CN113389894B

CN113389894B - Electronic gear shifting system, gear shifting controller and gear shifting control method

Info

Publication number: CN113389894B
Application number: CN202010175011.9A
Authority: CN
Inventors: 黄凯龙; 宁明志; 徐旭初; 孙伟杰; 代明; 高建民; 郭有君; 尹秋; 朱新星; 李玄玄; 张佳阳
Original assignee: SAIC Motor Corp Ltd
Current assignee: SAIC Motor Corp Ltd
Priority date: 2020-03-13
Filing date: 2020-03-13
Publication date: 2022-05-31
Anticipated expiration: 2040-03-13
Also published as: CN113389894A

Abstract

The application discloses an electronic gear shifting system, a gear shifting controller and a gear shifting control method. The system comprises a gear shifting mechanism, a gear shifting controller and a motor actuator. The gear shifting mechanism comprises a three-contact P-gear key circuit and a three-contact unlocking key circuit. When at least two paths of action signals sent by the three-contact P-gear key circuit or at least two paths of action signals sent by the three-contact unlocking key circuit are obtained, the gear shifting controller can control the motor actuator to execute gear shifting action according to the two paths of signals. A plurality of contacts of the same key are mutually independent and do not interfere with each other, under the condition that each contact has equal failure probability, the simultaneous failure probability of the plurality of contacts is smaller than that of a single contact in a single contact triggering control mode, and the probability of system failure is reduced. The reliability of the gear shifting intention of the driver confirmed by the system is higher, and the probability of gear shifting control errors caused by driving misoperation is reduced. The scheme provided by the application can improve user experience, and the gear shifting accuracy and safety are also guaranteed.

Description

Electronic gear shifting system, gear shifting controller and gear shifting control method

Technical Field

The application relates to the technical field of vehicles, in particular to an electronic gear shifting system, a gear shifting controller and a gear shifting control method.

Background

As time goes on, automobiles become more and more scientific, traditional heavy mechanical structures are gradually eliminated, and a smaller and more intelligent whole automobile drive-by-wire technology is used instead, so that a gear shifting system is one of important changes. The Shift system has undergone the evolution of the conventional manual Shift and the conventional automatic Shift, gradually developing to the Shift By Wire (SBW) of today.

The SBW system is also called an electronic shift system, and shifting is achieved by electronic control. However, the current electronic gear shifting system is difficult to clearly identify the operation intention of a driver through a key contact triggering mode. For example, if the number of the P key contacts corresponding to the P gear is only 1, and the triggering of 1 contact is probably caused by misoperation, at this time, the electronic gear shifting system can judge the intention of the driver to shift the gear to the P gear according to the triggering of the contact, and send a driving signal to shift the gear to the P gear. In addition, the key corresponds to 1 contact, and when the contact fails, the driver cannot control to shift to the corresponding gear. Therefore, the user experience is poor, and the gear shifting accuracy and safety are difficult to guarantee.

Disclosure of Invention

Based on the problems, the application provides an electronic gear shifting system, a gear shifting controller and a gear shifting control method, so that the gear shifting of a vehicle is more accurate and safer, and the user experience is improved.

The embodiment of the application discloses the following technical scheme:

in a first aspect, the present application provides an electronic shifting system comprising: the system comprises a gear shifting mechanism, a gear shifting controller SCU and a motor actuator;

the shift mechanism includes: a three-contact P-gear key circuit and a three-contact unlocking key circuit; when the contact corresponding to the P-gear key is triggered, the three-contact P-gear key circuit sends a corresponding action signal to the SCU; the unlocking key corresponds to any one of a P-to-R gear, a P-to-N gear, a P-to-D gear, an N-to-R gear or a D-to-R gear, and when a contact corresponding to the unlocking key is triggered, the three-contact unlocking key circuit sends a corresponding action signal to the SCU; the three contacts corresponding to the P-gear key are mutually independent; the three contacts corresponding to the unlocking key are mutually independent;

and the SCU controls the motor actuator to execute gear shifting action according to at least two paths of action signals sent by the three-contact P-gear key circuit or at least two paths of action signals sent by the three-contact unlocking key circuit.

Optionally, if the SCU controls the motor actuator to execute a gear shifting action according to at least two action signals sent by the three-contact P-gear key circuit, the SCU is further configured to determine whether each of three contacts corresponding to the P-gear key is invalid, and when there is a invalid contact, the SCU sends a message to a finished vehicle meter to prompt maintenance of the invalid contact of the three contacts corresponding to the P-gear key;

if the SCU controls the motor actuator to execute the gear shifting action according to at least two paths of action signals sent by the three-contact unlocking key circuit, the SCU is also used for judging whether each contact in the three contacts corresponding to the unlocking key is invalid, and when the invalid contact exists, the SCU sends a message to a whole vehicle instrument to prompt maintenance of the invalid contact in the three contacts corresponding to the unlocking key.

Optionally, the shift mechanism further comprises: the gear shifting lever action sensor is used for responding to the operation of a driver acting on the gear shifting lever to change gears in the vehicle and sending two paths of gear shifting lever action signals to the SCU; the operation of changing the gear position includes: an operation of shifting R, an operation of shifting N, or an operation of shifting D;

the SCU is also used for judging whether the two paths of gear shifting lever action signals are correct in frequency or not, judging whether duty ratios of the two paths of gear shifting lever action signals are complementary or not when the two paths of gear shifting lever action signals are correct in frequency, and acquiring and signaling the two paths of gear shifting lever action signals if the two paths of gear shifting lever action signals are complementary; when only one path of gear shifting lever action signal has correct frequency, one path of gear shifting lever action signal with correct frequency is collected; determining the operation of changing the gear according to the duty ratio of the gear shifting lever action signal of the signal acquisition;

the SCU is specifically used for controlling the motor actuator to execute gear shifting action according to at least two paths of action signals sent by the three-contact unlocking key circuit and the gear changing operation.

Optionally, the SCU is further configured to send a message to a finished automobile instrument to prompt the system fault to enter a safe state when it is determined that the frequencies of the two shift lever action signals are all incorrect or when it is determined that the duty ratios of the two shift lever action signals are not complementary.

Optionally, the motor actuator comprises: the device comprises a motor, an actuator position sensor and a first rotating shaft, wherein when the motor works, the first rotating shaft correspondingly rotates; a first rotating shaft of the motor actuator is coaxially connected with a second rotating shaft of a gearbox parking mechanism of the vehicle through a coupler; the transmission parking mechanism further comprises: the elastic sheet structure comprises a roller and an elastic sheet which are connected with each other, and the tooth-shaped plate moves between a P position and a non-P position around the axis of the second rotating shaft; the toothed plate comprises a P clamping groove and a non-P clamping groove, and when the roller at one end of the elastic sheet moves to the P clamping groove, the toothed plate is clamped at the P position to trigger gear locking of the gearbox; when the roller at one end of the elastic sheet moves to the non-P clamping groove, the toothed plate is clamped at the non-P position, and a gear of the gearbox is triggered to release locking;

the actuator position sensor is used for detecting the angle of the first rotating shaft and sending two paths of angle value signals to the SCU, and each path of angle value signal corresponds to a self-adding value; adding 1 to each sampling period of the actuator position sensor by the SCU through the self-adding value; the SCU is also used for judging whether the self-adding value corresponding to each path of the angle value signal is correct, judging whether the sum of the two paths of the angle values is 360 degrees when the self-adding values corresponding to the two paths of the angle value signals are correct, and acquiring the two paths of the angle value signals if the sum of the two paths of the angle values is 360 degrees; when only one path of angle value signal corresponds to the correct self-added value, the signal is collected to obtain the correct path of angle value signal of the self-added value; determining the angle of the first rotating shaft according to the angle value signal of the signal acquisition;

the SCU is specifically used for controlling the motor according to at least two paths of action signals sent by the three-contact P-gear key circuit and the angle of the first rotating shaft, so that the first rotating shaft drives the second rotating shaft to rotate, the roller at one end of the elastic sheet moves to the P clamping groove, the toothed plate is clamped at the P position, and the gear of the gearbox is triggered to be locked; or the SCU is specifically configured to control the motor according to at least two paths of action signals sent by the three-contact unlocking key circuit, the gear replacement operation and the angle of the first rotating shaft, so that the first rotating shaft drives the second rotating shaft to rotate, the roller at one end of the elastic piece moves to the non-P-shaped slot, the toothed plate is clamped at the non-P-shaped position, and the gear of the transmission is triggered to release locking.

Optionally, the SCU is further configured to send a message to the vehicle instrument to prompt the system fault to enter a safe state when the self-added values corresponding to the two paths of angle value signals are judged and determined to be incorrect, or when the sum of the two paths of angle values is judged and determined to be not 360 degrees.

Optionally, the SCU is further configured to drive the toothed plate to move to the P position by controlling the motor actuator; when the motor is locked, obtaining an angle A1 of the first rotating shaft; controlling to close the drive of the motor, and delaying for a first preset time to obtain an angle A2 of the first rotating shaft; judging whether the difference between the A1 and the A2 is larger than a first preset angle or not, and if so, calibrating the angle of the first rotating shaft when the toothed plate moves to the P position to be A2; if not, controlling the first rotating shaft to rotate reversely by a first deviation angle; the first deviation angle is the deviation angle of the shrapnel when the A1 and the A2 are obtained;

and/or the presence of a gas in the gas,

the SCU is also used for driving the toothed plate to move to the non-P position by controlling the motor actuator; when the motor is locked, obtaining an angle B1 of the first rotating shaft; controlling to close the drive of the motor, and delaying for a second preset time to obtain an angle B2 of the first rotating shaft; judging whether the difference between the B1 and the B2 is larger than a second preset angle or not, if so, calibrating the angle of the first rotating shaft when the toothed plate moves to the non-P position to be B2; if not, controlling the first rotating shaft to rotate reversely by a second deviation angle; the second deviation angle is the deviation angle of the shrapnel when the B1 is obtained and the B2 is obtained.

