detections, as well as the jamming detection, the learning process for determining whether to exit the hard stop position is performed, including:

[0035] If the result of the first stall detection indicates that the rotary motor has not stalled, or the result of the second stall detection indicates that the rotary motor has not stalled, or the result of the jamming detection indicates that the shift fork has not jammed, then continue learning and obtain the learning result.

[0036] If the results of the first stall detection indicate that the rotary motor has stalled for the first time, the results of the second stall detection indicate that the rotary motor has stalled for the second time, and the results of the jamming detection indicate that the shift fork has jammed, then the learning process will be terminated and fault information will be generated.

[0037] A second aspect of this application provides a learning system for the hard stop position of a vehicle disconnection mechanism. The disconnection mechanism includes a rotary motor, a shift fork, and a synchronizer assembly connected in sequence. The learning system includes a processor, wherein the processor is configured to execute the following program modules stored in a memory:

[0038] The control module is used to control the rotation of the rotary motor to drive the shift fork to move toward the hard stop position on the synchronizer assembly;

[0039] The acquisition module is used to acquire first information and second information of the rotary motor during the rotation process, as well as the moving position of the shift fork; wherein, the first information includes the rotation direction and rotation angle, and the second information includes the operating current;

[0040] The detection module is used to detect stall at hard stops based on the first information, the second information, and the movement position.

[0041] The determination module is used to determine whether to exit the learning of hard stop position based on the detection results.

[0042] Furthermore, the detection module includes:

[0043] The first detection module is used to determine the target rotation angle and the rate of change of rotation angle of the rotary motor based on the first information; wherein, the target rotation angle is the rotation angle of the rotary motor's rotary drive fork reaching the hard stop position; and the rate of change of rotation angle is the difference in rotation angle between the current cycle Hall position and the previous cycle Hall position of the rotary motor.

[0044] Based on the target rotation angle and the rate of change of rotation angle, the first stall detection is performed on the rotary motor;

[0045] Based on the second information and the rate of change of rotation angle, a second stall detection is performed on the rotary motor;

[0046] Based on the difference between the moving position and the hard stop position, the shift fork is jammed.

[0047] Based on the first stall detection, the second stall detection, and the jamming detection, stall detection is performed on the hard stop.

[0048] Furthermore, the first detection module includes:

[0049] The first determining module is used to determine whether the rate of change of rotation angle of the rotary motor is lower than the preset rate of change of angle during rotation, and whether the rotary motor has reached the target rotation angle.

[0050] If the rate of change of rotation angle is lower than the preset rate of change of angle, and the rotary motor has not rotated to the target rotation angle, it is determined that the motor has stalled for the first time.

[0051] Furthermore, the first detection module includes:

[0052] The second determining module is used to determine the current rotation angle change rate and the current operating current of the rotating motor based on the second information and the rotation angle change rate.

[0053] If the current rate of change of rotation angle is lower than the preset rate of change of angle and the current operating current is greater than the preset operating current, it is determined that the rotary motor has experienced a second stall; where the preset operating current corresponds to the maximum driving force of the rotary motor.

[0054] Furthermore, the first detection module includes:

[0055] The third determining module is used to determine whether the moving position is within a preset range; wherein, the preset range is the area excluding the hard stop position, and within the preset range, the shift fork cannot complete gear switching;

[0056] If the movement position is within the preset range, it is determined that the shift fork is stuck;

[0057] If the movement position is outside the preset range, it is confirmed that the shift fork has not jammed.

[0058] Furthermore, the first detection module also includes:

[0059] The fourth detection module is used to determine whether the sensor of the shift fork is faulty;

[0060] Based on the detection results, determine whether to exit the learning of hard stop positions, including:

[0061] In the event of a sensor malfunction, the system determines whether to exit the learning process for the hard stop position based on the results of the first stall detection and the second stall detection.

[0062] If the sensor is not faulty, based on the results of the first stall detection, the second stall detection, and the jamming detection, it is determined whether to exit the learning of the hard stop position.

[0063] Furthermore, the fourth determining module includes:

[0064] The first reporting module is used to continue learning and obtain learning results when the result of the first stall detection indicates that the rotating motor has not experienced a first stall, and / or the result of the second stall detection indicates that the rotating motor has not experienced a second stall.

[0065] If the result of the first stall detection indicates that the rotating motor has experienced a first stall, and the result of the second stall detection indicates that the rotating motor has experienced a second stall, the learning process is terminated and fault information is generated.

[0066] Furthermore, the fourth determining module includes:

[0067] The second reporting module is used to continue learning and obtain learning results if the result of the first stall detection indicates that the rotary motor has not experienced a first stall, or the result of the second stall detection indicates that the rotary motor has not experienced a second stall, or the result of the jamming detection indicates that the shift fork has not jammed.

[0068] If the results of the first stall detection indicate that the rotary motor has stalled for the first time, the results of the second stall detection indicate that the rotary motor has stalled for the second time, and the results of the jamming detection indicate that the shift fork has jammed, then the learning process will be terminated and fault information will be generated.

[0069] In a third aspect of this application, a vehicle is provided, which includes the learning system as described in the second aspect of this application.

