CN109237010B - Static gear engaging failure processing method for mechanical automatic transmission of pure electric vehicle - Google Patents
Static gear engaging failure processing method for mechanical automatic transmission of pure electric vehicle Download PDFInfo
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- CN109237010B CN109237010B CN201811038904.8A CN201811038904A CN109237010B CN 109237010 B CN109237010 B CN 109237010B CN 201811038904 A CN201811038904 A CN 201811038904A CN 109237010 B CN109237010 B CN 109237010B
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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
- 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
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
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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
- F16H2061/0075—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 a particular control method
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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
- F16H61/04—Smoothing ratio shift
- F16H2061/047—Smoothing ratio shift by preventing or solving a tooth butt situation upon engagement failure due to misalignment of teeth
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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
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
- F16H2061/1248—Resuming normal operation
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Transmission Device (AREA)
- Gear-Shifting Mechanisms (AREA)
Abstract
The invention discloses a static gear-engaging failure processing method of a mechanical automatic transmission of a pure electric vehicle. The secondary occurrence of the tooth jacking phenomenon is avoided, the gear shifting and hanging supplementing time is shortened, and the hanging supplementing success rate is improved. Secondly, a torque request of 0 is sent to the MCU in the process of supplementary hanging, and the supplementary hanging action is started only when the torque of the power motor fed back by the MCU is detected to be 0 and the rotating speed of the power motor is smaller than a set value. The shifting ring torque in the process of hanging repair is reduced, and the problem that the torque of a power motor is transmitted to the wheel end to cause the whole vehicle to rise or move is avoided. The success rate of the supplementary hanging is improved, and the static gear shifting smoothness of the whole vehicle is also improved.
Description
Technical Field
The invention relates to a static gear-engaging failure processing method for a mechanical automatic transmission of a pure electric vehicle, belonging to the field of gear-shifting control of mechanical automatic transmissions.
Background
The transmission is an important part of an automobile transmission system, and has an important function of realizing safe and reliable power transmission under different gears. A mechanical automatic transmission used by a pure electric vehicle cancels a clutch and a gear shifting synchronizer on the basis of the traditional mechanical automatic transmission. The motor rotor is directly connected with the input end of the speed changer through a spline. Because the inertia of the motor rotor is larger than that of the clutch, the problem of gear failure caused by gear combination teeth and combination sleeve top teeth or larger resistance moment of a gear shifting ring is easily caused in the static gear shifting process of the vehicle.
In a patent of a starting control method of a pure electric vehicle and the pure electric vehicle (CN103723142B), an initial starting gear-shifting method of the pure electric vehicle is introduced, that is, after a transmission receives a gear-shifting request, a motor is firstly commanded to enter a rotating speed mode, and when the rotating speed of the motor reaches a preset rotating speed, gear-shifting is performed, so as to avoid the problem of gear-shifting failure caused by a top gear. This method has the following problems: firstly, each static gear shifting needs to request the motor to enter a rotating speed mode, and the gear shifting action is carried out after the rotating speed of the motor reaches a preset rotating speed. This process inevitably results in several times longer shift times under normal shifting conditions, and the transmission is unable to respond quickly to the driver's intent to shift; secondly, when the motor enters a rotating speed mode and reaches a preset rotating speed, the motor is directly engaged, the rotating speed adjusting torque of the motor and the inertia moment of a motor rotor are inevitably transmitted to the wheel end of the whole vehicle, and the whole vehicle rises or moves, so that the driving performance and the safety of the whole vehicle are seriously influenced; and thirdly, the existence of the motor rotating speed adjusting torque and the rotor inertia moment inevitably causes the resistance moment of the gear shifting ring to be increased, and further causes the increase of the gear shifting failure times or the lengthening of the gear shifting time.
Disclosure of Invention
The invention aims to provide a static gear shifting failure processing method for a mechanical automatic transmission of a pure electric vehicle, which can effectively improve the success rate of the supplementary shift (repeated gear shifting) after the static first gear shifting failure of the transmission and improve the static gear shifting smoothness of the whole vehicle while quickly responding to a gear shifting request of a driver.