Optionally, the SCU is further configured to generate a motor control signal according to the received two paths of angle value signals by using a proportional-integral-derivative PID controller; obtaining the whole vehicle power supply voltage value of the vehicle; obtaining a self-adaptive motor control signal according to the vehicle power supply voltage value, the motor control signal and a preset reference power supply voltage value;

the SCU is specifically configured to send the adaptive motor control signal to the motor.

In a second aspect, the present application provides a shift control method applied to a shift controller SCU of an electronic shift system, where the system further includes: a gear shift mechanism and a motor actuator; the shift mechanism includes: a three-contact P-gear key circuit and a three-contact unlocking key circuit; when the contact corresponding to the P-gear key is triggered, the three-contact P-gear key circuit sends a corresponding action signal to the SCU; the unlocking key corresponds to any one of a P-to-R gear, a P-to-N gear, a P-to-D gear, an N-to-R gear or a D-to-R gear, and when a contact corresponding to the unlocking key is triggered, the three-contact unlocking key circuit sends a corresponding action signal to the SCU; the three contacts corresponding to the P-gear key are mutually independent; the three contacts corresponding to the unlocking key are mutually independent;

the method comprises the following steps:

and controlling the motor actuator to execute gear shifting action according to at least two action signals from the three-contact P-gear key circuit, or controlling the motor actuator to execute gear shifting action according to at least two action signals from the three-contact unlocking key circuit.

Optionally, after the motor actuator is controlled to perform a gear shifting action according to at least two action signals from the three-contact P-gear key circuit, the method further includes:

judging whether each of three contacts corresponding to the P-gear key is invalid or not, and sending a message to a whole vehicle instrument to prompt and maintain the invalid contact in the three contacts corresponding to the P-gear key when the invalid contact exists;

after the motor actuator is controlled to execute the gear shifting action according to the at least two action signals from the three-contact unlocking key circuit, the method further comprises the following steps:

and judging whether each contact in the three contacts corresponding to the unlocking key is invalid, and sending a message to the whole vehicle instrument to prompt maintenance of the invalid contact in the three contacts corresponding to the unlocking key when the invalid contact exists.

Optionally, the shift mechanism further comprises: the gear shifting lever action sensor is used for responding to the operation of a driver acting on the gear shifting lever to change gears in the vehicle and sending two paths of gear shifting lever action signals to the SCU; the operation of changing the gear position includes: an operation of shifting R, an operation of shifting N, or an operation of shifting D; the method further comprises the following steps:

judging whether the two paths of gear shifting lever action signals are correct in frequency or not, judging whether duty ratios of the two paths of gear shifting lever action signals are complementary or not when the two paths of gear shifting lever action signals are correct in frequency, and if yes, acquiring and signaling the two paths of gear shifting lever action signals; when only one path of gear shifting lever action signal has correct frequency, one path of gear shifting lever action signal with correct frequency is collected; determining the operation of changing the gear according to the duty ratio of the gear shifting lever action signal of the signal acquisition;

the control of the motor executor to execute the gear shifting action according to at least two paths of action signals from the three-contact unlocking key circuit specifically comprises the following steps:

and controlling the motor actuator to execute gear shifting action according to at least two paths of action signals from the three-contact unlocking key circuit and the gear changing operation.

Optionally, the motor actuator comprises: the device comprises a motor, an actuator position sensor and a first rotating shaft, wherein when the motor works, the first rotating shaft correspondingly rotates; a first rotating shaft of the motor actuator is coaxially connected with a second rotating shaft of a gearbox parking mechanism of the vehicle through a coupler; the transmission parking mechanism further comprises: the elastic sheet structure comprises a roller and an elastic sheet which are connected with each other, and the tooth-shaped plate moves between a P position and a non-P position around the axis of the second rotating shaft; the toothed plate comprises a P clamping groove and a non-P clamping groove, when the roller at one end of the elastic sheet moves to the P clamping groove, the toothed plate is clamped at the P position, and gear locking of the gearbox is triggered; when the roller at one end of the elastic sheet moves to the non-P clamping groove, the toothed plate is clamped at the non-P position, and a gear of the gearbox is triggered to release locking; the actuator position sensor is used for detecting the angle of the first rotating shaft and sending two paths of angle value signals to the SCU, and each path of angle value signal corresponds to a self-adding value; adding 1 to each sampling period of the actuator position sensor by the SCU through the self-adding value; the method further comprises the following steps:

judging whether the self-adding value corresponding to each path of angle value signal is correct, judging whether the sum of the two paths of angle values is 360 degrees when the self-adding values corresponding to the two paths of angle value signals are correct, and if so, acquiring the two paths of angle value signals; when only one path of angle value signal corresponds to the correct self-added value, the signal is collected to obtain the correct path of angle value signal of the self-added value; determining the angle of the first rotating shaft according to the angle value signal of the signal acquisition;

the motor executor is controlled to execute the gear shifting action according to at least two paths of action signals from the three-contact P-gear key circuit, and the method specifically comprises the following steps:

controlling the motor according to at least two paths of action signals from the three-contact P-gear key circuit and the angle of the first rotating shaft, so that the first rotating shaft drives the second rotating shaft to rotate, the roller at one end of the elastic sheet moves to the P clamping groove, the tooth-shaped plate is clamped at the P position, and gear locking of the gearbox is triggered;

the control according to come from three contact unblock keying circuit's two at least action signals, and the operation of changing the gear, the motor executor carries out the action of shifting gears, specifically includes:

and controlling the motor according to at least two paths of action signals from the three-contact unlocking key circuit, the gear replacement operation and the angle of the first rotating shaft, so that the first rotating shaft drives the second rotating shaft to rotate, the roller at one end of the elastic sheet moves to the non-P clamping groove, the toothed plate is clamped at the non-P position, and a gear of the gearbox is triggered to release locking.

Optionally, the method further comprises:

the motor actuator is controlled to drive the toothed plate to move to the P position;

when the motor is locked, obtaining an angle A1 of the first rotating shaft;

controlling to close the drive of the motor, and delaying for a first preset time to obtain an angle A2 of the first rotating shaft;

judging whether the difference between the A1 and the A2 is larger than a first preset angle or not, and if so, calibrating the angle of the first rotating shaft when the toothed plate moves to the P position to be A2; if not, controlling the first rotating shaft to rotate reversely by a first deviation angle; the first deviation angle is the deviation angle of the shrapnel when the A1 and the A2 are obtained;

and/or the presence of a gas in the gas,

driving the toothed plate to move to the non-P position by controlling the motor actuator;

when the motor is locked, obtaining an angle B1 of the first rotating shaft;

controlling to close the drive of the motor, and delaying for a second preset time to obtain an angle B2 of the first rotating shaft;

judging whether the difference between the B1 and the B2 is larger than a second preset angle or not, if so, calibrating the angle of the first rotating shaft when the toothed plate moves to the non-P position to be B2; if not, controlling the first rotating shaft to rotate reversely by a second deviation angle; the second deviation angle is the deviation angle of the shrapnel when the B1 and the B2 are obtained.

Optionally, the method further comprises:

generating a motor control signal according to the received two paths of angle value signals by utilizing a proportional-integral-derivative PID controller; obtaining the whole vehicle power supply voltage value of the vehicle;

obtaining a self-adaptive motor control signal according to the vehicle power supply voltage value, the motor control signal and a preset reference power supply voltage value;

and sending the adaptive motor control signal to the motor.

In a third aspect, the present application provides a shift controller in an electronic shifting system, the system further comprising: a gear shift mechanism and a motor actuator; the shift mechanism includes: a three-contact P-gear key circuit and a three-contact unlocking key circuit; when the contact corresponding to the P-gear key is triggered, the three-contact P-gear key circuit sends a corresponding action signal to the SCU; the unlocking key corresponds to any one of a P-to-R gear, a P-to-N gear, a P-to-D gear, an N-to-R gear or a D-to-R gear, and when a contact corresponding to the unlocking key is triggered, the three-contact unlocking key circuit sends a corresponding action signal to the SCU; the three contacts corresponding to the P-gear key are mutually independent; the three contacts corresponding to the unlocking key are mutually independent;

the gear shifting controller SCU is used for controlling the motor actuator to execute gear shifting action according to at least two action signals from the three-contact P-gear key circuit, or controlling the motor actuator to execute gear shifting action according to at least two action signals from the three-contact unlocking key circuit.

Optionally, the shift controller is further configured to:

judging whether each contact in the three contacts corresponding to the P-gear key is invalid, and sending a message to a whole vehicle instrument to prompt maintenance of the invalid contact in the three contacts corresponding to the P-gear key when the invalid contact exists;

the SCU is also used for judging whether the two paths of gear shifting lever action signals are correct in frequency or not, judging whether duty ratios of the two paths of gear shifting lever action signals are complementary or not when the two paths of gear shifting lever action signals are correct in frequency, and acquiring and signaling the two paths of gear shifting lever action signals if the two paths of gear shifting lever action signals are complementary; when only one path of gear shifting lever action signal has correct frequency, one path of gear shifting lever action signal with correct frequency is collected; determining the operation of changing the gear according to the duty ratio of the gear shifting lever action signal of the collected information;

the SCU is specifically used for controlling the motor actuator to execute gear shifting action according to at least two paths of action signals from the three-contact unlocking key circuit and the gear changing operation.