[0070] This embodiment provides a method for learning the hard stop position of a vehicle disconnection mechanism. By controlling the rotation of a rotary motor to drive the shift fork to move towards the hard stop position on the synchronizer assembly, and acquiring first and second information of the rotary motor during rotation, as well as the movement position of the shift fork, the operating status of the rotary motor can be monitored based on its rotation direction, rotation angle, and operating current to determine whether a stall has occurred. Simultaneously, the movement position of the shift fork can be used to determine whether a stall has occurred. Finally, by analyzing the stall status of the rotary motor and the shift fork, the success of the hard stop position self-learning process can be more accurately determined. If the process is unsuccessful, the learning process is exited; if successful, it continues learning. This allows for accurate acquisition of the hard stop position learning result, indicating that the shift fork will not jam when moving to the hard stop position, and gear shifting will proceed smoothly. In the case of exiting the learning process, fault information is uploaded.

[0071] By driving the rotary motor to move the shift fork towards the hard stop position of the synchronizer assembly, we can collect real-time information such as the rotation direction, angle, and operating current of the rotary motor. Simultaneously monitoring the movement of the shift fork allows for comprehensive monitoring of the rotary motor's operating status and timely detection of any stalling issues. Furthermore, the movement of the shift fork is precisely recorded to determine whether it smoothly reaches the hard stop position, thus preventing jamming.

[0072] By combining the status information of the rotary motor and the shift fork, the learning effect of the hard stop position can be evaluated more accurately. If the test results show that the motor runs smoothly and the shift fork does not jam, then during gear shifting operations, the shift fork can also smoothly complete gear shifting, ensuring the smoothness and reliability of vehicle gear shifting. Conversely, if the rotary motor is detected to be stalled or the shift fork is detected to be jammed, the hard stop position learning will be terminated, and fault information will be quickly reported so that appropriate maintenance or adjustment measures can be taken. Attached Figure Description

[0073] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0074] Figure 1 is a schematic diagram of a disconnection mechanism provided by related technologies;

[0075] Figure 2 is a flowchart of a learning method provided in an embodiment of this application;

[0076] Figure 3 is a flowchart of the self-learning process of a disconnection mechanism provided in an embodiment of this application;

[0077] Figure 4 is a schematic diagram of a learning system provided in an embodiment of this application. Detailed Implementation

[0078] Exemplary embodiments of this application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0079] Referring to Figure 1, which is a schematic diagram of a disconnection mechanism provided by related technology, the PM drive motor 1 is an auxiliary drive motor for the vehicle, used to output power. The PM drive motor 1 inputs the power to drive the vehicle into the transmission system through the input shaft 2. However, whether the transmission system transmits the power output by the PM drive motor 1 depends on the state of the disconnection mechanism. When the disconnection mechanism is engaged, power transmission is possible. The power is transmitted to the differential 9 for speed adjustment and then output through the output shaft 4 to drive the vehicle. When the disconnection mechanism is disengaged, power transmission is not possible, and the PM drive motor 1 does not participate in the vehicle's drive.

[0080] The disconnect mechanism includes a shift motor 5, a shift assembly 6, a shift fork 7, and a synchronizer assembly 8. When there is an N-gear shift request, the shift motor 5 is controlled to rotate in the direction corresponding to the N-gear shift request. The shift assembly 6 moves the shift fork 7 to disengage the intermediate shaft gear from the intermediate shaft 3. After the shift is completed, the disconnect mechanism is in the disengaged state.

[0081] When there is a request to shift to 1st gear, the shift motor 5 is controlled to rotate in the direction corresponding to the 1st gear shift request. The shift fork 7 is moved by the shift assembly 6, so that the intermediate shaft gear and the intermediate shaft 3 are hard-connected through the synchronizer assembly 8, thereby realizing the power transmission of the PM drive motor 1. After the shift is completed, the disengagement mechanism enters the engagement state.

[0082] The disconnect mechanism in Figure 1 is located on the intermediate shaft 3 of the three-in-one electric bridge gearbox. This disconnect mechanism has only two positions: N and 1. N position means the gear on the intermediate shaft 3 of the gearbox is disengaged from the intermediate shaft, i.e., the shift fork 7 in Figure 1 moves to the hard stop position of the N position on the synchronizer assembly 8. 1 position means the gear on the intermediate shaft 3 of the gearbox is rigidly connected to the intermediate shaft through the synchronizer assembly 8, i.e., the shift fork 7 in Figure 1 moves to the hard stop position of the 1 position on the synchronizer assembly, thereby controlling the power transmission of the motor.

[0083] During vehicle use, the disconnect mechanism will experience wear and tear, and its overall length is relatively long, making it prone to shifting jams. To prevent gear positioning misalignment during vehicle operation, the disconnect mechanism needs to self-learn to determine the gear position each time the battery is charged or during sleep mode wake-up.

[0084] However, during the self-learning process, the process often gets stuck and stalled, resulting in misjudgments of hard stops and situations where the actual learning is not complete, leading to gear shifting failures.