The technical scheme adopted by the invention for solving the technical problems is as follows: a static gear engaging failure processing method for a mechanical automatic transmission of a pure electric vehicle comprises the following steps:
s10, the TCU judges that the gear shifting is failed and then executes the gear shifting action, if the gear shifting is completed within the set time and the feedback voltage value of the gear shifting position sensor is within the range of the neutral position value, the TCU judges that the gear shifting is completed, and the TCU controls the gear shifting actuator to stop the gear shifting action; otherwise, the TCU judges that the gear-picking is invalid, finishes the gear-picking action of this time, and carries out the gear-picking action again after waiting for resetting a set time value of the gear-picking;
s20, after the TCU judges that the gear is disengaged, the TCU sends a torque request mark and a torque request value to the MCU;
s30, the TCU monitors the rotating speed of the power motor sent by the MCU in real time, when the rotating speed of the power motor is larger than a set value, the TCU sends a 0Nm torque request to the MCU, otherwise, the previous torque request value is maintained;
s40, when the TCU detects that the torque value of the power motor sent by the MCU is 0Nm and the rotating speed of the power motor is less than a set value, the TCU controls the gear selecting actuator and the gear shifting actuator to perform gear shifting again;
s50, if the TCU monitors that the feedback value of the gear shifting position sensor is in the gear shifting completion range within the set time, the TCU judges that the completion of the gear shifting is successful, and sends a gear shifting completion mark to the HCU and the MCU and sends the current gear to the HCU; if the supplementary hanging fails again, S10 is executed.
Optionally, in S10, the neutral position value is a difference between a shift fork end position value and a neutral position offset, the neutral position offset is obtained by experimental calibration, and the gear-disengaging reset setting time value is obtained by calibration.
Alternatively, the torque request value is set to 20 Nm.
Optionally, when the TCU detects that the torque value sent by the MCU is 0Nm and the rotational speed of the power motor is less than 20rpm, the TCU controls the gear selecting and shifting actuator to perform the engagement supplement action.
Optionally, the method for processing failure of the static gear engagement of the mechanical automatic transmission of the pure electric vehicle further includes:
s03, after the whole pure electric vehicle is powered on, when a driver acts a handle from a neutral gear to a forward gear, the TCU identifies the driver' S gear shifting intention, sends a gear shifting mark value 1 to the HCU and the MCU, and simultaneously sends a torque request mark value 1 to the MCU, wherein the torque request value is 0Nm, and the HCU does not respond to the action of an accelerator pedal of the driver any more;
s07, the TCU controls the gear selecting and shifting actuator to shift 1; after the TCU judges that the gear shifting is failed, S10 is executed; and when the TCU judges that the gear shifting is successful, the gear shifting process is exited.
The invention has the following beneficial effects: firstly, when the TCU identifies that the static gear shifting is invalid, a torque request is sent to the MCU to enable the rotor of the power motor to rotate, and then the purpose of staggered teeth is achieved. The secondary occurrence of the tooth jacking phenomenon is avoided, the gear shifting and hanging supplementing time is shortened, and the hanging supplementing success rate is improved. Secondly, a torque request of 0 is sent to the MCU in the process of supplementary hanging, and the supplementary hanging action is started only when the torque of the power motor fed back by the MCU is detected to be 0 and the rotating speed of the power motor is smaller than a set value. The shifting ring torque in the process of hanging repair is reduced, and the problem that the torque of a power motor is transmitted to the wheel end to cause the whole vehicle to rise or move is avoided. The success rate of the supplementary hanging is improved, and the static gear shifting smoothness of the whole vehicle is also improved.
Drawings
FIG. 1 is a schematic diagram of the structure of an electric-only vehicle of the present invention;
FIG. 2 is a flowchart of a static shift failure handling method of an AMT of a pure electric vehicle according to the present invention;
FIG. 3 is a timing diagram of a shift failure handling process according to the present invention.
The notation in the figures means: 1-a power battery; 2-a power motor; 3-a transmission; 4-output shaft speed sensor; 5-a shift actuator motor; 6-shift position sensor; 7-a gear selection position sensor; 8-Transmission Controller (TCU); 9-vehicle control Unit (HCU); 10-a Motor Controller (MCU); 11-gear selection actuator motor.
Detailed Description
The technical solution of the present invention is further described below with reference to the following embodiments and the accompanying drawings.
