CN109058450B - Bend identification and gear shifting control method for mechanical automatic transmission of commercial vehicle - Google Patents
Bend identification and gear shifting control method for mechanical automatic transmission of commercial vehicle Download PDFInfo
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- CN109058450B CN109058450B CN201811060840.1A CN201811060840A CN109058450B CN 109058450 B CN109058450 B CN 109058450B CN 201811060840 A CN201811060840 A CN 201811060840A CN 109058450 B CN109058450 B CN 109058450B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/50—Inputs being a function of the status of the machine, e.g. position of doors or safety belts
- F16H59/58—Inputs being a function of the status of the machine, e.g. position of doors or safety belts dependent on signals from the steering
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/60—Inputs being a function of ambient conditions
- F16H59/66—Road conditions, e.g. slope, slippery
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Transmission Device (AREA)
Abstract
The invention provides a bend identification and gear shifting control method for a mechanical automatic transmission of a commercial vehicle, which comprises the following steps: acquiring the current vehicle speed, the differential speed of the left front wheel relative to the front axle speed and the differential speed of the right front wheel relative to the front axle speed, determining the vehicle turning direction, and estimating the vehicle turning curvature; step two: determining to permit or prohibit estimation of vehicle running state parameters such as vehicle load and dynamic gradient, etc., according to the vehicle turning curvature; step three: optimizing a gear shifting control strategy during turning according to the turning curvature k of the vehicle; according to the method, on the premise that the vehicle is not provided with a front wheel steering angle sensor and on the basis that the cost of the whole vehicle is not increased, the road condition of the vehicle can be estimated based on the speed of the ABS wheel, the load and the gradient calculated by a transmission controller are limited through the current speed and the turning curvature, calculation errors caused by calculation during turning are prevented, and the influence of the errors of the load and the gradient on gear shifting control can be effectively avoided.
Description
Technical Field
The invention discloses a curve identification and gear shifting control method for a mechanical automatic transmission of a commercial vehicle, and belongs to the technical field of control of mechanical automatic transmissions.
Background
The mechanical automatic transmission is a transmission which reads sensor signals through a transmission controller TCU and controls a clutch and a gear selecting and shifting executing mechanism to realize automatic gear shifting. The gear shifting device not only avoids frequent gear shifting operation of a driver and reduces driving fatigue, but also has the advantages of high transmission efficiency, compact structure, high reliability and the like.
The traditional curve identification is mainly based on a steering wheel corner sensor, the curve identification is carried out based on the wheel speed sent by the ABS, the turning size can be calculated based on the wheel speed, and the gear shifting control can be optimized according to the curve size.
Disclosure of Invention
The invention provides a curve identification and gear shifting control method for a mechanical automatic transmission of a commercial vehicle, which mainly aims at calculating the turning curvature of a curve where the vehicle is located according to the speed of an ABS wheel under the condition that the vehicle does not have a front wheel steering angle sensor, and optimizing a gear shifting control strategy based on the calculated turning curvature.
The specific technical scheme of the invention is as follows:
a curve identification and gear shifting control method for a mechanical automatic transmission of a commercial vehicle is characterized by comprising the following specific steps:
step one, performing curve identification according to the speed of a front wheel and the speed of a vehicle to obtain a turning direction st and a turning curvature k;
1) obtaining the current speed v of the vehicle and the differential speed v of the left front wheel relative to the front axle speed from the ABS through a transmission controllerlfAnd the differential velocity v of the right front wheel with respect to the front axle speedrf；
2) Differential speed v according to the speed of the left front wheel relative to the front axlelfAnd the differential velocity v of the right front wheel with respect to the front axle speedrfThe turning direction st is identified according to the positive and negative of the signal; when v islfRecognizing the turning direction st as a left turn when it is less than or equal to-2; when v isrfRecognizing the turning direction st as a right turn when it is less than or equal to-2; when v islfGreater than-2 and vrfIf greater than-2, the turning direction st is recognized as straight;
3) differential speed v according to the speed of the left front wheel relative to the front axlelfAnd the differential velocity v of the right front wheel with respect to the front axle speedrfCalculating the turning curvature k of the vehicle, and when the turning direction st is left turn, k is-vlf(ii) a When the turning direction st is a right turn, k is-vrf；
Secondly, allowing or forbidding a transmission controller to carry out load calculation and gradient calculation according to the turning curvature k of the vehicle in the dynamic running process of the vehicle;
1) acquiring a current vehicle speed v through a transmission controller;
2) when the vehicle turning direction st is in a non-straight-going state, determining a turning curvature upper limit value k ', k' to be 0.05v +2 according to the current vehicle speed v; if the turning curvature k is less than or equal to k', allowing the transmission controller to perform load calculation; if the turning curvature k is larger than k', the transmission controller is prohibited from carrying out load calculation;
3) when the vehicle turning direction st is in a non-straight-going state, determining a turning curvature upper limit value k ', k' to be 0.05v +2 according to the current vehicle speed v; if the turning curvature k is less than or equal to k', allowing the transmission controller to perform gradient calculation; the turning curvature k is larger than k', and the speed changer controller is forbidden to calculate the gradient;
step three, according to the turning curvature k of the vehicle, optimizing a gear shifting control strategy during turning, wherein the gear shifting control strategy comprises starting control, neutral gear waiting control and delayed gear-up operation;
1) according to the turning curvature k and the total clutch stroke L of the vehicle, reducing the clutch engagement depth at the starting time, wherein the reduction d of the clutch engagement depth is (k/100) × L;
2) obtaining a current brake pedal state s, a turning direction st and a turning curvature k, and allowing neutral gear waiting if the turning direction st is straight, the brake pedal state s is ' treading ' and the turning curvature k is smaller than a turning curvature upper limit value k '; if the turning direction st is in a non-straight-going state or the brake pedal state s is in a non-treading state or the turning curvature k is greater than or equal to the turning curvature upper limit value k', forbidding neutral gear waiting; determining a turning curvature upper limit value k ', k' to be 0.05v +2 according to the current vehicle speed v;
3) acquiring a current turning direction st and a turning curvature k, and if the turning direction st is in a non-straight-going state, compensating the upshifting rotating speed UpSdd according to the turning curvature k to delay the upshifting of the gearbox; and determining a rotation speed compensation quantity UpSpd', which is 140k-180 according to the turning curvature k.