[0085] In view of this, this embodiment provides a method for learning the hard stop position of a vehicle disconnection mechanism. By analyzing information such as the moving position of the shift fork, the rotation angle and direction of the rotary motor, and the operating current of the rotary motor, the hard stop is detected to solve the above-mentioned problem.

[0086] Referring to Figure 2, which is a flowchart of a learning method provided in an embodiment of this application; the flowchart of Figure 2 includes a method for learning the hard stop position of a vehicle disconnection mechanism, wherein the disconnection mechanism includes a rotary motor, a shift fork, and a synchronizer assembly connected in sequence, and the steps of the learning method include:

[0087] Step S201: Control the rotary motor to rotate and drive the shift fork to move towards the hard stop position on the synchronizer assembly.

[0088] In this embodiment, the disconnect mechanism includes a rotary motor (corresponding to the shift motor in Figure 1), a shift fork (corresponding to the shift fork in Figure 1), and a synchronizer assembly (corresponding to the synchronizer assembly in Figure 1) connected in sequence. When the vehicle's battery is powered on or the vehicle is in a dormant state, the self-learning of the disconnect mechanism will be automatically activated. The self-learning is to allow the driver to accurately control the movement of the shift fork in the disconnect mechanism to the hard stop position on the synchronizer assembly corresponding to the current vehicle condition during vehicle operation, so as to ensure successful gear shifting.

[0089] There are two hard stop positions on the synchronizer assembly, each corresponding to a different gear, namely N gear and 1 gear. The self-learning process involves rotating the motor to drive the shift fork from N gear to 1 gear and from 1 gear to N gear. Based on the self-learning results, the hard stop position of the disconnecting mechanism when switching gears can be determined. During the self-learning process, it is also determined whether the disconnecting mechanism will stall, causing self-learning failure. If so, self-learning is stopped to avoid gear shifting failure.

[0090] The output shaft of the rotary motor is connected to the shift fork. The shift fork can only move by rotating the rotary motor. By rotating the rotary motor clockwise and counterclockwise, the shift fork can be driven to move towards the hard stop position corresponding to different gears. For example, if the rotary motor rotates clockwise, it drives the shift fork to move from gear N to gear 1. If the rotary motor rotates counterclockwise, it drives the shift fork to move from gear 1 to gear N. Therefore, during the self-learning of the disconnect mechanism, it is necessary to control the rotation of the rotary motor to drive the shift fork to move towards the hard stop position on the synchronizer assembly.

[0091] Step S202: Obtain first information and second information of the rotary motor during the rotation process, as well as the moving position of the shift fork; wherein, the first information includes the rotation direction and rotation angle, and the second information includes the operating current.

[0092] In this embodiment, during the self-learning process of the disconnecting mechanism, it is necessary to determine whether shifting jams will occur, requiring real-time monitoring of the rotary motor and shift fork status. Therefore, during the rotation of the rotary motor, it is necessary to acquire the rotation direction, rotation angle, and operating current. The rotation direction and angle help determine whether the rotary motor is rotating in the expected direction and angle, while an abnormal increase in the operating current may indicate excessive motor load or stall. Since any deviation or jamming can affect the smoothness of shifting, it is also necessary to monitor whether the shift fork can smoothly move to the predetermined position to make this determination.

[0093] Step S203: Based on the first information, the second information, and the movement position, perform stall detection on the hard stop point.

[0094] In this embodiment, the states of the rotary motor and the shift fork during the self-learning process of the disconnection mechanism can be obtained through the first information, the second information, and the movement position. The stall detection of the hard stop point can be performed by using the states of the rotary motor and the shift fork.

[0095] Specifically, the rotation direction and angle from the first piece of information, and the operating current from the second piece of information, can be used to determine whether the motor is rotating normally or is stalled. For example, if the current increases abnormally but the rotation angle does not change accordingly, it may indicate that the motor is stalled. The movement position of the shift fork can be used to detect whether the shift fork can smoothly reach the hard stop position. If the movement position does not match the expectation, it may indicate that there is a jamming or synchronization problem.

[0096] Step S204: Based on the detection results, determine whether to exit the learning of hard stop position.

[0097] In this embodiment, by judging the state of the rotary motor and the movement position of the shift fork in step S203, the result of the stall detection of the hard stop is obtained. Based on the detection result, it is determined whether the rotary motor stalls and whether the shift fork gets stuck when the rotary motor drives the shift fork to move to the hard stop position on the synchronizer assembly. This allows for a more accurate judgment of whether the hard stop position self-learning process is successful. If it is not successful, the hard stop position learning process is exited. If it is successful, the process continues, and the learning results of the hard stop position can be accurately obtained. Through this learning result, it can be known that the shift fork will not get stuck when moving to the hard stop position, and the gear shift can be smoothly performed. In the case of exiting, fault information is uploaded.

[0098] If learning continues after the hard stop position has been determined to be exited, the final learning result will be inaccurate and the smooth shifting of gears cannot be guaranteed. In this case, the learning of the hard stop position will be exited and a fault message will be generated.