Optionally, the motor actuator comprises: the device comprises a motor, an actuator position sensor and a first rotating shaft, wherein when the motor works, the first rotating shaft correspondingly rotates; a first rotating shaft of the motor actuator is coaxially connected with a second rotating shaft of a gearbox parking mechanism of the vehicle through a coupler; the transmission parking mechanism further comprises: the elastic sheet structure comprises a roller and an elastic sheet which are connected with each other, and the tooth-shaped plate moves between a P position and a non-P position around the axis of the second rotating shaft; the toothed plate comprises a P clamping groove and a non-P clamping groove, when the roller at one end of the elastic sheet moves to the P clamping groove, the toothed plate is clamped at the P position, and gear locking of the gearbox is triggered; when the roller at one end of the elastic sheet moves to the non-P clamping groove, the toothed plate is clamped at the non-P position, and a gear of the gearbox is triggered to release locking; the actuator position sensor is used for detecting the angle of the first rotating shaft and sending two paths of angle value signals to the SCU, and each path of angle value signal corresponds to a self-adding value; adding 1 to each sampling period of the actuator position sensor by the SCU through the self-adding value; the SCU is also used for judging whether the self-adding value corresponding to each path of the angle value signal is correct, judging whether the sum of the two paths of the angle values is 360 degrees when the self-adding values corresponding to the two paths of the angle value signals are correct, and acquiring the two paths of the angle value signals if the sum of the two paths of the angle values is 360 degrees; when only one path of angle value signal corresponds to the correct self-added value, the signal is collected to obtain the correct path of angle value signal of the self-added value; determining the angle of the first rotating shaft according to the angle value signal of the signal acquisition;

the SCU is specifically used for controlling the motor according to at least two paths of action signals from the three-contact P-gear key circuit and the angle of the first rotating shaft, so that the first rotating shaft drives the second rotating shaft to rotate, the roller at one end of the elastic sheet moves to the P clamping groove, the toothed plate is clamped at the P position, and the gear of the gearbox is triggered to be locked;

or the SCU is specifically configured to control the motor according to at least two paths of action signals from the three-contact unlocking key circuit, the gear replacement operation, and the angle of the first rotating shaft, so that the first rotating shaft drives the second rotating shaft to rotate, the roller at one end of the elastic piece moves to the non-P-shaped slot, the toothed plate is clamped at the non-P-shaped position, and the gear of the transmission is triggered to release locking.

Optionally, the SCU is further configured to drive the castellated plate to move to the P position by controlling the motor actuator; when the motor is locked, obtaining an angle A1 of the first rotating shaft; controlling to close the drive of the motor, and delaying for a first preset time to obtain an angle A2 of the first rotating shaft; judging whether the difference between the A1 and the A2 is larger than a first preset angle or not, and if so, calibrating the angle of the first rotating shaft when the toothed plate moves to the P position to be A2; if not, controlling the first rotating shaft to rotate reversely by a first deviation angle; the first deviation angle is the deviation angle of the shrapnel when the A1 and the A2 are obtained;

and/or the presence of a gas in the gas,

Optionally, the SCU is further configured to generate a motor control signal according to the received two paths of angle value signals by using a proportional-integral-derivative PID controller; obtaining the whole vehicle power supply voltage value of the vehicle; obtaining a self-adaptive motor control signal according to the vehicle power supply voltage value, the motor control signal and a preset reference power supply voltage value; and sending the adaptive motor control signal to the motor.

Compared with the prior art, the method has the following beneficial effects:

the electronic gear shifting system comprises a gear shifting mechanism, a gear shifting controller SCU and a motor actuator. The gear shifting mechanism comprises a three-contact P-gear key circuit and a three-contact unlocking key circuit. When the contact corresponding to the P-range key is triggered, the three-contact P-range key circuit sends a corresponding action signal to the SCU, for example, if m contacts (m is 0,1,2,3) of the three contacts corresponding to the P-range key are triggered, the three-contact P-range key circuit sends m action signals to the SCU. The unlocking key corresponds to any one of a P-to-R gear, a P-to-N gear, a P-to-D gear, an N-to-R gear or a D-to-R gear, when a contact corresponding to the unlocking key is triggered, the three-contact unlocking key circuit sends a corresponding action signal to the SCU, for example, if N contacts (N is 0,1,2 and 3) are triggered in three contacts corresponding to the unlocking key, the three-contact unlocking key circuit sends N action signals to the SCU.

In the application, only when at least two paths of action signals sent by the three-contact P-gear key circuit or at least two paths of action signals sent by the three-contact unlocking key circuit are obtained, the SCU controls the motor actuator to execute the gear shifting action according to the two paths of signals. In the application, a plurality of contacts of the same key are mutually independent and do not interfere with each other, and under the condition that each contact has the same failure probability, the probability that the plurality of contacts fail simultaneously is smaller than the failure probability of a single contact in a single contact triggering control mode in the prior art, so that the probability of causing system faults is reduced.

In addition, in the application, only when 2 or 3 contacts of the P gear key are triggered, the SCU is effective, and the SCU can determine the intention of a driver to change to the P gear; and the SCU may determine the driver's intention to change to a non-P range (i.e., R range, N range, or D range) only if 2 or 3 contacts of the unlock button are activated, which is valid for the SCU. Therefore, the reliability of the confirmed driver gear-shifting intention of the system is higher, and the probability of gear-shifting control errors caused by misoperation of the driver is reduced. Therefore, compared with the prior art, the scheme provided by the application can improve the user experience, and the gear shifting accuracy and safety are also guaranteed.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the description below are only some embodiments of the present application, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic structural diagram of an electronic shift system according to an embodiment of the present application;

fig. 2 is an electrical architecture diagram of an electronic shift system according to an embodiment of the present application;

fig. 3 is a plan view of a three-touch-point key determination strategy provided in the embodiment of the present application;

FIG. 4 is an electrical architecture diagram of another electronic shifting system provided by an embodiment of the present application;

fig. 5 is a plan view of determination of gear change operation according to an embodiment of the present application;

fig. 6 is a schematic diagram illustrating a connection relationship between a motor actuator and a transmission parking mechanism according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of a transmission parking mechanism according to an embodiment of the present disclosure;

FIG. 8 is an electrical architecture diagram of another electronic shifting system provided by an embodiment of the present application;

fig. 9 is a plan view of an actuator angle determination strategy provided in the embodiment of the present application;

FIG. 10 is a diagram of a P-position self-learning strategy provided by an embodiment of the present application;

FIG. 11 is a diagram of a non-P position self-learning strategy provided by an embodiment of the present application;

FIG. 12 is a schematic diagram of a prior art PID control system;

fig. 13 is a schematic signal conversion diagram of a motor control signal provided in the embodiment of the present application and adapted to a vehicle power supply voltage.

Detailed Description

As described above, the present electronic shift system triggers the shift control according to 1 contact of the key. When the contact is triggered by misoperation, wrong gear shifting control is easily caused; when the contact fails, the system will fail and no gear shifting operation can be performed. Therefore, the user experience is poor, and the gear shifting accuracy and safety are difficult to guarantee.

In order to solve the above problems, the inventor provides an electronic gear shifting system, a gear shifting controller and a gear shifting control method through research, wherein gear shifting control is performed in a mode that a plurality of mutually independent contacts of a key are triggered together, so that the probability of system faults is reduced, the reliability of confirmation of the gear shifting intention of a driver is higher, and the probability of gear shifting control errors caused by misoperation of the driver is reduced. Therefore, user experience is improved, and accuracy and safety of gear shifting are guaranteed.

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

System embodiment

Referring to fig. 1, the drawing is a schematic structural diagram of an electronic shift system according to an embodiment of the present application. Fig. 2 is an electrical architecture diagram of the system.

As can be seen from fig. 1 and 2, the electronic shift system provided in the present embodiment includes:

a Shift mechanism, a Shift Control Unit (SCU) and a motor actuator;

wherein, gearshift includes: a three-contact P-gear key circuit and a three-contact unlocking key circuit.

In practical application, a driver shifts to a P gear, an R gear, an N gear and a D gear by operating a gear shifting lever. The P gear is a parking gear, and when a driver operates the gear shifting lever to shift to the P gear, the fact that the driver wants the vehicle to stop is shown; the reverse gear of the R gear is adopted, if the driving control gear shift lever is shifted to the R gear, the condition that the driver wants to reverse the vehicle is indicated, and the reverse gear can not be realized without engaging the R gear; the N-gear neutral gear is adopted, and when the gear shift lever is engaged into the N gear, the vehicle has no power; and the gear D is a driving gear.

In practical application, a shift lever of a vehicle is provided with a P-gear key and an unlocking key. Wherein P keeps off the button and is corresponding to P and keeps off, and the function that P kept off the parking can be understood as the gear of locking gearbox, guarantees whole car transmission system locking, prevents that the vehicle from swift current car. Correspondingly, the unlocking key corresponds to a P-to-R gear, a P-to-N gear, a P-to-D gear, an N-to-R gear or a D-to-R gear, and when a driver needs to engage from the P gear to any one of the R gear, the N gear or the D gear, or engage from the N gear to the R gear, or engage from the D gear to the R gear, the driver needs to touch and press the unlocking key to unlock the whole vehicle transmission system.

It should be noted that, in this embodiment, the P-shift key corresponds to three contacts, and the three contacts are independent from each other and do not affect each other. The three-contact P-gear key circuit comprises three mutually independent circuits which are respectively connected with one of the three contacts corresponding to the P-gear key.

When the contact corresponding to the P-gear key is triggered, the three-contact P-gear key circuit sends a corresponding action signal to the SCU. For example, if m contacts (m is 0,1,2,3) are activated among the three contacts corresponding to the P-range key, the three-contact P-range key circuit transmits m operation signals to the SCU. Referring to fig. 2, an action signal 1, an action signal 2 and an action signal 3 output by the three-contact P-shift key circuit are respectively generated and sent to the SCU when three different contacts corresponding to the P-shift key are triggered. In the event that any of the three contacts is not activated, the action signal of FIG. 2 corresponding to the non-activated contact will not be generated and transmitted.

It should be noted that, in this embodiment, the unlocking button also corresponds to three contacts, and the three contacts are independent from each other and do not affect each other. And the contact corresponding to the unlocking key and the contact corresponding to the P-gear key are not related. The three-contact unlocking key circuit also comprises three mutually independent circuits which are respectively connected with one of the three contacts corresponding to the unlocking key.