Compared with the prior art, the invention has the beneficial effects that:
according to the curve identification and gear shifting control method of the mechanical automatic transmission of the commercial vehicle, on the basis of not increasing a steering wheel angle sensor, the curve is identified based on the wheel speed sent by an ABS (anti-lock brake system), the ABS wheel speed is accurate and reliable, and the turning direction and the turning curvature calculated based on the wheel speed are accurate; the load and the gradient calculated by the transmission controller are limited through the current vehicle speed v and the turning curvature k, so that calculation during turning is prevented, calculation errors are prevented, and the influence of the errors of the load and the gradient on gear shifting control can be effectively avoided.
Drawings
The invention is further described with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of a curve identification and gear shifting control method of a mechanical automatic transmission of a commercial vehicle according to the invention;
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
the invention provides a curve identification and gear shifting control method for a mechanical automatic transmission of a commercial vehicle, which is characterized in that under the condition that a vehicle does not have a front wheel steering angle sensor, the jerk of the curve where the vehicle is located is estimated according to the speed of an ABS wheel, and a gear shifting control strategy is optimized based on a turning curvature obtained through calculation, as shown in figure 1, the method comprises the following specific steps:
step one, performing curve identification according to the speed of a front wheel and the speed of a vehicle to obtain a turning direction st and a turning curvature k;
1) obtaining the current speed v of the vehicle and the differential speed v of the left front wheel relative to the front axle speed from the ABS through a transmission controllerlfAnd the differential velocity v of the right front wheel with respect to the front axle speedrf；
2) Differential speed v according to the speed of the left front wheel relative to the front axlelfAnd the differential velocity v of the right front wheel with respect to the front axle speedrfThe turning direction st is identified according to the positive and negative of the signal; when v islfRecognizing the turning direction st as a left turn when it is less than or equal to-2; when v isrfRecognizing the turning direction st as a right turn when it is less than or equal to-2; when v islfGreater than-2 and vrfIf greater than-2, the turning direction st is recognized as straight;
3) differential speed v according to the speed of the left front wheel relative to the front axlelfAnd the differential velocity v of the right front wheel with respect to the front axle speedrfCalculating the vehicle turnCurvature k, when turning direction st is left turn, k-vlf(ii) a When the turning direction st is a right turn, k is-vrf；
Secondly, allowing or forbidding a transmission controller to carry out load calculation and gradient calculation according to the turning curvature k of the vehicle in the dynamic running process of the vehicle;
1) acquiring a current vehicle speed v through a transmission controller;
2) when the vehicle turning direction st is in a non-straight-going state, determining a turning curvature upper limit value k ', k' to be 0.05v +2 according to the current vehicle speed v; if the turning curvature k is less than or equal to k', allowing the transmission controller to perform load calculation; if the turning curvature k is larger than k', the transmission controller is prohibited from carrying out load calculation;
3) when the vehicle turning direction st is in a non-straight-going state, determining a turning curvature upper limit value k ', k' to be 0.05v +2 according to the current vehicle speed v; if the turning curvature k is less than or equal to k', allowing the transmission controller to perform gradient calculation; the turning curvature k is larger than k', and the speed changer controller is forbidden to calculate the gradient;
step three, according to the turning curvature k of the vehicle, optimizing a gear shifting control strategy during turning, wherein the gear shifting control strategy comprises starting control, neutral gear waiting control and delayed gear-up operation;
1) according to the turning curvature k and the total clutch stroke L of the vehicle, reducing the clutch engagement depth at the starting time, wherein the reduction d of the clutch engagement depth is (k/100) × L;
2) obtaining a current brake pedal state s, a turning direction st and a turning curvature k, and allowing neutral gear waiting if the turning direction st is straight, the brake pedal state s is ' treading ' and the turning curvature k is smaller than a turning curvature upper limit value k '; if the turning direction st is in a non-straight-going state or the brake pedal state s is in a non-treading state or the turning curvature k is greater than or equal to the turning curvature upper limit value k', forbidding neutral gear waiting; determining a turning curvature upper limit value k ', k' to be 0.05v +2 according to the current vehicle speed v;
3) acquiring a current turning direction st and a turning curvature k, and if the turning direction st is in a non-straight-going state, compensating the upshifting rotating speed UpSdd according to the turning curvature k to delay the upshifting of the gearbox; and determining a rotation speed compensation quantity UpSpd', which is 140k-180 according to the turning curvature k.