[0099] The learning method for the hard stop position of the vehicle disconnect mechanism provided in this embodiment can more accurately determine whether to exit the hard stop position learning process by combining the status of the rotary motor and the shift fork. If the detection result shows that the rotary motor is not stalled or the shift fork is not stuck, then during the gear shifting process, the shift fork will be able to smoothly switch gears, ensuring the smoothness and reliability of the vehicle's gear shifting process. If the detection result shows that the rotary motor is stalled and the shift fork is stuck, the disconnect mechanism will automatically exit the learning process and immediately upload the generated fault information.

[0100] In one specific embodiment, when performing stall detection on a hard stop point based on the first information, the second information, and the movement position, the following steps may be included:

[0101] First, based on the first information, the target rotation angle and the rate of change of rotation angle of the rotary motor are determined; wherein, the target rotation angle is the rotation angle at which the rotary motor's drive fork reaches the hard stop position; the rate of change of rotation angle is the difference in rotation angle between the current cycle Hall position and the previous cycle Hall position of the rotary motor; then, based on the target rotation angle and the rate of change of rotation angle, a first stall detection is performed on the rotary motor; next, based on the second information and the rate of change of rotation angle, a second stall detection is performed on the rotary motor; and based on the difference between the moving position and the hard stop position, a jamming detection is performed on the fork; finally, based on the first stall detection, the second stall detection, and the jamming detection, a stall detection is performed on the hard stop.

[0102] In this embodiment, once the rotation direction of the rotary motor is determined, the target rotation angle of the rotary motor can be known. The target rotation angle is a specific angle that the rotary motor needs to rotate to drive the shift fork to reach the hard stop position. If the rotation angle of the rotary motor cannot reach the target rotation angle, it may not be able to drive the shift fork to reach the hard stop position, resulting in inaccurate detection of stall at the hard stop.

[0103] The rate of change of rotation angle reflects the change in the rotational speed of the rotary motor. It is obtained by comparing the difference in rotational angle between the Hall position in the current cycle and the previous cycle. Since the self-learning process of the disconnecting mechanism defaults to switching from gear 1 to gear N and from gear N to gear 1, this process is continuous. Therefore, the rotary motor is always in a state of uniform rotation. Thus, the rate of change of rotational angle can reflect the change in the rotational speed of the rotary motor. It is obtained by comparing the difference in rotational angle between the Hall position in the current cycle and the previous cycle. In the process of obtaining the rate of change of rotational angle of the rotary motor, since the rotary motor may stall at different positions or throughout the entire rotation process, in order to avoid misjudgment, the difference in rotational angle between the Hall position in the current cycle and the previous cycle can be obtained multiple times to jointly determine the state of the rotary motor over a continuous period of time during the rotation process. If the rate of change of rotation angle obtained multiple times is lower than the preset rate of change of rotational angle, it indicates that the rotary motor has stalled.

[0104] Therefore, the first stall detection of the rotary motor can be performed by using the target rotation angle and the rate of change of rotation angle.

[0105] By outputting operating current to the rotating motor, the rotating motor is driven to rotate. The magnitude of the mechanical force driving the rotating motor to rotate is related to the magnitude of the operating current. Generally, the larger the operating current, the greater the driving force driving the rotating motor to rotate. Therefore, during the rotation of the rotating motor, there may be a situation where the operating current is too small, resulting in the rotating motor not being able to rotate smoothly. Therefore, based on the first information, it is determined that the rotating motor is stalled. In order to improve the accuracy of the judgment, the current operating current of the rotating motor can also be obtained. By the magnitude of the current operating current, the magnitude of the driving force driving the rotating motor to rotate can be determined. If the driving force corresponding to the operating current is greater than the maximum driving force driving the rotating motor to rotate, it can be determined that the rotating motor is stalled.

[0106] At the same time, based on the difference between the moving position of the shift fork and the hard stop position, the shift fork should be jammed. If the rotation angle of the rotary motor has reached the target rotation angle, but the shift fork has not moved to the hard stop position, or the difference between the shift fork and the hard stop position is too large, it may also cause the shifting failure.

[0107] Therefore, the system utilizes first and second stall detection of the rotary motor, as well as fork jamming detection.

[0108] In one specific embodiment, when performing a first stall detection on a rotary motor based on a target rotation angle and a rate of change of rotation, the following steps may be included:

[0109] First, determine whether the rate of change of rotation angle of the rotary motor is lower than the preset rate of change of rotation angle, and whether the rotary motor has rotated to the target rotation angle; then, if the rate of change of rotation angle is lower than the preset rate of change of rotation angle, and the rotary motor has not rotated to the target rotation angle, determine that the motor has experienced the first stall.

[0110] In this embodiment, the first stall detection of the rotary motor requires determining whether the rate of change of the rotary motor's rotation angle is lower than a preset rate of change. If it is lower, it indicates that the rotational speed of the rotary motor is relatively slow, which may be due to insufficient input voltage or current. However, it does not necessarily mean that the rotary motor is stalled. To ensure the accuracy of the first stall detection, it is also necessary to determine whether the rotary motor can reach the target rotation angle. Only if the rotary motor can reach the target rotation angle can it move the shift fork to the hard stop position. If the rate of change of the rotary motor's rotation angle is lower than the preset rate of change, and the rotary motor has not reached the target rotation angle, then the first stall is determined to have occurred. In this embodiment, the preset rate of change can be set according to the rotational performance of the rotary motor itself, and this embodiment does not limit it.

