JP2004019914A - Control device of synchromesh automatic transmission - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device of a synchromesh automatic transmission capable of determining a synchronous error during gear shifting and preventing a synchromesh mechanism from being damaged and a gear shift feeling from being deteriorated. <P>SOLUTION: This control device of a synchromesh automatic transmission comprises an input shaft rotational speed sensor, and output shaft rotational speed sensor, a plurality sets of transmission gears having different gear ratios, a connection mechanism for connecting either of the plurality sets of transmission gears to an output shaft, a select actuator operating a shift position and a select position, a shift select position sensor detecting an operating position, and a control means switching the connected state of the transmission gears to the output shaft. The control means defines the synchronous error of the transmission when the retry of the movement of a shift operation position to a specified shift state is continuously performed specified times when an input shaft is not synchronized with the output shaft in such a state that the detections by the input shaft rotational speed sensor and the output shaft rotational speed sensor are performed correctly and the shift operation position is in the specified shift. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a control device for a synchronous-meshing automatic transmission, and more particularly to a control device for a synchronous-meshing automatic transmission that determines a failure of a mesh-synchronized mechanism of the transmission.
[0002]
[Prior art]
2. Description of the Related Art As a conventional control device for a synchronous automatic transmission, there is, for example, one disclosed in Japanese Patent Application Laid-Open No. 63-270252. In this prior art, the driving force of the engine is input to the synchronous automatic transmission by ON / OFF operation of an electromagnetic clutch, and the gear stage is switched at the time of shifting by a combination of a pair of hydraulic solenoid valves. The transmission gear is selected by driving the hydraulic cylinder, and the shift gear stage is switched by driving the shift three-position hydraulic cylinder by the operation combination of the pair of hydraulic solenoid valves.
[0003]
There is also a synchronous mesh type automatic transmission in which a gear stage at the time of gear shifting is changed by two motors, a shift motor and a select motor, instead of operating combinations of a pair of hydraulic solenoid valves.
[0004]
[Problems to be solved by the invention]
As described above, the failure determination of the output shaft rotation sensor in the conventional control system for a synchronous mesh automatic transmission is performed on the condition that a sharp drop from the normal output rotation speed to 0 [rpm] is made. Is low, it is impossible to make a determination. For this reason, when a shift occurs, the synchronization of the synchro rotation cannot be determined, and the synchronization control is performed only at the shift position. Therefore, the synchronization time is shortened, the meshing synchronization mechanism is damaged, and the synchronization time is increased, and the shift feeling is increased. There were problems such as worsening.
[0005]
SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and can determine an abnormal synchronization failure during gear shifting. It is an object of the present invention to realize a control device for a synchronous mesh automatic transmission that does not deteriorate.
[0006]
[Means for Solving the Problems]
A control device for a synchronous mesh automatic transmission according to the present invention is a control device for a synchronous mesh automatic transmission that automatically switches a plurality of gears, and is coupled to a crankshaft of an internal combustion engine via a clutch mechanism. An input shaft rotation speed sensor that detects a rotation speed of the input shaft, an output shaft rotation speed sensor that detects an output rotation speed of an output shaft gear-coupled to the input shaft, and a connection between the input shaft and the output shaft. A plurality of transmission gears having different gear ratios, a coupling mechanism for selectively coupling any one of the plurality of transmission gears and the output shaft, and a shift position and a select position of the coupling mechanism. A shift / select actuator for operating the shift / select actuator, a shift / select position sensor for detecting an operation position by the shift / select actuator, the input shaft rotation speed sensor, A power shaft rotation speed sensor, and control means for switching a connection state between a transmission gear and an output shaft by the connection mechanism based on a detection signal of the shift / select position sensor, wherein the control means comprises: The sensor and the output shaft rotation speed sensor are normally detected, and the shift operation position is in a specific shift state, and the input shaft and the output shaft are not synchronized, and the predetermined number of consecutive times. If the shift operation position cannot be shifted to the specific shift state within a predetermined time, the synchronization abnormality of the transmission is determined.