Example 1
The embodiment provides a static gear shift failure processing method for a mechanical automatic transmission of a pure electric vehicle, wherein the pure electric vehicle comprises the following steps: the system comprises a power battery 1, a power motor 2, a transmission 3, an output shaft rotating speed sensor 4, a gear shifting actuator motor 5, a gear shifting position sensor 6, a gear selecting position sensor 7, a Transmission Controller (TCU)8, a vehicle control unit (HCU)9, a Motor Controller (MCU)10 and a gear selecting actuator motor 11.
The power battery is used for providing electric energy for the power motor so as to enable the power motor to rotate; the power motor is in transmission connection with an input shaft of the transmission through a spline, the transmission is free of a clutch, an output shaft of the transmission is connected to the main reduction gear, and the transmission drives wheels to rotate through the main reduction gear, wherein the speed reducer is composed of 4 gears and is free of a gear shifting synchronizer.
The output shaft rotating speed sensor is used for detecting the rotating speed of the output shaft and transmitting a rotating speed signal to the transmission controller, and the transmission controller is combined with the rotating speed information of the output shaft to control the transmission to shift gears.
The gear-shifting actuator motor realizes gear-shifting action under the control of the transmission controller, and the gear-selecting actuator motor realizes gear-selecting action under the control of the transmission controller; and the shift position sensor transmits a shift signal to the transmission controller, and the select position sensor transmits a select signal to the transmission controller.
The transmission 3, the output shaft rotation speed sensor 4, the shift actuator motor 5, the shift position sensor 6, the gear selection position sensor 7, the Transmission Controller (TCU)8 and the gear selection actuator motor 11 together form a mechanical automatic transmission of the electric vehicle.
The vehicle control unit, the motor controller and the transmission controller are in communication connection with each other, and the motor controller controls the power motor.
The method comprises the following steps:
and S03, after the whole pure electric vehicle is powered on, when a driver operates a handle to shift from a neutral gear to a forward gear, the static gear shifting is started.
After the pure electric vehicle is powered on, when a driver acts a handle to shift from a neutral gear to a forward gear, the TCU identifies the driver's gear shifting intention, a gear shifting mark value 1 is sent to the HCU and the MCU to indicate that the TCU is performing gear shifting action, a torque request mark value 1 is sent to the MCU at the same time, the torque request value is 0, the HCU does not respond to the action of an accelerator pedal of the driver any more, namely the MCU does not respond to the torque request calculated by the HCU according to the position of the accelerator pedal of the driver any more in the gear shifting process, and the power motor does not output torque.
S07, the TCU controls the gear selecting and shifting actuator to shift 1; after the TCU judges that the gear shifting is failed, S10 is executed; and when the TCU judges that the gear shifting is successful, the gear shifting process is exited.
In this embodiment, the 1-gear shift endpoint position value is set to 10mm, the shift completion position offset value is set to 3.5mm, and the 1-gear shift completion position value is 6.5mm (the shift displacement value is calculated by the TCU according to the shift position sensor feedback voltage value, the shift completion position value is the shift fork endpoint position value-the shift completion position offset, the shift fork endpoint position value is obtained by the TCU automatic recording in the shift process, and the shift completion position offset is obtained by the test calibration). The shift completion set time was 0.8S. And when the gear shifting time is more than 0.8S and the TCU calculates the shift fork displacement value of the gear shifting obtained by the feedback voltage value of the gear shifting displacement sensor to be less than 6.5mm, the TCU judges that the gear shifting is invalid. Q in FIG. 31(shift failure) shown. Otherwise, judging that the gear shifting is successful, and exiting the gear shifting process.
And S10, executing the gear-shifting action.
After the TCU judges that the gear shifting is failed, firstlyIn this embodiment, the gear-disengaging operation is performed, in which the shift amount of the neutral position of the 1 st gear is set to 5.5mm, the value of the neutral position is 4.5mm (the neutral position is the difference between the end position of the shift fork and the shift amount of the neutral position, and the shift amount of the neutral position is obtained by experimental calibration), the time of the gear-disengaging completion set value is 0.8S, and the time of the gear-disengaging reset set value is 0.3S. And when the TCU detects that the displacement value of the shifting fork is less than 4.5mm, judging that the gear picking is finished, and controlling the gear selecting and shifting actuator to stop the gear picking action by the TCU. Q in FIG. 32(picking-off process) is shown. If the shift value of the shifting fork is not less than 4.5mm within 0.8S, the TCU judges that the gear is disengaged and is invalid, and the gear disengaging action is stopped. And after waiting for 0.3S, performing gear-off action again.