[0111] In one specific embodiment, when performing a second stall detection on the rotary motor based on the second information and the rate of change of rotation angle, the following steps may be included:

[0112] First, based on the second information and the rate of change of rotation angle, the current rate of change of rotation angle and the current operating current of the rotary motor are determined; then, if the current rate of change of rotation angle is lower than the preset rate of change of angle and the current operating current is greater than the preset operating current, it is determined that the rotary motor has experienced a second stall; where the preset operating current corresponds to the maximum driving force of the rotary motor.

[0113] In this embodiment, the operating status of the rotary motor can be evaluated by monitoring the rate of change of its angle. The preset rate of change of angle is the rate of change of the angle at which the rotary motor rotates under the action of driving force. If the current rate of change of the motor's rotational angle reaches or exceeds the preset rate of change of angle, this indicates that the rotary motor is operating normally and has not stalled.

[0114] However, when the current rate of change of rotation angle is lower than the preset rate of change of rotation angle, it may be due to motor stall or insufficient driving force. To avoid situations where the current rate of change of rotation angle is lower than the preset rate of change of rotation angle due to problems not inherent to the rotating motor itself, it is also necessary to determine the current operating current of the rotating motor based on the second information. When the operating current of the rotating motor exceeds the preset operating current, it can be ruled out that the motor stall is not caused by insufficient operating current. Therefore, when the current rate of change of rotation angle is zero and the current operating current is greater than the preset operating current, it is determined that the rotating motor has experienced a second stall.

[0115] In one specific embodiment, when performing jam detection on the shift fork based on the difference between the moving position and the hard stop position, the following steps may be included:

[0116] First, determine if the shift position is within the preset range; the preset range is the area excluding the hard stop position. Within the preset range, the shift fork cannot complete gear shifting; then, if the shift position is within the preset range, determine if the shift fork is stuck; if the shift position is outside the preset range, determine if the shift fork is not stuck.

[0117] In this embodiment, switching between N and 1 gear requires the shift fork to move to the corresponding hard stop position for a smooth transition. N and 1 gears have different hard stop positions. If the shift fork cannot move to the hard stop position, it can be determined that the shift fork is stuck. Since N and 1 gears each have different hard stop positions, let's assume the hard stop position for 1 gear is 55 and the hard stop position for N gear is 80. 55 represents the maximum hard stop position the shift fork can reach when moving to 1 gear, while 80 is the minimum hard stop position when switching to N gear. The range between 55 and 80 is a preset range. When the shift fork's position is within this preset range, it cannot smoothly switch to N or 1 gear. If the shift fork's position falls outside this preset range, i.e., less than 55 or greater than 80, it can be determined that the shift fork is not stuck and gear switching can proceed normally. If the shift fork's position is between 55 and 80, i.e., within the preset range, it can be determined that the shift fork is stuck. The specific values ​​of the preset range can be adjusted and determined according to the actual structure and performance of the disengagement mechanism.

[0118] In one specific embodiment, before determining whether to exit the learning of the hard stop position based on the detection results, the learning results can be appropriately adjusted according to the working state of the sensor at the shift fork, specifically including the following steps:

[0119] First, determine if the shift fork sensor is faulty; then, if the sensor is faulty, determine whether to exit the hard stop position learning based on the results of the first stall detection and the second stall detection. If the sensor is not faulty, determine whether to exit the hard stop position learning based on the results of the first stall detection, the second stall detection, and the jamming detection.

[0120] In this embodiment, before determining whether to exit the hard stop position learning based on the detection results, it is also necessary to determine whether the shift fork sensor is faulty. If the shift fork sensor is faulty, the shift fork's movement position will be inaccurately identified, or the movement position of the shift fork cannot be identified at all. Therefore, in the case of a faulty shift fork sensor, the results of the first and second stall detections are relied upon to analyze the rotational state and operating current of the rotary motor to perform stall detection on the hard stop position and determine the hard stop position information. If the shift fork sensor is not faulty, in addition to using the results of the first and second stall detections, the shift fork jamming detection results are also included. This allows for a comprehensive consideration of the rotary motor's rotational state, operating current, and shift fork movement state to determine accurate information about the hard stop position.

[0121] In one specific embodiment, when determining whether to exit the learning of the hard stop position based on the results of the first stall detection and the second stall detection, the following steps may be included:

[0122] First, if the result of the first stall detection indicates that the rotary motor has not experienced a first stall, and / or the result of the second stall detection indicates that the rotary motor has not experienced a second stall, then learning continues and learning results are obtained; then, if the result of the first stall detection indicates that the rotary motor has experienced a first stall, and the result of the second stall detection indicates that the rotary motor has experienced a second stall, then learning is exited and fault information is generated.

[0123] In this embodiment, if the result of the first stall detection indicates that the rotary motor has not stalled, or the result of the second stall detection indicates that the rotary motor has not stalled, it can be determined that the rotary motor has not stalled, and it can be determined that the vehicle can smoothly switch gears. Then, the learning continues to obtain the learning result of the hard stop position.