And when the contact corresponding to the unlocking key is triggered, the three-contact unlocking key circuit sends a corresponding action signal to the SCU. For example, if n contacts (n is 0,1,2,3) are activated among the three contacts corresponding to the unlock key, the three-contact key circuit transmits n operation signals to the SCU. Referring to fig. 2, the action signal 4, the action signal 5 and the action signal 6 output by the three-contact P-shift key circuit are respectively generated and sent to the SCU when three different contacts corresponding to the unlock key are triggered. In the event that any of the three contacts is not activated, the action signal of FIG. 2 corresponding to the non-activated contact will not be generated and transmitted.

In this embodiment, the SCU controls the motor actuator to execute a gear shifting action according to the at least two action signals sent by the three-contact P-shift key circuit or the at least two action signals sent by the three-contact unlock key circuit.

That is, if only one contact among the three contacts corresponding to the P-shift key is triggered or no contact is triggered, the SCU does not receive two or more paths of actuating signals sent by the three-contact P-shift key circuit, and therefore the SCU does not respond and does not control the motor actuator to execute the shifting action. If only one contact point of the three contact points corresponding to the unlocking key is triggered or no contact point is triggered, the SCU does not receive two or more than two action signals sent by the three-contact unlocking key circuit, so the SCU does not respond and does not control the motor actuator to execute the gear shifting action.

The electronic gear shifting system provided by the embodiment of the application is as above. In the system, only when at least two paths of action signals sent by the three-contact P-gear key circuit or at least two paths of action signals sent by the three-contact unlocking key circuit are obtained, the SCU controls the motor actuator to execute gear shifting action according to the two paths of action signals. Because a plurality of contacts of the same key are mutually independent and do not interfere with each other, under the condition that each contact has the same failure probability, the probability that the plurality of contacts fail simultaneously is smaller than the failure probability of a single contact in the prior art in a single-contact triggering control mode, and therefore the probability of causing system faults is reduced.

In addition, in the application, only when 2 or 3 contacts of the P gear key are triggered, the SCU is effective, and the SCU can determine the intention of the driver to change to the P gear; and the SCU may determine the driver's intention to change to a non-P range (i.e., R range, N range, or D range) only if 2 or 3 contacts of the unlock button are activated, which is valid for the SCU. Therefore, the reliability of the confirmed driver gear-shifting intention of the system is higher, and the probability of gear-shifting control errors caused by misoperation of the driver is reduced. Therefore, compared with the prior art, the scheme provided by the application can improve the user experience, and the gear shifting accuracy and safety are also guaranteed.

In order to ensure the function and reliability of the system, in this embodiment, after the SCU controls the motor actuator to perform the shift action, it is checked whether the contact of the current key has a failure problem. For a specific flow, reference may be made to fig. 3, which is a plan view of determining a three-contact-point key according to this embodiment, where the three-contact-point key refers to a P-shift key with three contact points or an unlock key with three contact points.

As can be seen from the flow shown in fig. 3, the SCU can confirm the driver's intention to press a key upon the triggering of two or three contacts of the key. And the SCU controls the motor actuator to complete the gear shifting action according to the action signal. And then judging whether a failure contact exists or not, if so, sending a message to a whole vehicle instrument by the SCU to prompt the maintenance of the failure contact, thereby ensuring that the system cannot work normally due to the influence of the failure contact in the next gear shifting operation. As an example, the operation of determining whether there is a failed contact may be specifically performed by a circuit fault diagnosis module of the SCU. To those skilled in the art, diagnosing contact failures is a relatively mature technology and therefore the specific mode of operation of the module is not limited herein.

The function of the SCU will be described and illustrated with respect to the detection of a failed contact of a three-contact P-range key circuit.

If the SCU controls the motor actuator to execute the gear shifting action according to at least two paths of action signals sent by the three-contact P-gear key circuit, the SCU is also used for judging whether each contact in three contacts corresponding to the P-gear key is invalid, and when the invalid contact exists, the SCU sends a message to a whole vehicle instrument to prompt maintenance of the invalid contact in the three contacts corresponding to the P-gear key.

The function of the SCU in terms of the detection of a failed contact of the three-contact unlock key circuit is described and illustrated below.

In practical applications, the SCU may specifically confirm the driver's intention to shift (or the need to shift) through the sensors and the above-mentioned keys. In order to improve the safety and redundancy of the system and reduce the failure rate, the sensor in the embodiment adopts a two-way design. The following is a detailed description.

Referring to fig. 4, another electrical architecture diagram of the electronic shifting system provided in the present embodiment is shown. As shown in fig. 4, in the present embodiment, the shift mechanism of the system may further include: shift lever action sensor. The gear shifting lever action sensor can specifically adopt a dual-core Hall sensor and can output two paths of signals.

In this embodiment, the shift lever actuation sensor is configured to send two shift lever actuation signals to the SCU in response to a driver actuating a shift lever change operation in the vehicle. Specifically, the operation of changing the gear includes: an operation of R-shift, an operation of N-shift, or an operation of D-shift. The two-way shift lever action signals are transmitted by a PWM protocol, and are embodied as two-way shift lever action signals PWM1 and PWM2 output from the shift lever action sensor to the SCU in fig. 4.

The SCU can derive its respective frequency and duty cycle from the shift lever actuation signals PWM1 and PWM 2. The shift lever actuation signal produces a change in duty cycle with movement of the shift lever. In practical applications, the frequencies of PWM1 and PWM2 should be the same and conform to the fixed frequency of the shift lever actuation signal under normal conditions. There is also a possibility of an anomaly, where PWM1 and/or PWM2 may be in frequency error. In addition, at design time, normally the duty cycle of PWM1 and the duty cycle of PWM2 should be complementary, i.e., the sum of the duty cycles of PWM1 and PWM2 is 100%. However, under abnormal conditions, the duty ratios of the two signals may not be complementary, and at this time, one of the two signals is likely to be abnormal and cannot be used for collecting a signal.

For ease of understanding, reference is now made to fig. 5, which is a plan view illustrating the determination of the gear change operation according to the embodiment of the present application. As can be seen from fig. 5, the SCU makes multiple determinations regarding two shift lever operation signals.

As shown in fig. 5, in this embodiment, the SCU is further configured to determine whether the two shift lever action signals are correct in frequency, determine whether duty ratios of the two shift lever action signals are complementary when the two shift lever action signals are correct in frequency, and if so, adopt the two shift lever action signals; when only one path of gear shifting lever action signal has correct frequency, one path of gear shifting lever action signal with correct frequency is collected; and determining the operation of changing the gear according to the duty ratio of the gear shifting lever action signal of the signal acquisition.

To facilitate an understanding of the determination of the SCU's operation to change gears, the following description is made by way of example and in conjunction with Table 1.

TABLE 1 relationship table of the operation of changing gears and the duty ratio set values of two shift lever action signals

Operation of changing gear	Setting PWM1 duty cycle	Setting PWM2 duty cycle
			R gear	10％	90％
N keeps off	30％	70％
			D gear	40％	60％

If the two-way shift lever operation signals PWM1 and PWM2 are asserted by the above determination, either one of them can be compared with table 1, and if the duty ratio of PWM1 obtained by the SCU is 10%, it can be determined that the operation of changing the shift position is the operation of changing the R shift position. If the single shift lever operation signal PWM2 is judged and signaled as described above, it can be compared with table 1, and if the duty ratio of PWM2 obtained by the SCU is 70%, it can be determined that the shift change operation is the N shift operation. Similarly, if the one-way shift lever operation signal PWM1 is asserted by the above determination, it can be compared with table 1, and if the duty ratio of the PWM1 obtained by the SCU is 40%, it can be determined that the operation of changing the shift position is the D shift operation.

It will be appreciated that in practice, the SCU may store a mapping of the gear change operation to the duty cycle set point of the two shift lever actuation signal, such as the mapping shown in table 1. The numerical values in table 1 are merely examples. Other PWM1 duty cycles and PWM2 duty cycles may be set to determine driver operation for changing gears as desired for the application. Accordingly, table 1 is not limited to the numerical values shown in table 1, but table 1 is used for illustration only.

And after the gear changing operation is determined, the SCU is specifically used for controlling the motor actuator to execute gear shifting action according to at least two paths of action signals sent by the three-contact unlocking key circuit and the gear changing operation. For example, if the gear-changing operation is an R-shift operation, the SCU specifically controls the motor actuator to perform a corresponding action of the R-shift; if the gear changing operation is an N-gear shifting operation, the SCU specifically controls the motor actuator to execute corresponding actions of the N-gear shifting; if the gear changing operation is a D-shift operation, the SCU specifically controls the motor actuator to perform the corresponding action of the D-shift.

Because the action sensors of the gear shifting lever output two paths of action signals PWM1 and PWM2, the safety and the redundancy of the electronic gear shifting system are improved. As long as any one of the two shifting lever action signals can determine the receivable signal according to the judgment strategy shown in the figure 5, the operation intention of the driver for changing the gear can be determined, and the corresponding control operation is adopted to control the motor actuator to execute.

In addition, in practical application, in order to guarantee vehicle safety, the SCU can also perform warning, maintenance, repair, maintenance and the like based on abnormal conditions of the electronic shift system.

Referring to fig. 5, based on the schematic diagram, the SCU is further configured to determine that the shift lever motion sensor is out of control when it is determined that the average frequency of the two shift lever motion signals is incorrect or that the duty ratios of the two shift lever motion signals are not complementary, and send a message to the entire vehicle instrument to prompt the system to fail, so as to enter a safe state.

It will be appreciated that, in order to ensure the user experience (including the driver and possibly other passengers), when the SCU determines that one of the shift lever action signals is correct in frequency and the other shift lever action signal is incorrect in frequency, the SCU determines that the incorrect frequency shift lever action signal is invalid (open), and optionally, the SCU is further configured to send a message to the vehicle instrument to prompt the system maintenance, at which time the shift function is not sacrificed, and to use the system maintenance prompt as a safety compensation.

One possible implementation of the motor actuator in the embodiment of the present application is described in detail below.