[0007]
An input shaft rotation speed sensor for detecting a rotation speed of an input shaft coupled to a crankshaft of the internal combustion engine via a clutch mechanism; and an output shaft for detecting an output rotation speed of an output shaft gear-coupled to the input shaft. A rotation speed sensor, a plurality of transmission gears interposed between the input shaft and the output shaft and having different gear ratios, and selectively outputting one of the plurality of transmission gears and the output shaft. A coupling mechanism for coupling, a shift / select actuator that operates a shift position and a select position of the coupling mechanism, a shift / select position sensor that detects an operation position by the shift / select actuator, the input shaft rotation speed sensor, Based on the detection signals of the output shaft rotation speed sensor and the shift / select position sensor, the output of the gearshift by the coupling mechanism is output. Control means for switching the connection state with the shaft, wherein the control means is in the process of shifting from the neutral range to the reverse range, and the vehicle speed calculated based on the detection signal from the output shaft rotation speed sensor is arbitrary. If the shift operation position cannot be shifted to the specific shift state within the predetermined time continuously for a predetermined number of times in a state where the speed is lower than the set speed, the abnormal synchronization failure of the transmission is determined.
[0008]
Further, the control means determines that the synchronous abnormality of the transmission is abnormal, the vehicle speed calculated based on the detection signal from the output shaft rotation speed sensor is 0 km / h, and the input shaft obtained from the detection signal from the input shaft rotation speed sensor. If the rotation speed of the motor is less than or equal to a predetermined speed and the shift position obtained by the detection signal of the shift / select position sensor is the travel range, the gear is shifted to a predetermined gear.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiment 1 FIG.
Hereinafter, Embodiment 1 of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a block diagram schematically showing a first embodiment of the present invention.
[0010]
In FIG. 1, a synchronous meshing stepped transmission 3 (hereinafter simply referred to as a “stepped transmission 3”) constituting a synchronous meshing automatic transmission is mounted on a crankshaft 21 of an engine 1 via an electromagnetic clutch 2. ) Are connected.
[0011]
The control unit 4 includes a microcomputer having various arithmetic functions, and controls the engine 1, the electromagnetic clutch 2, and the stepped transmission 3 based on various types of sensor information indicating an operation state of the engine 1.
[0012]
The shift / select actuator 5 drives the stepped transmission 3 by operating the shift position and the select position of the coupling mechanism 29 under the control of the control unit 4. The shift / select position sensor 6 detects actual shift / select positions VY and VX of the stepped transmission 3 operated by the shift / select actuator 5 and inputs the detected positions to the control unit 4.
[0013]
A fourth speed gear 23 functioning as a primary gear is directly connected to the input shaft 22 of the stepped transmission 3.
Subsequent to the fourth speed gear 23, transmission gears having different gear ratios from the third speed gear 24, the second speed gear 25, the first speed gear 26, the fifth speed gear 27, and the reverse gear 28 are sequentially arranged.
[0014]
Three coupling mechanisms 29 are arranged between the transmission gears 23 to 28.
Each coupling mechanism 29 is directly connected to the output shaft 30 of the stepped transmission 3 and is movable in the axial direction.
[0015]
Each of the speed change gears 23 to 28 forms a set with a gear directly connected to a counter shaft 31 provided side by side with the output shaft 30, and always meshes with a gear on the counter shaft 31.
[0016]
With the above configuration, the output shaft 30 is directly connected to any of the transmission gears 23 to 28 via the coupling mechanism 29, so that the output shaft 30 is directly connected to the input shaft 22.
[0017]
In this case, the stepped transmission 3 is a countershaft type five-speed gear transmission, and includes five forward gear sets having different gear ratios, one reverse gear set, and three gear meshing state switching. A coupling mechanism.
[0018]
The fourth speed gear 23 on the input shaft 22 is provided with an input shaft rotation speed sensor 7 for detecting the rotation speed Ni of the input shaft of the stepped transmission 3.
The output shaft 30 is provided with an output shaft rotation speed sensor 8 for detecting the output rotation speed of the stepped transmission 3 as the vehicle speed Vr.
[0019]
The intake pipe 9 of the engine 1 is provided with a throttle valve 10 driven by a throttle actuator 11.
The throttle position sensor 12 detects the opening θ of the throttle valve 10.
[0020]
The accelerator position sensor 13 inputs a signal proportional to the amount of depression of an accelerator pedal (not shown) by the driver to the control unit 4 as the accelerator opening α.