[0124] If the result of the first stall detection indicates that the rotating motor is stalled, and the result of the second stall detection indicates that the rotating motor is stalled, fault information is generated and the learning of the hard stop position is terminated.

[0125] In one specific embodiment, when determining whether to exit the learning of the hard stop position based on the results of the first stall detection, the second stall detection, and the jamming detection, the following steps may be included:

[0126] First, if the result of the first stall detection indicates that the rotary motor has not experienced a first stall, or the result of the second stall detection indicates that the rotary motor has not experienced a second stall, or the result of the jamming detection indicates that the shift fork has not jammed, then learning continues and learning results are obtained; then, if the result of the first stall detection indicates that the rotary motor has experienced a first stall, the result of the second stall detection indicates that the rotary motor has experienced a second stall, and the result of the jamming detection indicates that the shift fork has jammed, then learning is exited and fault information is generated.

[0127] In this embodiment, if the result of the first stall detection indicates that the rotary motor is not stalled, or the result of the second stall detection indicates that the rotary motor is stalled, or the result of the jamming detection indicates that the shift fork is not jammed, learning continues and learning results are obtained. If the result of the first stall detection indicates that the rotary motor is stalled, the result of the second stall detection indicates that the rotary motor is stalled, and the result of the jamming detection indicates that the shift fork is jammed, fault information is generated, and the learning of the hard stop position is terminated.

[0128] For example, the self-learning process of the disconnection mechanism provided in this embodiment will be described in detail below with reference to FIG3:

[0129] Figure 3 is a flowchart of the self-learning process of a disconnection mechanism provided in an embodiment of this application.

[0130] Step S301: Disconnection Mechanism Self-Learning. When the vehicle is powered on, the rotary motor is started to drive the shift fork to move towards the hard stop position on the synchronizer assembly to perform self-learning of the disconnection mechanism position. During the learning process, the rotation direction, rotation angle, operating current of the rotary motor, and the movement position of the shift fork are acquired in real time.

[0131] Step S302: After obtaining the rotation direction, rotation angle, operating current, and moving position of the shift fork of the rotary motor, perform the following condition judgment:

[0132] First, determine whether the rotation angle change rate of the rotary motor is lower than the preset angle change rate. Specifically, this can be done by measuring five times. If the position of the rotary motor no longer changes or the rotation speed is too slow, it can be determined that the rotary motor is stalled or stuck.

[0133] Second, determine whether the rotation angle of the rotary motor is inconsistent with the target rotation angle. If they are inconsistent, the rotary motor cannot rotate and the drive fork reaches the hard stop position, which can also indicate that the rotary motor is stalled or stuck.

[0134] Third, determine whether the current operating current of the rotating motor is greater than the preset operating current. During the rotation of the rotating motor, the current of the rotating motor will gradually increase to the current threshold. If it is greater than the threshold, the driving force of the rotating motor has exceeded the maximum value, and the rotating motor is judged to be in a stalled or stuck state.

[0135] Fourth, determine whether the shift fork's movement position is within the preset range. Generally, the hard stop position corresponding to N gear is 55 and the hard stop position corresponding to 1 gear is 80. If the movement position is within the range of 55 to 80, it means that the shift fork may not be able to reach the hard stop position, and thus the gear switching cannot be achieved. Therefore, if it exceeds this range, it can be determined that the shift fork is stuck during the self-learning process of the disengagement mechanism.

[0136] Therefore, if all the above conditions are met, proceed to step S303. If one condition is not met, the self-learning of the disconnection mechanism can still be performed, and proceed to step S304.

[0137] Step S303: Exit the self-learning of the disconnecting mechanism and generate fault information. Due to a fault in the rotary motor and shift fork in the disconnecting mechanism, the gear selection during self-learning of the disconnecting mechanism is inaccurate. At this time, the self-learning of the disconnecting mechanism will be exited, and fault information will be reported so that the driver can be aware of the current status of the vehicle's disconnecting mechanism in a timely manner.

[0138] Step S304: Continue learning and obtain learning results. Without exiting the learning of the hard stop position, continue learning to obtain the learning results of the hard stop position. Through this learning result, it can be known that the shift fork will not get stuck when moving to the hard stop position, and the shift can be smoothly during gear shifting.

[0139] This embodiment provides a learning system for the hard stop position of a vehicle disconnection mechanism. The disconnection mechanism includes a rotary motor, a shift fork, and a synchronizer assembly connected in sequence. Referring to Figure 4, which is a schematic diagram of a learning system provided in this embodiment, the learning system in Figure 3 includes a processor, wherein the processor is used to execute the following program modules stored in the memory:

[0140] The system comprises a control module 401, an acquisition module 402, a detection module 403, and a determination module 404. The functions of each module are configured as follows:

[0141] Control module 401 is used to control the rotary motor to rotate and drive the shift fork to move toward the hard stop position on the synchronizer assembly;

[0142] The acquisition module 402 is used to acquire first information and second information of the rotary motor during the rotation process, as well as the moving position of the shift fork; wherein, the first information includes the rotation direction and rotation angle, and the second information includes the operating current;

[0143] Detection module 403 is used to perform stall detection on hard stop points based on first information, second information and movement position;

[0144] The determination module 404 is used to determine whether to exit the learning of hard stop position based on the detection results.