In the system, the motor actuator includes: the device comprises a motor, an actuator position sensor and a first rotating shaft, wherein when the motor works, the first rotating shaft correspondingly rotates.

Referring to fig. 6, the connection relationship between the motor actuator and the parking mechanism of the transmission is schematically shown. In fig. 6, a first rotating shaft of the motor actuator is coaxially connected with a second rotating shaft of a gearbox parking mechanism of the vehicle through a coupler. Fig. 7 is a schematic structural diagram of a transmission parking mechanism according to an embodiment of the present application. The specific structure of the transmission parking mechanism can be seen from two angles, respectively, by means of fig. 6 and 7.

The gearbox parking mechanism includes in addition to the second pivot, still includes: spring plate structure and dentate plate. Wherein, the shell fragment structure includes interconnect's gyro wheel and shell fragment. The toothed plate moves between a P position and a non-P position around the axis of the second rotating shaft.

The toothed plate comprises a P clamping groove and a non-P clamping groove, when the roller at one end of the elastic sheet moves to the P clamping groove, the toothed plate is clamped at the P position, and gear locking of the gearbox is triggered, namely the whole vehicle transmission system is locked; when the roller at one end of the elastic sheet moves to the non-P clamping groove, the toothed plate is clamped at the non-P position to trigger the gear of the gearbox to unlock, namely, the whole vehicle transmission system is unlocked.

It can be understood that, in the electronic shift system provided in the embodiment of the present application, in order to accurately control the motor, the SCU further needs to obtain a current angle value (corresponding to the motor position) of the first rotating shaft. The present embodiment employs an actuator position sensor to achieve this objective. The actuator position sensor can specifically adopt a dual-core Hall sensor and can output two paths of signals.

Referring to fig. 8, a diagram of an electrical architecture of another electronic shift system according to an embodiment of the present application is provided.

In the electronic shift system shown in fig. 8, in the motor actuator, the actuator position sensor is used for detecting the angle of the first rotating shaft and sending two paths of angle value signals, such as the angle value signals SENT1 and SENT2 shown in fig. 8, to the SCU. Each path of angle value signal corresponds to a self-adding value.

It should be noted that the actuator position sensor is provided with a counter that can increment by 1 for each sampling of the angle value signal. Thus, the angle value signals SENT1 and SENT2 each correspond to a self-adding value. Normally, the respective self-adding values of SENT1 and SENT2 should each add 1 steadily and regularly, i.e., 1 for each sampling period of the actuator position sensor at the SCU, but the self-adding values may be erroneous under abnormal conditions. In addition, the value of the angle of SENT1 should be complementary to the value of the angle of SENT2 in design, i.e., the sum of the values of the angles of SENT1 and SENT2 is 360 °. However, in an abnormal situation, the sum of the angle values of the SENT1 and the SENT2 may not be 360 degrees, and at this time, one of the angle value signals is likely to be abnormal and cannot be informed. In the system provided by the embodiment of the application, only the position of P needs to be calibrated, and non-P does not need to be calibrated. As an example, the angle P to non-P is 25 °, so after calibration of P, non-P +25 °.

For ease of understanding, reference is now made to fig. 9, which is a schematic diagram of an actuator angle determination strategy provided in an embodiment of the present application. As can be seen from fig. 9, the SCU performs multiple determinations on two angular value signals.

As shown in fig. 9, in this embodiment, the SCU is further configured to determine whether the self-added value corresponding to each path of the angle value signal is correct, determine whether the sum of the two paths of angle values is 360 ° when the self-added values corresponding to the two paths of angle value signals are both correct, and if so, adopt the two paths of angle value signals; when only one path of angle value signal corresponds to the correct self-added value, the signal is collected to obtain the correct path of angle value signal of the self-added value; and determining the angle of the first rotating shaft according to the angle value signal of the mining letter. It should be noted that, in this embodiment, the SENT1 and the SENT2 with complementary angle values correspond to the angle of the first rotating shaft. Namely, on the premise of obtaining the signal of the receivable angle value, the SCU can also accurately determine the current angle of the first rotating shaft.

The function of the SCU will be described and illustrated in terms of at least two contacts of the three-contact P-range key circuit being activated.

The SCU is specifically used for controlling the motor according to at least two paths of action signals sent by the three-contact P-gear key circuit and the angle of the first rotating shaft, so that the first rotating shaft drives the second rotating shaft to rotate, the roller at one end of the elastic sheet moves to the P clamping groove, the toothed plate is clamped at the P position, and the gear locking of the gearbox is triggered.

The function of the SCU will be described and illustrated in terms of at least two contacts of the three-contact unlock key circuit being activated.

The SCU is specifically used for controlling the motor according to at least two paths of action signals sent by the three-contact unlocking key circuit, gear changing operation and the angle of the first rotating shaft, so that the first rotating shaft drives the second rotating shaft to rotate, the roller at one end of the elastic sheet moves to the non-P clamping groove, the toothed plate is clamped at the non-P position, and a gear of the gearbox is triggered to release locking.

In practice, the transmission parking mechanism may further comprise a bracket fixed to the transmission housing for fixing the assembly. Additionally, a spring may be included, as shown in FIG. 7.

Because the actuator position sensors output two paths of angle value signals SENT1 and SENT2, the safety and the redundancy of the electronic gear shifting system are improved. As long as any one of the two angle value signals determines the receivable information according to the judgment strategy shown in fig. 9, the current angle of the first rotating shaft can be determined, and the corresponding control operation is adopted to control the motor actuator to execute the operation.

Referring to fig. 9, based on the schematic diagram, the SCU is further configured to determine that the actuator position sensor is out of control when the self-added values corresponding to the two paths of angle value signals are judged to be incorrect, or when the sum of the two paths of angle values is judged to be not 360 degrees, send a message to the vehicle instrument to prompt the system to fail, so as to enter a safe state.

It can be understood that, in order to ensure the use experience of users (including drivers and possibly other passengers), when the SCU determines that the self-adding value corresponding to the angle value signal of one path is correct and the self-adding value corresponding to the angle value signal of the other path is incorrect, the SCU determines that the angle value signal of the path with incorrect frequency is invalid (open circuit), optionally, the SCU is further configured to send a message to the vehicle instrument to prompt system maintenance, at this time, the gear shifting function is not sacrificed, and the system maintenance prompt is used as safety compensation.

The gearbox parking mechanism is of a pure mechanical structure, and meanwhile a first rotating shaft in the motor actuator is connected with a second rotating shaft of the parking mechanism through a coupler, so that manufacturing tolerances can exist in the two rotating shafts, and the tolerances are gradually accumulated in the rotating process. The gearplates of the gearbox parking mechanism have two positions P and non-P, and accordingly the motor control also requires two positions P and non-P. Due to the manufacturing tolerance, it is difficult to achieve complete coincidence of the P positions of the parking mechanism side and the motor actuator side only by assembly, and similarly, it is also difficult to achieve complete coincidence of the non-P positions of the parking mechanism side and the motor actuator side only by assembly.

Through research, the application further provides an implementation mode of the electronic gear shifting system for realizing self-learning. After the motor actuator is assembled on the gearbox and is completely and certainly mechanically connected with the gearbox parking mechanism, the actuator is driven by the SCU to carry out self-learning, and accurate P and non-P ideal positions are automatically found for calibration. The strategy is based on an in-depth study of the gearbox parking mechanism, adequately taking into account the possible scenarios. The purpose is to learn accurate P and non-P position, and the P position that learns will be used for actual vehicle parking control, promotes shift control's accuracy and security.

Based on the above description of the parking mechanism, the gear self-learning can only be limited by means of mechanical limitation. The P-position self-learning strategy is detailed in fig. 10. It should be noted that, if the toothed plate moves to the P position, when the motor is locked, the limit of the movement to the P position is reached, and referring to fig. 10, the schematic contact diagram of the toothed plate and the spring structure when the toothed plate reaches the limit position in the P position direction can be seen through the small window at the upper left. Through the small upper left window, the roller is seen to be deviated from the central position of the P clamping groove of the toothed plate. The small window at the lower left of fig. 10 shows the schematic diagram of the structure of the tooth-shaped plate and the spring plate when the ideal tooth-shaped plate moves to the ideal P position.

With reference to fig. 10, in the electronic shift system provided in the present embodiment, the SCU is further configured to drive the castellated plate to move to the P position by controlling the motor actuator; when the motor is locked, obtaining an angle A1 of the first rotating shaft; controlling to close the drive of the motor, and delaying for a first preset time to obtain an angle A2 of the first rotating shaft; judging whether the difference between the A1 and the A2 is larger than a first preset angle or not, and if so, calibrating the angle of the first rotating shaft when the toothed plate moves to the P position to be A2; if not, the first rotating shaft is controlled to rotate reversely (move to the non-P position) by a first deviation angle.

It should be noted that the first deviation angle is a deviation angle between the elastic piece when the a1 is obtained and the elastic piece when the a2 is obtained; the first preset angle, as an example, may be 2 °; the first preset time may be, for example, 2 seconds. In fig. 10, X ° represents a first deviation angle.

And judging whether the difference between the A1 and the A2 is greater than a first preset angle or not, wherein the purpose is to judge whether the parking mechanism is rebounded to an ideal P position by an elastic sheet, if so, the gear of the parking mechanism can talk about the ideal P position, and if not, the gear of the parking mechanism can not automatically rebound due to the influence of system environment, friction and the like, and at the moment, the SCU is required to actively control and drive the parking mechanism to reach the ideal P position. Thus, the first rotation shaft is controlled to rotate reversely by a first deviation angle.

The SCU signal sent by the gear shifting mechanism can be analyzed into a gear shifting request by SCU software, and a PID controller of the SCU generates specific PWM to control the motor to rotate to a target position according to the current position of the motor and the specific gear shifting request of the gear shifting mechanism.

The non-P location self-learning strategy is detailed in fig. 11. It should be noted that if the castellated plate moves to the non-P position, when the motor is locked, it means that the limit of the movement to the non-P position is reached.