S20, the TCU sends a torque request flag and a torque request value to the MCU after determining that the gear-off is complete, the torque request value being set to 20Nm as an example. Q of FIG. 33(torque speed regulation) is shown.
S30, the TCU monitors the rotating speed of the power motor sent by the MCU in real time, when the rotating speed of the power motor is larger than a set value, the TCU sends a 0Nm torque request to the MCU, and otherwise, the previous torque request value is maintained.
In this embodiment, when the TCU detects that the rotation speed of the power motor sent by the MCU is greater than 80rpm, the TCU sends a 0-torque request to the MCU until the rotation speed of the power motor is less than a set value. Q of FIG. 34(confirmation of start of suspend supplement) is shown.
And S40, when the TCU detects that the torque value of the power motor sent by the MCU is 0Nm and the rotating speed of the power motor is less than a set value, the TCU controls the gear selecting and shifting actuator to perform gear shifting again.
And when the TCU detects that the torque value sent by the MCU is 0Nm and the rotating speed of the power motor is less than 20rpm, the TCU controls the gear selecting and shifting actuator to carry out the supplementary hanging action.
S50, if the TCU monitors that the feedback value of the gear shifting position sensor is in the gear shifting completion range within the set time, the TCU judges that the completion of the gear shifting is successful, and sends a gear shifting completion mark to the HCU and the MCU and sends the current gear to the HCU; if the supplementary hanging fails again, S10 is executed.
When the TCU detects that the completion of the supplementary gear shift is finished, namely the gear shift displacement value is larger than 6.5mm, the TCU moves toThe HCU and the MCU send a gear shifting flag value of 0 and send a current gear of 1 to the HCU. Q of FIG. 35(completion of hanging supplement) as shown. And if the loss of the gear shift is compensated, namely when the gear shift time exceeds 0.8S, the gear shift displacement value is detected to be less than or equal to 6.5mm, repeating the gear shift failure processing process.
The sequence of the above embodiments is only for convenience of description and does not represent the advantages and disadvantages of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. A static gear-engaging failure processing method for a mechanical automatic transmission of a pure electric vehicle comprises a power motor and a transmission; the power motor is in transmission connection with an input shaft of the transmission through a spline; it is characterized by comprising:
s10, the TCU judges that the gear shifting is failed and then executes the gear shifting action, if the gear shifting is completed within the set time and the feedback voltage value of the gear shifting position sensor is within the range of the neutral position value, the TCU judges that the gear shifting is completed, and the TCU controls the gear shifting actuator to stop the gear shifting action; otherwise, the TCU judges that the gear-picking is invalid, finishes the gear-picking action of this time, and carries out the gear-picking action again after waiting for resetting a set time value of the gear-picking;
s20, after the TCU judges that the gear is disengaged, the TCU sends a torque request mark and a torque request value to the MCU;
s30, the TCU monitors the rotating speed of the power motor sent by the MCU in real time, when the rotating speed of the power motor is larger than a set value, the TCU sends a 0Nm torque request to the MCU, otherwise, the previous torque request value is maintained;
s40, when the TCU detects that the torque value of the power motor sent by the MCU is 0Nm and the rotating speed of the power motor is less than a set value, the TCU controls the gear selecting actuator and the gear shifting actuator to perform gear shifting again;
s50, if the TCU monitors that the feedback value of the gear shifting position sensor is in the gear shifting completion range within the set time, the TCU judges that the completion of the gear shifting is successful, and sends a gear shifting completion mark to the HCU and the MCU and sends the current gear to the HCU; if the supplementary hanging fails again, S10 is executed.
2. The pure electric vehicle automatic mechanical transmission static shift failure processing method according to claim 1, wherein in S10, the neutral position value is a difference between a shift fork end point position value and a neutral position offset, the neutral position offset is obtained by experimental calibration, and the disengagement reset time is obtained by calibration.
3. The pure electric vehicle automatic mechanical transmission static shift failure handling method according to claim 2, wherein the torque request value is set to 20 Nm.
4. The pure electric vehicle mechanical automatic transmission static gear engaging failure processing method according to claim 3, characterized in that when the TCU detects that the torque value sent by the MCU is 0Nm and the rotating speed of the power motor is less than 20rpm, the TCU controls the gear selecting and shifting actuator to perform an engaging action.