[0145] In this embodiment, the detection module 403 includes:

[0146] The first detection module is used to determine the target rotation angle and the rate of change of rotation angle of the rotary motor based on the first information; wherein, the target rotation angle is the rotation angle of the rotary motor's rotary drive fork reaching the hard stop position; the rate of change of rotation angle is the difference in rotation angle between the current cycle Hall position and the previous cycle Hall position of the rotary motor; based on the target rotation angle and the rate of change of rotation angle, the rotary motor is subjected to a first stall detection; based on the second information and the rate of change of rotation angle, the rotary motor is subjected to a second stall detection; based on the difference between the moving position and the hard stop position, the fork is subjected to jamming detection; based on the first stall detection, the second stall detection, and the jamming detection, the hard stop is subjected to stall detection.

[0147] In this embodiment, the first detection module includes:

[0148] The first determining module is used to determine whether the rate of change of rotation angle of the rotary motor is lower than the preset rate of change of angle during rotation, and whether the rotary motor has rotated to the target rotation angle; if the rate of change of rotation angle is lower than the preset rate of change of angle, and the rotary motor has not rotated to the target rotation angle, the module determines that the motor has stalled for the first time.

[0149] In this embodiment, the first detection module includes:

[0150] The second determining module is used to determine the current rotation angle change rate and the current operating current of the rotary motor based on the second information and the rotation angle change rate; if the current rotation angle change rate is lower than the preset angle change rate and the current operating current is greater than the preset operating current, it is determined that the rotary motor has experienced a second stall; wherein, the preset operating current corresponds to the maximum driving force of the rotary motor.

[0151] In this embodiment, the first detection module includes:

[0152] The third determining module is used to determine whether the moving position is within a preset range; wherein, the preset range is the area excluding the hard stop position, within the preset range, the shift fork cannot complete the gear shift; if the moving position is within the preset range, it is determined that the shift fork is stuck; if the moving position is not within the preset range, it is determined that the shift fork is not stuck.

[0153] In this embodiment, the first detection module further includes:

[0154] The fourth detection module is used to determine whether the sensor of the shift fork is faulty; based on the detection results, it determines whether to exit the learning of the hard stop position, including: in the case of sensor failure, based on the results of the first stall detection and the second stall detection, determining whether to exit the learning of the hard stop position; in the case of normal sensor operation, based on the results of the first stall detection, the second stall detection, and the jamming detection, determining whether to exit the learning of the hard stop position.

[0155] In this embodiment, the fourth determining module includes:

[0156] The first reporting module is used to continue learning and obtain learning results when the result of the first stall detection indicates that the rotating motor has not experienced a first stall, and / or the result of the second stall detection indicates that the rotating motor has not experienced a second stall; and to exit learning and generate fault information when the result of the first stall detection indicates that the rotating motor has experienced a first stall, and the result of the second stall detection indicates that the rotating motor has experienced a second stall.

[0157] Furthermore, the fourth determining module includes:

[0158] The second reporting module is used to continue learning and obtain learning results if the result of the first stall detection indicates that the rotary motor has not experienced a first stall, or the result of the second stall detection indicates that the rotary motor has not experienced a second stall, or the result of the jamming detection indicates that the shift fork has not jammed; and to exit learning and generate fault information if the result of the first stall detection indicates that the rotary motor has experienced a first stall, the result of the second stall detection indicates that the rotary motor has experienced a second stall, or the result of the jamming detection indicates that the shift fork has jammed.

[0159] This embodiment also provides a vehicle that includes the learning system as described in this embodiment.

[0160] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0161] This application describes embodiments of methods and apparatus according to flowchart illustrations and / or block diagrams. It should be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal equipment to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal equipment, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0162] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0163] These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable terminal equipment, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0164] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0165] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0166] The above provides a detailed description of the method, system, and vehicle for learning the hard stop position of a vehicle disconnection mechanism provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for learning the hard stop position of a vehicle disconnection mechanism, characterized in that, The disconnection mechanism includes a rotary motor, a shift fork, and a synchronizer assembly connected in sequence; the learning method includes: The rotary motor is controlled to rotate, driving the shift fork to move toward the hard stop position on the synchronizer assembly; Acquire first and second information during the rotation of the rotary motor, as well as the moving position of the shift fork; wherein the first information includes the rotation direction and rotation angle, and the second information includes the operating current; Based on the first information, the second information, and the moving position, a stall detection is performed on the hard stop point; Based on the detection results, determine whether to exit the learning of the hard stop position.