With reference to fig. 11, in the electronic shift system provided in the present embodiment, the SCU is further configured to drive the castellated plate to move to the non-P position by controlling the motor actuator; when the motor is locked, obtaining an angle B1 of the first rotating shaft; controlling to close the drive of the motor, and delaying for a second preset time to obtain an angle B2 of the first rotating shaft; judging whether the difference between the B1 and the B2 is larger than a second preset angle or not, if so, calibrating the angle of the first rotating shaft when the toothed plate moves to the non-P position to be B2; if not, the first rotating shaft is controlled to rotate reversely (move to the P position) by a second deviation angle.

It should be noted that the second deviation angle is a deviation angle of the elastic sheet when the B1 and the B2 are obtained. The second preset angle, as an example, may be 2 °; the second preset time may be 2 seconds, as an example. In fig. 11, X ° represents the second deviation angle.

And judging whether the difference between the B1 and the B2 is greater than a second preset angle or not, wherein the purpose is to judge whether the parking mechanism is rebounded to an ideal non-P position by an elastic sheet, if so, the ideal non-P position is referred to by a gear of the parking mechanism, and if not, the ideal non-P position is referred to by the gear of the parking mechanism, and if not, the ideal non-P position is not referred to by the parking mechanism due to the influence of system environment, friction and the like, and at the moment, the SCU is required to actively control and drive the parking mechanism to reach the ideal non-P position. Thus, the first shaft is controlled to rotate in the reverse direction by a second deviation angle.

It should be understood that, due to the manufacturing, the accumulation of dimensional tolerance, and the influence of ambient temperature, the friction force of the system increases, and the situation that the elastic sheet does not rebound to the ideal position may occur, if the wrong calibration is learned, the vibration in the running process of the whole vehicle, and the driving of the reverse force of the elastic sheet are learned, the motor will continuously receive the reverse force and output current to resist the reverse driving, and the SCU will be damaged or even burned out for a long time. The above strategies avoid this risk and improve the robustness of self-learning.

It should be noted that in the present embodiment, the first deviation angle and the second deviation angle are in an equal relationship, and both deviation angles are sensed by the actuator position sensor. Since the coupling is connected, the equal relation is achieved. The first deviation angle is obtained by taking the second rotating shaft as an axis and sensing through an actuator position sensor.

The stroke and speed of the motor actuator for driving the parking mechanism P and the non-P action can be controlled by a software proportional-integral-derivative PID controller. Existing PID control systems only need to consider whether execution is in place. And the PID control input only needs the feedback of one motor position. Fig. 12 is a schematic diagram of a conventional PID control system.

The motor is used as an electrically driven executing part, the running speed is directly influenced by the current power supply of the whole vehicle, generally speaking, the voltage is high, the faster the rotating speed of the motor is, and the corresponding gear shifting speed is high; the lower the voltage, the slower the motor speed, the slower the corresponding shift speed. Meanwhile, the movement speed of the motor also depends on the size of a PWM (pulse-width modulation) duty ratio of a motor control signal provided by a PID (proportion integration differentiation) controller of the SCU (substation configuration unit), and the larger the duty ratio of the signal is, the faster the rotating speed of the motor is, and the corresponding gear shifting speed is high; the smaller the signal duty ratio is, the slower the motor rotation speed is, and the corresponding gear shifting speed is slow.

For the gear shifting function, the engineering often requires that the gear shifting action should be stable and accurate no matter what the external voltage factor is, which is of great help to the stability and durability of the electronic gear shifting system. According to the method and the device, a voltage self-adaptive conversion module is added on the basis of ordinary PID control, so that the motor control signal output by the SCU to the motor is automatically adjusted according to the power supply voltage of the whole vehicle, the response speed of the motor is always maintained at a stable level no matter how the actual power supply voltage level of the whole vehicle is, and the influence on user experience caused by excessive fluctuation change is avoided.

Fig. 13 is a schematic signal conversion diagram of a motor control signal provided in the embodiment of the present application and adapted to a vehicle power supply voltage. As can be seen from fig. 13, the SCU is further configured to generate a motor control signal according to the received two paths of angle value signals by using a proportional-integral-derivative PID controller; obtaining the whole vehicle power supply voltage value of the vehicle; obtaining a self-adaptive motor control signal according to the vehicle power supply voltage value, the motor control signal and a preset reference power supply voltage value; finally, the SCU is specifically configured to send the adaptive motor control signal to the motor.

The voltage value of the whole vehicle power supply can be monitored by a power supply monitoring module of the SCU and is sent to a voltage self-adaptive conversion module; the preset reference supply voltage value may be 12V. For the voltage adaptive conversion module, the formula for performing motor control signal adaptation may refer to formula (1).

PWM _ change ═ PWM _ before × 12/V _ supply equation (1)

In the formula (1), V _ supply represents a vehicle power supply voltage value, PWM _ before represents a motor control signal generated before the adaptation, and PWM _ change represents an adaptive motor control signal generated after the adaptation. In the formula, the ideal voltage 12V of the automobile is taken as a reference, the engineering expectation shows that no matter how the power supply voltage of the whole automobile changes, the gear shifting speed is consistent with the 12V power supply performance, the speed of the motor depends on the PWM duty ratio, and PWM conversion is carried out on the PWM according to the proportional relation between the current power supply voltage of the whole automobile and the ideal voltage 12V.

According to the formula (1), when the power supply voltage of the whole vehicle is greater than 12V, if conversion is not carried out, compared with 12V, the rotating speed of the motor is accelerated. Through the conversion in the formula (1), the duty ratio of the PWM _ change relative to the PWM _ before is reduced, so that the rotating speed of the motor is reduced, and the effect of increasing speed caused by the fact that the power supply voltage is larger than 12V is effectively counteracted.

Similarly, when the power supply voltage of the whole vehicle is lower than 12V, if conversion is not carried out, compared with 12V, the rotating speed of the motor is reduced. Through the conversion in the formula (1), the duty ratio of the PWM _ change relative to the PWM _ before is increased, so that the rotating speed of the motor is increased, and the deceleration influence caused by the fact that the power supply voltage is lower than 12V is effectively counteracted.

As can be seen from the above description, the electronic shift system maintains the motor speed at a relatively stable level all the time through the adaptive conversion of the SCU for the motor control signal, and presets the level when the reference supply voltage value (e.g. 12V) is set. Thus, the experience of the user gear shifting operation is improved.

Based on the electronic shift system provided in the foregoing embodiment, the present application further provides a shift controller SCU, and the functions and the connection relationship with other components of the shift controller SCU are described in detail below.

Controller embodiment

The present application provides a shift controller for an electronic shifting system, which can be referred to the various figures mentioned above. The system further comprises: a gear shift mechanism and a motor actuator; the shift mechanism includes: a three-contact P-gear key circuit and a three-contact unlocking key circuit; when the contact corresponding to the P-gear key is triggered, the three-contact P-gear key circuit sends a corresponding action signal to the SCU; the unlocking key corresponds to any one of a P-to-R gear, a P-to-N gear, a P-to-D gear, an N-to-R gear or a D-to-R gear, and when a contact corresponding to the unlocking key is triggered, the three-contact unlocking key circuit sends a corresponding action signal to the SCU; the three contacts corresponding to the P-gear key are mutually independent; the three contacts corresponding to the unlocking key are mutually independent;

Optionally, the SCU is further configured to:

the SCU is also used for judging whether the frequency of the two shifting lever action signals is correct, judging whether the duty ratios of the two shifting lever action signals are complementary when the frequency of the two shifting lever action signals is correct, and if so, acquiring the two shifting lever action signals; when only one path of gear shifting lever action signal has correct frequency, one path of gear shifting lever action signal with correct frequency is collected; determining the operation of changing the gear according to the duty ratio of the gear shifting lever action signal of the signal acquisition;

Optionally, the motor actuator comprises: the device comprises a motor, an actuator position sensor and a first rotating shaft, wherein when the motor works, the first rotating shaft correspondingly rotates; a first rotating shaft of the motor actuator is coaxially connected with a second rotating shaft of a gearbox parking mechanism of the vehicle through a coupler; the transmission parking mechanism further comprises: the elastic sheet structure comprises a roller and an elastic sheet which are connected with each other, and the tooth-shaped plate moves between a P position and a non-P position around the axis of the second rotating shaft; the toothed plate comprises a P clamping groove and a non-P clamping groove, when the roller at one end of the elastic sheet moves to the P clamping groove, the toothed plate is clamped at the P position, and gear locking of the gearbox is triggered; when the roller at one end of the elastic sheet moves to the non-P clamping groove, the toothed plate is clamped at the non-P position, and a gear of the gearbox is triggered to release locking; the actuator position sensor is used for detecting the angle of the first rotating shaft and sending two paths of angle value signals to the SCU, and each path of angle value signal corresponds to a self-adding value; adding 1 to each sampling period of the actuator position sensor at the SCU; the SCU is also used for judging whether the self-adding value corresponding to each path of the angle value signal is correct, judging whether the sum of the two paths of the angle values is 360 degrees when the self-adding values corresponding to the two paths of the angle value signals are correct, and acquiring the two paths of the angle value signals if the sum of the two paths of the angle values is 360 degrees; when only one path of angle value signal corresponds to the correct self-added value, the signal is collected to obtain the correct path of angle value signal of the self-added value; determining the angle of the first rotating shaft according to the angle value signal of the signal acquisition;

and/or the presence of a gas in the gas,

the SCU is also used for driving the toothed plate to move to the non-P position by controlling the motor actuator; when the motor is locked, obtaining an angle B1 of the first rotating shaft; controlling to close the drive of the motor, and delaying for a second preset time to obtain an angle B2 of the first rotating shaft; judging whether the difference between the B1 and the B2 is larger than a second preset angle or not, if so, calibrating the angle of the first rotating shaft when the toothed plate moves to the non-P position to be B2; if not, controlling the first rotating shaft to rotate reversely by a second deviation angle; the second deviation angle is the deviation angle of the shrapnel when the B1 and the B2 are obtained.