[0021]
The control unit 4 processes the output signal of the accelerator position sensor 13, calculates a target throttle opening θo corresponding to the accelerator opening α, and performs feedback (F / B) control of the throttle opening θ to obtain θ = The throttle valve 10 is driven via the throttle actuator 11 so as to be θo.
[0022]
The shift lever 14 inputs a shift position (for example, a parking range P, a reverse range R, a neutral range N, and a travel range D) operated by the driver to the control unit 4.
The engine speed sensor 15 detects the speed Ne of the engine 1 and inputs it to the control unit 4.
[0023]
The reverse gear 28 in the stepped transmission 3 is provided with a reverse gear switch 16 to detect the operation state of the reverse gear.
The brake switch 17 inputs to the control unit 4 a signal indicating a brake operation state while the driver is depressing a brake pedal (not shown).
[0024]
The control unit 4 performs a shift determination based on various sensor signals, controls the shift / select actuator 5 according to the shift determination, and determines a shift determined from a shift pattern (shift diagram) based on the accelerator opening α and the vehicle speed Vr. A gear stage is set, and a plurality of gear stages of the stepped transmission 3 are automatically switched.
[0025]
Next, a basic operation according to the first embodiment of the present invention shown in FIG. 1 will be described.
The electromagnetic clutch 2 is driven by a clutch exciting current proportional to the clutch transmission torque under the control of the control unit 4 to transmit (or cut off) power from the crankshaft 21 of the engine 1 to the input shaft 22 of the stepped transmission 3. ) Control.
[0026]
In the stepped transmission 3, the input rotation is first transmitted from the forefront primary gear (input shaft 22) to the counter shaft 31.
The output shaft 30 is extended to the front of the third speed gear set, and the transmission path and gear ratio (gear ratio of primary gear × gear ratio of each speed gear) change depending on which of the above gears is connected. I do.
[0027]
In the fourth speed, the input shaft 22 and the output shaft 30 are directly connected.
In the stepped transmission 3, a shift operation is performed by the shift control of the coupling mechanism 29 by the shift / select actuator 5 for gear switching.
[0028]
That is, the stepped transmission 3 performs an opening operation for releasing the mechanical engagement of the gears of the current gear and a coupling operation for mechanically engaging the gears of the next gear by the shift control of the coupling mechanism 29. Is switched to.
[0029]
The control unit 4 sets the optimum gear position from a shift pattern based on the operation position of the shift lever 14, the accelerator opening α, the rotation speed Ne, and the vehicle speed Vr, and detects the shift / select position with the shift / select position sensor 6. , The shift / select actuator 5.
[0030]
The synchronization state of the coupling mechanism 29 is detected from the relationship between the input and output rotational speeds detected by the sensors 7 and 8.
At the time of shifting, the throttle opening θ is narrowed to a predetermined opening position by the throttle actuator 11, the exciting current of the electromagnetic clutch 2 is set to 0, and the stepped transmission 3 is turned off to switch the gear.
[0031]
FIG. 2 is a configuration diagram of the shift / select actuator 5 and the shift / select position sensor 6 of the synchronous mesh automatic transmission according to Embodiment 1 of the present invention.
[0032]
In FIG. 2, the shift control of the control unit 4 is performed by performing a shift drive via a speed reducer 53 by a shift motor 51 built in the shift / select actuator 5, detecting a shift position by a shift position sensor 61, and feeding back the shift position. Perform control.
[0033]
In the select control of the control unit 4, select drive is performed by a select motor 52 built in the shift / select actuator 5 via a speed reducer 54, a select position is detected by a select position sensor 62, and feedback control of the select position is performed.
[0034]
FIG. 3 shows the relationship between the shift position and the output characteristics of the shift position sensor 61. The shift position voltage learning value at the first, third, and fifth speeds is VYA, and the shift position voltage learning value at the neutral position is The shift position voltage learning value for VYB, second speed, fourth speed, and reverse is VYC.
[0035]
FIG. 4 shows the relationship between the select position and the output characteristics of the select position sensor 62. The select position voltage learning value at the first speed and the second speed is VXA, the third speed and the fourth speed (including the neutral position). The select position voltage learning value is VXB, the fifth speed, and the select position voltage learning value at the time of reverse is VXC.
[0036]
FIG. 5 is an operation flowchart of the control unit 4 for determining the end of the synchro synchronization control section according to the first embodiment. Here, the case of shifting to 2, 4, R speed will be described as an example.