2. The learning method according to claim 1, characterized in that, The step of detecting stall at the hard stop point based on the first information, the second information, and the movement position includes: Based on the first information, the target rotation angle and the rate of change of rotation angle of the rotary motor are determined; wherein, the target rotation angle is the rotation angle by which the rotary motor drives the shift fork to reach the hard stop position; and the rate of change of rotation angle is the difference in rotation angle between the current cycle Hall position and the previous cycle Hall position of the rotary motor. Based on the target rotation angle and the rate of change of the rotation angle, a first stall detection is performed on the rotary motor; Based on the second information and the rotation angle change rate, a second stall detection is performed on the rotary motor; Based on the difference between the moving position and the hard stop position, the fork is jammed. Based on the first stall detection, the second stall detection, and the jamming detection, stall detection is performed on the hard stop.

3. The learning method according to claim 2, characterized in that, The first stall detection of the rotary motor based on the target rotation angle and the rate of change of rotation includes: Determine whether the rate of change of the rotation angle during the rotation of the rotary motor is lower than the preset rate of change of the angle, and whether the rotary motor has rotated to the target rotation angle; If the rate of change of the rotation angle is lower than the preset rate of change of the angle, and the rotary motor has not rotated to the target rotation angle, it is determined that the motor has experienced a first stall.

4. The learning method according to claim 2, characterized in that, The second stall detection of the rotary motor based on the second information and the rate of change of rotation angle includes: Based on the second information and the rotation angle change rate, the current rotation angle change rate and the current operating current of the rotary motor are determined. If the current rate of change of rotation angle is lower than the preset rate of change of angle and the current operating current is greater than the preset operating current, it is determined that the rotary motor has experienced a second stall; wherein, the preset operating current corresponds to the maximum driving force of the rotary motor.

5. The learning method according to claim 4, characterized in that, The preset angle change rate is the angle change rate of the rotary motor under the action of driving force.

6. The learning method according to claim 2, characterized in that, The step of detecting jamming of the shift fork based on the difference between the moving position and the hard stop position includes: Determine whether the moving position is within a preset range; wherein, the preset range is a region excluding the hard stop position, and within the preset range, the shift fork cannot complete gear switching; If the moving position is within the preset range, it is determined that the shift fork is stuck; If the moving position is not within the preset range, it is determined that the shift fork is not stuck.

7. The learning method according to claim 2, characterized in that, Before determining whether to exit the learning of the hard stop position based on the detection result, the method further includes: Determine if the sensor of the shift fork is faulty; The step of determining whether to exit the learning of the hard stop position based on the detection result includes: In the event of a sensor malfunction, based on the results of the first stall detection and the second stall detection, it is determined whether to exit the learning of the hard stop position; If the sensor is not faulty, based on the results of the first stall detection, the second stall detection, and the jamming detection, it is determined whether to exit the learning of the hard stop position.

8. The learning method according to claim 7, characterized in that, The step of determining whether to exit the learning of the hard stop position based on the results of the first stall detection and the second stall detection includes: If the result of the first stall detection indicates that the rotary motor has not experienced a first stall, and / or the result of the second stall detection indicates that the rotary motor has not experienced a second stall, the learning continues and the learning result is obtained; If the result of the first stall detection indicates that the rotary motor has experienced a first stall, and the result of the second stall detection indicates that the rotary motor has experienced a second stall, the learning process is terminated and fault information is generated.

9. The learning method according to claim 7, characterized in that, Based on the results of the first stall detection, the second stall detection, and the jamming detection, it is determined whether to exit the learning of the hard stop position, including: If the result of the first stall detection indicates that the rotary motor has not experienced a first stall, or the result of the second stall detection indicates that the rotary motor has not experienced a second stall, or the result of the jamming detection indicates that the shift fork has not jammed, then the learning continues and the learning result is obtained. If the result of the first stall detection indicates that the rotary motor has experienced a first stall, the result of the second stall detection indicates that the rotary motor has experienced a second stall, and the result of the jamming detection indicates that the shift fork has jammed, then the learning process is terminated and fault information is generated.

10. The learning method according to claim 1, characterized in that, The synchronizer assembly has two hard stop positions, corresponding to gear N and gear 1 respectively.

11. The learning method according to claim 10, characterized in that, The learning process involves a rotary motor driving the shift fork to move from the N gear to the 1 gear, and then from the 1 gear to the N gear.

12. The learning method according to claim 10, characterized in that, The hard stop position of 1st gear is the maximum hard stop position that the shift fork can reach when it is moved to 1st gear.

13. The learning method according to claim 10, characterized in that, The hard stop position of N gear is the smallest hard stop position that the shift fork can reach when shifted to N gear.

14. A learning system for the hard stop position of a vehicle disconnection mechanism, characterized in that, The disconnection mechanism includes a rotary motor, a shift fork, and a synchronizer assembly connected in sequence. The learning system includes a processor, wherein the processor is configured to execute the following program modules stored in a memory: The control module is used to control the rotation of the rotary motor to drive the shift fork to move toward the hard stop position on the synchronizer assembly; The acquisition module is used to acquire first information and second information of the rotary motor during the rotation process, as well as the moving position of the shift fork; wherein, the first information includes the rotation direction and rotation angle, and the second information includes the operating current; The detection module is used to perform stall detection on the hard stop point based on the first information, the second information, and the movement position; The determination module is used to determine, based on the detection results, whether to exit the learning of the hard stop position.

15. A vehicle, characterized in that, The vehicle includes the learning system as described in claim 14.

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