Optionally, the SCU is further configured to generate a motor control signal according to the received two paths of angle value signals by using a proportional-integral-derivative PID controller; obtaining the whole vehicle power supply voltage value of the vehicle; obtaining a self-adaptive motor control signal according to the vehicle power supply voltage value, the motor control signal and a preset reference power supply voltage value; sending the adaptive motor control signal to the motor.

Based on the electronic gear shifting system and the gear shifting controller provided by the foregoing embodiments, correspondingly, the present application further provides a gear shifting control method, which is applied to the gear shifting controller of the electronic gear shifting system. The following is a description of a specific implementation of the method.

Method embodiment

The application provides a gear shifting control method, which comprises the following steps:

Namely, the gear shifting control method provided by the embodiment of the application. Only when at least two paths of action signals sent by the three-contact P-gear key circuit or at least two paths of action signals sent by the three-contact unlocking key circuit are obtained, the SCU controls the motor actuator to execute gear shifting action according to the two paths of action signals. Because a plurality of contacts of the same key are mutually independent and do not interfere with each other, under the condition that each contact has the same failure probability, the probability that the plurality of contacts fail simultaneously is smaller than the failure probability of a single contact in the prior art in a single-contact triggering control mode, and therefore the probability of causing system faults is reduced.

Optionally, the method further comprises:

judging whether the two paths of gear shifting lever action signals are correct in frequency or not, judging whether duty ratios of the two paths of gear shifting lever action signals are complementary or not when the two paths of gear shifting lever action signals are correct in frequency, and if yes, acquiring and signaling the two paths of gear shifting lever action signals; when only one shifting lever action signal has correct frequency, one shifting lever action signal with correct frequency is adopted; determining the operation of changing the gear according to the duty ratio of the gear shifting lever action signal of the signal acquisition;

Optionally, the method further comprises:

controlling the motor according to at least two paths of action signals from the three-contact P-gear key circuit and the angle of the first rotating shaft, so that the first rotating shaft drives the second rotating shaft to rotate, the roller at one end of the elastic sheet moves to the P clamping groove, the toothed plate is clamped at the P position, and the gear locking of the gearbox is triggered;

Optionally, the method further comprises:

when the motor is locked, obtaining an angle A1 of the first rotating shaft;

and/or the presence of a gas in the gas,

when the motor is locked, obtaining an angle B1 of the first rotating shaft;

The method further comprises the following steps:

and sending the adaptive motor control signal to the motor.

It should be noted that, in the present specification, all the embodiments are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the controller and method embodiments are substantially similar to the system embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described embodiments of the apparatus and system are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts suggested as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

The above description is only one specific embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An electronic gear shifting system, comprising: the system comprises a gear shifting mechanism, a gear shifting controller SCU and a motor actuator;

the shift mechanism includes: a three-contact P-gear key circuit and a three-contact unlocking key circuit; when the contact corresponding to the P-gear key is triggered, the three-contact P-gear key circuit sends a corresponding action signal to the gear shifting controller SCU; the unlocking key corresponds to any one of a P-to-R gear, a P-to-N gear, a P-to-D gear, an N-to-R gear or a D-to-R gear, and when a contact corresponding to the unlocking key is triggered, the three-contact unlocking key circuit sends a corresponding action signal to the SCU; the three contacts corresponding to the P-gear key are mutually independent; the three contacts corresponding to the unlocking key are mutually independent;

the gear shifting controller SCU controls the motor actuator to execute gear shifting action according to at least two paths of action signals sent by the three-contact P-gear key circuit or at least two paths of action signals sent by the three-contact unlocking key circuit;

the shift mechanism further includes: the gear shifting lever action sensor is used for responding to the operation of a driver acting on the gear shifting lever to change gears in the vehicle and sending two paths of gear shifting lever action signals to the gear shifting controller SCU; the operation of changing gears comprises the following steps: an operation of shifting R, an operation of shifting N, or an operation of shifting D;

the gear shifting controller SCU is also used for judging whether the two paths of gear shifting lever action signals are correct in frequency or not, judging whether duty ratios of the two paths of gear shifting lever action signals are complementary or not when the two paths of gear shifting lever action signals are correct in frequency, and acquiring and communicating the two paths of gear shifting lever action signals if the two paths of gear shifting lever action signals are complementary; when only one path of gear shifting lever action signal has correct frequency, one path of gear shifting lever action signal with correct frequency is collected; determining the gear changing operation according to the duty ratio of the gear shifting lever action signal of the mining letter;

the gear shifting controller SCU is specifically used for controlling the motor actuator to execute gear shifting action according to at least two paths of action signals sent by the three-contact unlocking key circuit and the gear shifting operation;

the gear shifting controller SCU is also used for sending a message to a whole vehicle instrument to prompt the system fault when judging and determining that the average frequency of the two paths of gear shifting lever action signals is incorrect or when judging and determining that the duty ratios of the two paths of gear shifting lever action signals are not complementary so as to enter a safe state;

the motor actuator includes: the device comprises a motor, an actuator position sensor and a first rotating shaft, wherein when the motor works, the first rotating shaft correspondingly rotates; a first rotating shaft of the motor actuator is coaxially connected with a second rotating shaft of a gearbox parking mechanism of the vehicle through a coupler; the transmission parking mechanism further comprises: the elastic sheet structure comprises a roller and an elastic sheet which are connected with each other, and the tooth-shaped plate moves between a P position and a non-P position around the axis of the second rotating shaft; the toothed plate comprises a P clamping groove and a non-P clamping groove, when the roller at one end of the elastic sheet moves to the P clamping groove, the toothed plate is clamped at the P position, and gear locking of the gearbox is triggered; when the roller at one end of the elastic sheet moves to the non-P clamping groove, the toothed plate is clamped at the non-P position, and a gear of the gearbox is triggered to release locking;

the actuator position sensor is used for detecting the angle of the first rotating shaft and sending two paths of angle value signals to the gear shifting controller SCU, and each path of angle value signal corresponds to a self-adding value; the self-adding value adds 1 to each sampling period of the actuator position sensor at the shift controller SCU; the gear shifting controller SCU is also used for judging whether the self-adding value corresponding to each path of angle value signal is correct, judging whether the sum of the two paths of angle values is 360 degrees or not when the self-adding values corresponding to the two paths of angle value signals are correct, and acquiring the two paths of angle value signals if the sum of the two paths of angle values is 360 degrees; when only one path of angle value signal corresponds to the correct self-added value, the signal is collected to obtain the correct path of angle value signal of the self-added value; determining the angle of the first rotating shaft according to the angle value signal of the signal acquisition;

the gear shifting controller SCU is specifically used for controlling the motor according to at least two paths of action signals sent by the three-contact P-gear key circuit and the angle of the first rotating shaft, so that the first rotating shaft drives the second rotating shaft to rotate, the roller at one end of the elastic sheet moves to the P clamping groove, the toothed plate is clamped at the P position, and the gear locking of the gearbox is triggered; or the gear shifting controller SCU is specifically configured to control the motor according to at least two paths of action signals sent by the three-contact unlocking button circuit, the gear changing operation and the angle of the first rotating shaft, so that the first rotating shaft drives the second rotating shaft to rotate, the roller at one end of the elastic piece moves to the non-P-shaped clamping groove, the toothed plate is clamped at the non-P-shaped position, and the gear of the transmission is triggered to release locking.

2. The electronic gear shifting system according to claim 1, wherein if the gear shifting controller SCU controls the motor actuator to perform a gear shifting action according to at least two paths of action signals sent by the three-contact P-shift key circuit, the gear shifting controller SCU is further configured to determine whether each of three contacts corresponding to the P-shift key is failed, and when there is a failed contact, the gear shifting controller SCU sends a message to a vehicle meter to prompt maintenance of the failed contact among the three contacts corresponding to the P-shift key;

if the gear shifting controller SCU controls the motor actuator to execute gear shifting action according to at least two paths of action signals sent by the three-contact unlocking key circuit, the gear shifting controller SCU is also used for judging whether each contact in three contacts corresponding to the unlocking key is invalid, and when the invalid contact exists, the gear shifting controller SCU sends a message to a whole vehicle instrument to prompt and maintain the invalid contact in the three contacts corresponding to the unlocking key.

3. The electronic gear shifting system according to claim 1, wherein the gear shifting controller SCU is further configured to send a message to the vehicle instrument to prompt the system fault to enter a safe state when it is determined that the added values of the two angle values are not correct or when it is determined that the sum of the two angle values is not 360 °.

4. The electronic shift system according to claim 1, wherein the shift controller SCU is further configured to drive the castellated plate to the P position by controlling the motor actuator; when the motor is locked, obtaining an angle A1 of the first rotating shaft; controlling to close the drive of the motor, and delaying for a first preset time to obtain an angle A2 of the first rotating shaft; judging whether the difference between the A1 and the A2 is larger than a first preset angle or not, and if so, calibrating the angle of the first rotating shaft when the toothed plate moves to the P position to be A2; if not, controlling the first rotating shaft to rotate reversely by a first deviation angle; the first deviation angle is the deviation angle of the shrapnel when the A1 and the A2 are obtained;

and/or the presence of a gas in the gas,

the gear shifting controller SCU is also used for driving the toothed plate to move to the non-P position by controlling the motor actuator; when the motor is locked, obtaining an angle B1 of the first rotating shaft; controlling to close the drive of the motor, and delaying for a second preset time to obtain an angle B2 of the first rotating shaft; judging whether the difference between the B1 and the B2 is larger than a second preset angle or not, if so, calibrating the angle of the first rotating shaft when the toothed plate moves to the non-P position to be B2; if not, controlling the first rotating shaft to rotate reversely by a second deviation angle; the second deviation angle is the deviation angle of the shrapnel when the B1 and the B2 are obtained.