In FIG. 5, in step S501, the operation position of the shift / select actuator 5 detected by the shift / select position sensor 6 is determined to determine whether or not the current time is in the synchro synchronization control section.
[0037]
Step If it is determined not to be synchronous synchronized control section by S501 proceeds to step S502, the countdown timer T ₁ set in the normal time required to finish the synchronous synchronization control start, the backup timer T in synchro synchronized control section The time with ₂ is initialized, and the process ends. On the other hand, if it is determined that the synchro synchronized control section in step S501 advances to step S503, by incrementing the timer T _2, counts the redo number of synchronous synchronization control.
[0038]
Next, the process proceeds to step S504, where the rotation speed of the input shaft 22 coupled to the crankshaft 21 of the engine 1 via the clutch mechanism detected by the input shaft rotation speed sensor 7 and the output shaft rotation speed sensor 8 detect the rotation speed. By comparing the synchro slip rotation based on the difference between the output rotation speed of the output shaft 30 and an arbitrary set value X _SLIP which makes the feeling good, it is determined whether or not the synchro section has ended.
[0039]
Here, if it is determined not synchronous slip rotation ≦ X _SLIP, i.e. initializes the timer T ₁ proceeds to step S511 if the sync interval is found not ended, then the position of the shift in step S512 synchrotron The actual shift position obtained by judging the operation position of the shift / select actuator 5 detected by the shift / select position sensor 6 to determine whether or not the position has reached the position is compared with an arbitrary set value Y. .
[0040]
As a result, if the actual shift position ≧ Y, it is determined that the shift position has reached the synchro position, and the synchronous NG flag is cleared in step S513. On the other hand, if the actual shift position is not equal to or more than Y, it is determined that the shift position has reached the synchro position, and the synchronization NG flag is set in step S514, and the process ends.
[0041]
If it is determined in step S504 that the synchro slip rotation ≦ X _SLIP , the process proceeds to step S505, where the actual shift position is compared with an arbitrary set value Y as in step S512, and the actual shift position ≧ Y If not for the end to clear the synchronization NG flag to initialize the timer T ₁ proceeds to step S507.
On the other hand, if the actual shift position ≧ Y, the process proceeds to step S506, and it is determined whether or not the countdown timer T ₁ = 0.
[0042]
If it is determined not the timer _T 1 = 0 in step S506 proceeds to step S508, the ends decrements the timer _{T 1.} If it is determined that the timer T _{1 =} 0 ends synchro synchronized control section, then the timer T ₂ is initialized in step S510, and exits clear again the number of shifts and synchronization abnormality again count.
[0043]
In contrast to the above-described shift to the second, fourth, and R speeds, in the case of the shift to the first, third, and fifth speeds, the result of the determination of the actual shift position and the predetermined value Y in steps S505 and S512. Is reversed.
[0044]
Next, FIG. 6 is an operation flowchart of the control unit 4 for performing the synchronization abnormality failure determination according to the first embodiment.
In FIG. 6, in step S601, the operation position of the shift / select actuator 5 detected by the shift / select position sensor 6 is determined to determine whether or not it is a synchro synchronization control section.
[0045]
If it is determined in step S601 that the time period is not the synchro synchronization control section, the process ends. On the other hand, if it is determined that it is the synchro synchronization control section, the process proceeds to step S602, and the timer T2 is compared with the redo shift determination value set for a predetermined time. As a result, if timer T2> restart shift determination value, the process is terminated as it is, and if timer T2> restart shift determination value is not, the process proceeds to step S603. In step S603, it is determined whether or not the synchronization NG flag = 1 based on the result of the operation flowchart of FIG.
[0046]
If the result of determination in step S603 is that the synchronous NG flag is not 1, the number of redo shifts is counted up in step S604. If the synchronization NG flag is 1, the number of times of synchronizing abnormal redo shift is counted up in step S605.
[0047]
Next, in step S606, subsequent to steps S604 and S605, it is determined whether or not the number of synchronization abnormal redo shifts ≧ N (for example, a predetermined number of times specified as five). If the number of times of the synchronization error retry is not equal to or more than N, the process is terminated as it is.