5. The pure electric vehicle automatic mechanical transmission static gear shift failure handling method according to claim 4, further comprising:
s03, after the whole pure electric vehicle is powered on, when a driver acts a handle from a neutral gear to a forward gear, the TCU identifies the driver' S gear shifting intention, sends a gear shifting mark value 1 to the HCU and the MCU, and simultaneously sends a torque request mark value 1 to the MCU, wherein the torque request value is 0Nm, and the HCU does not respond to the action of an accelerator pedal of the driver any more;
s07, the TCU controls the gear selecting and shifting actuator to shift 1; after the TCU judges that the gear shifting is failed, S10 is executed; and when the TCU judges that the gear shifting is successful, the gear shifting process is exited.
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| CN201811038904.8A CN109237010B (en) | 2018-09-06 | 2018-09-06 | Static gear engaging failure processing method for mechanical automatic transmission of pure electric vehicle |
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| CN113431895B (en) * | 2020-03-23 | 2023-02-03 | 上海汽车集团股份有限公司 | Gear shifting control method and device for preventing synchronizer from being blocked and TCU |
| CN111677856B (en) * | 2020-06-22 | 2021-08-20 | 潍柴动力股份有限公司 | Method and system for processing gear-off abnormity of vehicle and electronic equipment |
| CN114706297B (en) * | 2021-04-01 | 2024-08-13 | 长城汽车股份有限公司 | Control method for detecting offline of reduction gearbox and terminal equipment |
| CN115123176A (en) * | 2022-01-07 | 2022-09-30 | 长城汽车股份有限公司 | Control method and device for gear-to-gear phenomenon of gearbox and vehicle |
| CN114483946B (en) * | 2022-02-17 | 2024-02-23 | 一汽解放汽车有限公司 | AMT static gear shifting control method for pure electric vehicle |
| CN115507179B (en) * | 2022-11-15 | 2023-03-10 | 质子汽车科技有限公司 | Control method and control system for gear shifting of automatic transmission |
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| JP2006316848A (en) * | 2005-05-11 | 2006-11-24 | Toyota Motor Corp | Motor driven vehicle and its control method |
| JP5001566B2 (en) * | 2006-03-23 | 2012-08-15 | 三菱ふそうトラック・バス株式会社 | Electric vehicle control device |
| FR2912484B1 (en) * | 2007-02-09 | 2009-03-20 | Peugeot Citroen Automobiles Sa | METHOD FOR LEARNING A PILOTED GEARBOX GRID OF A HYBRID VEHICLE, AND SPEED BOX, IN PARTICULAR FOR A HYBRID VEHICLE |
| CN101323302B (en) * | 2007-07-31 | 2011-06-22 | 北京理工大学 | Non-clutch shift control method and control system of pure electric vehicle |
| WO2011000346A1 (en) * | 2009-07-02 | 2011-01-06 | Schaeffler Technologies Gmbh & Co. Kg | Two-speed transmission and method for controlling a two-speed transmission |
| JP2013183503A (en) * | 2012-02-29 | 2013-09-12 | Daihatsu Motor Co Ltd | Control device of electric vehicle |
| CN102889375B (en) * | 2012-10-31 | 2014-09-24 | 重庆大学 | Method for controlling gear shifting of two-gear mechanical automatic gearbox of pure electric automobile |
| DE102013224853B4 (en) * | 2013-12-04 | 2024-03-14 | Zf Friedrichshafen Ag | Method for switching control of an automated manual transmission |
| CN104608769B (en) * | 2014-10-20 | 2016-04-13 | 比亚迪股份有限公司 | The shift control method of electronlmobil and the motor speed control method based on gearshift |
| KR101637753B1 (en) * | 2014-12-01 | 2016-07-07 | 현대자동차주식회사 | The shift control method of a hybrid vehicle for preventing coupling failure the starting gear stage |
| CN104776214B (en) * | 2015-04-02 | 2017-06-09 | 河南承信齿轮传动有限公司 | Pure electric automobile two keeps off automatic mechanical transmission shifting control system and its control method |
| JP6705256B2 (en) * | 2016-03-30 | 2020-06-03 | トヨタ自動車株式会社 | Vehicle control device |
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