5. The electronic shift system according to claim 1, wherein the shift controller SCU is further configured to generate a motor control signal from the received two angular value signals using a proportional-integral-derivative PID controller; obtaining a finished automobile power supply voltage value of the automobile; obtaining a self-adaptive motor control signal according to the vehicle power supply voltage value, the motor control signal and a preset reference power supply voltage value;

the shift controller SCU is specifically configured to send the adaptive motor control signal to the motor.

6. A shift control method applied to a shift controller SCU of an electronic shift system, the system further comprising: a gear shift mechanism and a motor actuator; the shift mechanism includes: a three-contact P-gear key circuit and a three-contact unlocking key circuit; when the contact corresponding to the P-gear key is triggered, the three-contact P-gear key circuit sends a corresponding action signal to the gear shifting controller SCU; the unlocking key corresponds to any one of a P-to-R gear, a P-to-N gear, a P-to-D gear, an N-to-R gear or a D-to-R gear, and when a contact corresponding to the unlocking key is triggered, the three-contact unlocking key circuit sends a corresponding action signal to the gear shifting controller SCU; the three contacts corresponding to the P-gear key are mutually independent; three contacts corresponding to the unlocking key are mutually independent;

the method comprises the following steps:

controlling the motor actuator to execute gear shifting action according to at least two action signals from the three-contact P-gear key circuit, or controlling the motor actuator to execute gear shifting action according to at least two action signals from the three-contact unlocking key circuit;

the shift mechanism further includes: the gear shifting lever action sensor is used for responding to the operation of a driver acting on the gear shifting lever to change gears in the vehicle and sending two paths of gear shifting lever action signals to the gear shifting controller SCU; the operation of changing gears comprises the following steps: an operation of shifting R, an operation of shifting N, or an operation of shifting D; the method further comprises the following steps:

judging whether the two paths of gear shifting lever action signals are correct in frequency or not, judging whether duty ratios of the two paths of gear shifting lever action signals are complementary or not when the two paths of gear shifting lever action signals are correct in frequency, and if yes, acquiring and signaling the two paths of gear shifting lever action signals; when only one path of gear shifting lever action signal has correct frequency, one path of gear shifting lever action signal with correct frequency is collected; determining the gear changing operation according to the duty ratio of the gear shifting lever action signal of the mining letter;

controlling the motor actuator to execute gear shifting action according to at least two paths of action signals from the three-contact unlocking key circuit and the gear changing operation;

the motor actuator includes: the device comprises a motor, an actuator position sensor and a first rotating shaft, wherein when the motor works, the first rotating shaft correspondingly rotates; a first rotating shaft of the motor actuator is coaxially connected with a second rotating shaft of a gearbox parking mechanism of the vehicle through a coupler; the transmission parking mechanism further comprises: the elastic sheet structure comprises a roller and an elastic sheet which are connected with each other, and the tooth-shaped plate moves between a P position and a non-P position around the axis of the second rotating shaft; the toothed plate comprises a P clamping groove and a non-P clamping groove, when the roller at one end of the elastic sheet moves to the P clamping groove, the toothed plate is clamped at the P position, and gear locking of the gearbox is triggered; when the roller at one end of the elastic sheet moves to the non-P clamping groove, the toothed plate is clamped at the non-P position, and a gear of the gearbox is triggered to release locking; the actuator position sensor is used for detecting the angle of the first rotating shaft and sending two paths of angle value signals to the gear shifting controller SCU, and each path of angle value signal corresponds to a self-adding value; the self-addition value is added by 1 at each sampling period of the shift controller SCU to the actuator position sensor; the method further comprises the following steps:

judging whether the self-adding value corresponding to each path of angle value signal is correct, judging whether the sum of the two paths of angle values is 360 degrees when the self-adding values corresponding to the two paths of angle value signals are correct, and if so, acquiring the two paths of angle value signals; when only one path of angle value signal corresponds to the correct self-added value, the signal is collected to obtain the correct path of angle value signal of the self-added value; determining the angle of the first rotating shaft according to the angle value signal of the mining information;

the control according to come from three contact unblock keying circuit's two at least action signals, and the operation of changing the fender position, the motor executor carries out the action of shifting gears, specifically includes:

and controlling the motor according to at least two paths of action signals from the three-contact unlocking key circuit, the gear changing operation and the angle of the first rotating shaft, so that the first rotating shaft drives the second rotating shaft to rotate, the roller at one end of the elastic sheet moves to the non-P clamping groove, the toothed plate is clamped at the non-P position, and the gear of the gearbox is triggered to release locking.

7. The shift control method according to claim 6, wherein after controlling the motor actuator to perform a shift action according to at least two action signals from the three-contact P-range key circuit, the method further comprises:

8. The shift control method according to claim 6, characterized by further comprising:

when the motor is locked, obtaining an angle A1 of the first rotating shaft;

and/or the presence of a gas in the gas,

when the motor is locked, obtaining an angle B1 of the first rotating shaft;

9. The shift control method according to claim 6, characterized by further comprising:

and sending the adaptive motor control signal to the motor.

10. A shift controller SCU, in an electronic gear shifting system, the system further comprising: a gear shift mechanism and a motor actuator; the shift mechanism includes: a three-contact P-gear key circuit and a three-contact unlocking key circuit; when the contact corresponding to the P-gear key is triggered, the three-contact P-gear key circuit sends a corresponding action signal to the gear shifting controller SCU; the unlocking key corresponds to any one of a gear P to R, a gear P to N, a gear P to D, a gear N to R or a gear D to R, and when a contact corresponding to the unlocking key is triggered, the three-contact unlocking key circuit sends a corresponding action signal to the gear shifting controller SCU; the three contacts corresponding to the P-gear key are mutually independent; the three contacts corresponding to the unlocking key are mutually independent;

the gear shifting controller SCU is used for controlling the motor actuator to execute gear shifting action according to at least two paths of action signals from the three-contact P-gear key circuit, or controlling the motor actuator to execute gear shifting action according to at least two paths of action signals from the three-contact unlocking key circuit;

the gear shifting controller SCU is specifically used for controlling the motor actuator to execute gear shifting action according to at least two paths of action signals from the three-contact unlocking key circuit and the gear shifting operation;

the motor actuator includes: the device comprises a motor, an actuator position sensor and a first rotating shaft, wherein when the motor works, the first rotating shaft correspondingly rotates; a first rotating shaft of the motor actuator is coaxially connected with a second rotating shaft of a gearbox parking mechanism of the vehicle through a coupler; the transmission parking mechanism further comprises: the elastic sheet structure comprises a roller and an elastic sheet which are connected with each other, and the toothed plate moves between a P position and a non-P position around the axis of the second rotating shaft; the toothed plate comprises a P clamping groove and a non-P clamping groove, when the roller at one end of the elastic sheet moves to the P clamping groove, the toothed plate is clamped at the P position, and gear locking of the gearbox is triggered; when the roller at one end of the elastic sheet moves to the non-P clamping groove, the toothed plate is clamped at the non-P position, and a gear of the gearbox is triggered to release locking; the actuator position sensor is used for detecting the angle of the first rotating shaft and sending two paths of angle value signals to the gear shifting controller SCU, and each path of angle value signal corresponds to a self-adding value; the self-adding value adds 1 to each sampling period of the actuator position sensor at the shift controller SCU; the gear shifting controller SCU is also used for judging whether the self-adding value corresponding to each path of angle value signal is correct, judging whether the sum of the two paths of angle values is 360 degrees or not when the self-adding values corresponding to the two paths of angle value signals are correct, and acquiring the two paths of angle value signals if the sum of the two paths of angle values is 360 degrees; when only one path of angle value signal corresponds to the correct self-added value, the signal is collected to obtain the correct path of angle value signal of the self-added value; determining the angle of the first rotating shaft according to the angle value signal of the signal acquisition;

the gear shifting controller SCU is specifically used for controlling the motor according to at least two paths of action signals from the three-contact P-gear key circuit and the angle of the first rotating shaft, so that the first rotating shaft drives the second rotating shaft to rotate, the roller at one end of the elastic sheet moves to the P clamping groove, the toothed plate is clamped at the P position, and the gear locking of the gearbox is triggered;

or the gear shifting controller SCU is specifically configured to control the motor according to at least two paths of action signals from the three-contact unlocking button circuit, the gear changing operation and the angle of the first rotating shaft, so that the first rotating shaft drives the second rotating shaft to rotate, the roller at one end of the elastic piece moves to the non-P-shaped clamping groove, the toothed plate is clamped at the non-P position, and the gear of the transmission is triggered to release locking.

11. The shift controller SCU according to claim 10, further configured to:

after the motor actuator is controlled to execute the gear shifting action according to the at least two action signals from the three-contact unlocking key circuit, the gear shifting controller SCU is further configured to:

and judging whether each of the three contacts corresponding to the unlocking key is invalid, and when the invalid contact exists, sending a message to a whole vehicle instrument to prompt maintenance of the invalid contact in the three contacts corresponding to the unlocking key.

12. The shift controller SCU of claim 10, further configured to drive said castellated plate to move to said P position by controlling said motor actuator; when the motor is locked, obtaining an angle A1 of the first rotating shaft; controlling to close the drive of the motor, and delaying for a first preset time to obtain an angle A2 of the first rotating shaft; judging whether the difference between the A1 and the A2 is larger than a first preset angle or not, and if so, calibrating the angle of the first rotating shaft when the toothed plate moves to the P position to be A2; if not, controlling the first rotating shaft to rotate reversely by a first deviation angle; the first deviation angle is the deviation angle of the shrapnel when the A1 and the A2 are obtained;

and/or the presence of a gas in the gas,

13. The shift controller SCU according to claim 10, further configured to generate a motor control signal from the received two angular value signals using a proportional-integral-derivative PID controller; obtaining the whole vehicle power supply voltage value of the vehicle; obtaining a self-adaptive motor control signal according to the vehicle power supply voltage value, the motor control signal and a preset reference power supply voltage value; and sending the adaptive motor control signal to the motor.