[0048]
In step S607, it is determined whether or not the input shaft rotational speed sensor 7 is malfunctioning or being determined. If the malfunction is occurring or being determined, the process is terminated. If not, the process is further terminated in step S608. Proceed to.
[0049]
In step S608, it is determined whether or not the output shaft rotational speed sensor 8 is malfunctioning or is being determined. If the malfunction is occurring or being determined, the process is terminated. If not, the process is further terminated in step S609. Then, the synchronization abnormality flag is set and the process is terminated.
[0050]
As described above, in the first embodiment, the control unit 4 detects the input shaft rotation speed sensor 7 and the output shaft rotation speed sensor 8 normally, and sets the shift operation position to the first to fifth speeds. Alternatively, in a state where the input shaft 22 and the output shaft 30 are in the reverse shift position (specific shift state) and the output shaft 30 is not synchronized, the shift operation position is continuously changed to the specific shift state for a predetermined number of N times within a predetermined period of time. If it is not possible to shift to the value (time), an abnormal synchronization failure of the transmission is determined.
[0051]
Further, the control unit 4 is in the process of shifting from the neutral range to the reverse range, and the vehicle speed Vr calculated based on the detection signal from the output shaft rotation speed sensor 8 is smaller than an arbitrary set speed. If the shift operation position cannot shift to the specific shift state to the redo determination value (time) within the predetermined time continuously for the predetermined N times, it is also possible to determine the abnormal synchronization failure of the transmission.
[0052]
As described above, by determining the abnormal synchronization failure of the transmission, it is possible to determine the abnormal synchronization failure during the shift, without damaging the meshing synchronization mechanism or deteriorating the shift feeling.
[0053]
In addition, the control unit 4 has determined that the transmission has an abnormal synchronization failure and obtained the vehicle speed Vr calculated based on the detection signal from the output shaft rotation speed sensor 8 as 0 km / h and the detection signal from the input shaft rotation speed sensor 7. If the rotation speed of the input shaft is equal to or lower than a predetermined speed and the shift position obtained by the detection signal of the shift / select position sensor 6 is the traveling range, the speed is changed to a predetermined gear (for example, third speed).
[0054]
Therefore, no shift occurs at the time of abnormal synchronization failure, so that the synchronous meshing mechanism is not damaged.
[0055]
【The invention's effect】
According to the control apparatus for a synchronous automatic transmission according to the present invention, the control means detects the input shaft rotation speed sensor and the output shaft rotation speed sensor normally, and determines that the shift operation position is in the specific shift state. If the input shaft and the output shaft are not synchronized, and the shift operation position is shifted to the specific shift state and re-executed a predetermined number of times in succession, the transmission abnormal synchronization failure is determined. By doing so, an abnormal synchronization failure can be determined during gear shifting, and the meshing synchronization mechanism is not damaged and the gear shift feeling does not deteriorate.
[0056]
Further, the control means is continuously shifting the vehicle from the neutral range to the reverse range, and the vehicle speed calculated based on the detection signal from the output shaft rotation speed sensor is smaller than an arbitrary set speed, and the control means continuously performs the predetermined number of times. If the shift operation position cannot be shifted to the specific shift state within the predetermined time within a predetermined period of time, by determining an abnormal synchronous failure of the transmission, it is possible to determine an abnormal synchronous failure during gear shifting, and There is no damage to the mechanism or worsening of the shift feeling.
[0057]
Further, the control means determines that the synchronous abnormality of the transmission is abnormal, the vehicle speed calculated based on the detection signal from the output shaft rotation speed sensor is 0 km / h, and the rotation of the input shaft obtained from the detection signal of the input shaft rotation speed sensor. When the speed is equal to or lower than a predetermined speed, and the shift position obtained by the detection signal of the shift / select position sensor is a driving range, the gear is shifted to a predetermined gear position, so that the gear shift at the time of a synchronization abnormality failure is performed. Since this does not occur, the synchronous meshing mechanism is not damaged.
[Brief description of the drawings]
FIG. 1 is a schematic block configuration diagram of a control device for a synchronous mesh automatic transmission according to Embodiment 1 of the present invention.