Claims (1)
1. A curve identification and gear shifting control method for a mechanical automatic transmission of a commercial vehicle is characterized by comprising the following specific steps:
step one, performing curve identification according to the speed of a front wheel and the speed of a vehicle to obtain a turning direction st and a turning curvature k;
1) obtaining the current speed v of the vehicle and the differential speed v of the left front wheel relative to the front axle speed from the ABS through a transmission controllerlfAnd the differential velocity v of the right front wheel with respect to the front axle speedrf；
2) Differential speed v according to the speed of the left front wheel relative to the front axlelfAnd the differential velocity v of the right front wheel with respect to the front axle speedrfThe turning direction st is identified according to the positive and negative of the signal; when v islfRecognizing the turning direction st as a left turn when it is less than or equal to-2; when v isrfRecognizing the turning direction st as a right turn when it is less than or equal to-2; when v islfGreater than-2 and vrfIf greater than-2, the turning direction st is recognized as straight;
3) differential speed v according to the speed of the left front wheel relative to the front axlelfAnd the differential velocity v of the right front wheel with respect to the front axle speedrfCalculating the turning curvature k of the vehicle, and when the turning direction st is left turn, k is-vlf(ii) a When the turning direction st is a right turn, k is-vrf；
Secondly, allowing or forbidding a transmission controller to carry out load calculation and gradient calculation according to the turning curvature k of the vehicle in the dynamic running process of the vehicle;
1) acquiring a current vehicle speed v through a transmission controller;
2) when the vehicle turning direction st is in a non-straight-going state, determining a turning curvature upper limit value k ', k' to be 0.05v +2 according to the current vehicle speed v; if the turning curvature k is less than or equal to k', allowing the transmission controller to perform load calculation; if the turning curvature k is larger than k', the transmission controller is prohibited from carrying out load calculation;
3) when the vehicle turning direction st is in a non-straight-going state, determining a turning curvature upper limit value k ', k' to be 0.05v +2 according to the current vehicle speed v; if the turning curvature k is less than or equal to k', allowing the transmission controller to perform gradient calculation; the turning curvature k is larger than k', and the speed changer controller is forbidden to calculate the gradient;
step three, according to the turning curvature k of the vehicle, optimizing a gear shifting control strategy during turning, wherein the gear shifting control strategy comprises starting control, neutral gear waiting control and delayed gear-up operation;
1) according to the turning curvature k and the total clutch stroke L of the vehicle, reducing the clutch engagement depth at the starting time, wherein the reduction d of the clutch engagement depth is (k/100) × L;
2) obtaining a current brake pedal state s, a turning direction st and a turning curvature k, and allowing neutral gear waiting if the turning direction st is straight, the brake pedal state s is ' treading ' and the turning curvature k is smaller than a turning curvature upper limit value k '; if the turning direction st is in a non-straight-going state or the brake pedal state s is in a non-treading state or the turning curvature k is greater than or equal to the turning curvature upper limit value k', forbidding neutral gear waiting; determining a turning curvature upper limit value k ', k' to be 0.05v +2 according to the current vehicle speed v;
3) acquiring a current turning direction st and a turning curvature k, and if the turning direction st is in a non-straight-going state, compensating the upshifting rotating speed UpSdd according to the turning curvature k to delay the upshifting of the gearbox; and determining a rotation speed compensation quantity UpSpd', which is 140k-180 according to the turning curvature k.
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| CN109058450B true CN109058450B (en) | 2020-02-18 |
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| CN109515436B (en) * | 2018-12-07 | 2020-07-24 | 安徽江淮汽车集团股份有限公司 | Selection method for intelligent driving vehicle running path fusion |
| CN112277947B (en) * | 2020-09-17 | 2022-04-26 | 潍柴动力股份有限公司 | Turning condition identification method, control system and vehicle |
| CN113700850A (en) * | 2021-09-29 | 2021-11-26 | 宜宾凯翼汽车有限公司 | Gear control method of vehicle automatic transmission control unit |
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| CN102325666A (en) * | 2009-02-20 | 2012-01-18 | 雷诺股份公司 | Method for controlling speed difference between front wheels and rear wheels of four-wheel drive vehicle |
| WO2011077050A1 (en) * | 2009-12-23 | 2011-06-30 | Peugeot Citroën Automobiles SA | Method for identifying a phase of loss of grip of the steered wheels of a vehicle |
| CN102654194A (en) * | 2012-05-23 | 2012-09-05 | 重庆长安汽车股份有限公司 | Road turn detection gear shift control method of double clutch transmission automobile |
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