FIG. 2 is a diagram showing a relationship between a shift / select actuator and a position sensor in the control device for the synchronous automatic transmission according to Embodiment 1 of the present invention;
FIG. 3 is a shift position and shift position sensor output characteristic diagram in the control device for the synchronous automatic transmission according to Embodiment 1 of the present invention;
FIG. 4 is an output characteristic diagram of a select position and a select position sensor in the control device for the synchronous automatic transmission according to Embodiment 1 of the present invention;
FIG. 5 is an operation flowchart of a control unit in the control device for the synchromesh automatic transmission according to Embodiment 1 of the present invention;
FIG. 6 is an operation flowchart of a control unit in the control device for the synchromesh automatic transmission according to Embodiment 1 of the present invention;
[Explanation of symbols]
Reference Signs List 1 engine, 2 electromagnetic clutch, 3 synchronous mesh transmission, 4 control unit (control means), 5 shift / select actuator, 6 shift / select position sensor, 7 transmission input shaft rotation speed sensor, 8 transmission output shaft Rotation speed sensor, 9 throttle position sensor, 10 slot valve, 11 throttle valve, 12 throttle actuator, 13 accelerator position sensor, 14 shift lever, 15 engine rotation speed sensor, 16 reverse gear switch, 17 brake switch, 21 crankshaft, 22 Input shaft, 23-28 transmission gear, 29 coupling mechanism, 30 coupling mechanism, 31 counter shaft, 51 shift motor, 52 select motor, 53 reducer, 54 reducer, 61 shift position sensor, 62 select position Sensor.

Claims (3)

A control device for a synchronous mesh automatic transmission that automatically switches a plurality of gears,
An input shaft rotation speed sensor for detecting a rotation speed of an input shaft coupled to a crankshaft of an internal combustion engine via a clutch mechanism;
An output shaft rotation speed sensor that detects an output rotation speed of the output shaft gear-coupled to the input shaft;
A plurality of transmission gears interposed between the input shaft and the output shaft and having different gear ratios;
A coupling mechanism for selectively coupling any one of the plurality of transmission gears and the output shaft,
A shift / select actuator that operates a shift position and a select position of the coupling mechanism;
A shift / select position sensor for detecting an operation position by the shift / select actuator,
The input shaft rotation speed sensor, the output shaft rotation speed sensor, and control means for switching a coupling state between the transmission gear and the output shaft by the coupling mechanism based on a detection signal of the shift / select position sensor,
The control means detects the input shaft rotation speed sensor and the output shaft rotation speed sensor normally, and the shift operation position is in a specific shift state, and the input shaft and the output shaft are If the shift operation position cannot be shifted to the specific shift state within a predetermined time continuously for a predetermined number of times in a non-synchronous state, an abnormal synchronization failure of the transmission is determined. Transmission control device. A control device for a synchronous mesh automatic transmission that automatically switches a plurality of gears,
An input shaft rotation speed sensor for detecting a rotation speed of an input shaft coupled to a crankshaft of an internal combustion engine via a clutch mechanism;
An output shaft rotation speed sensor that detects an output rotation speed of the output shaft gear-coupled to the input shaft;
A plurality of transmission gears interposed between the input shaft and the output shaft and having different gear ratios;
A coupling mechanism for selectively coupling any one of the plurality of transmission gears and the output shaft,
A shift / select actuator that operates a shift position and a select position of the coupling mechanism;
A shift / select position sensor for detecting an operation position by the shift / select actuator,
The input shaft rotation speed sensor, the output shaft rotation speed sensor, and control means for switching a coupling state between the transmission gear and the output shaft by the coupling mechanism based on a detection signal of the shift / select position sensor,
The control means is continuously shifting the shift from the neutral range to the reverse range, and the vehicle speed calculated based on the detection signal from the output shaft rotation speed sensor is smaller than an arbitrary set speed, and is continuously performed a predetermined number of times. If the shift operation position cannot be shifted to the specific shift state within a predetermined time, a synchronous abnormal failure of the transmission is determined. The control device for an automatic transmission according to claim 1 or 2,
The control means determines that an abnormal synchronization failure of the transmission has been determined, the vehicle speed calculated based on the detection signal from the output shaft rotation speed sensor is 0 km / h, and the rotation of the input shaft obtained from the detection signal of the input shaft rotation speed sensor. When the speed is equal to or lower than a predetermined speed and the shift position obtained by the detection signal of the shift / select position sensor is a driving range, the gear is shifted to a predetermined gear position. Machine control device.

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