CN113431895B - Gear shifting control method and device for preventing synchronizer from being blocked and TCU - Google Patents
Gear shifting control method and device for preventing synchronizer from being blocked and TCU Download PDFInfo
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- CN113431895B CN113431895B CN202010207804.4A CN202010207804A CN113431895B CN 113431895 B CN113431895 B CN 113431895B CN 202010207804 A CN202010207804 A CN 202010207804A CN 113431895 B CN113431895 B CN 113431895B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
- F16H63/30—Constructional features of the final output mechanisms
- F16H63/304—Constructional features of the final output mechanisms the final output mechanisms comprising elements moved by electrical or magnetic force
Abstract
The invention discloses a gear shifting control method and device for preventing synchronizer from being blocked and a TCU (transmission control unit), wherein the control method comprises the following steps: the TCU outputs a first instruction to control the shifting fork to act on the condition that whether the vehicle speed is less than the preset vehicle speed is judged; taking the gear sleeve of the synchronizer at a shifting ring completion point as a judgment condition, outputting a second instruction by the TCU to control the corresponding clutch to output torque until the working parameter of the clutch is a parameter threshold value representing an anti-clamping stagnation control point; and the parameter threshold value of the characteristic anti-clamping control point is used for driving the clutch to determine when the rotating speed of the input shaft of the transmission reaches a preset rotating speed threshold value. According to the invention, through optimizing the control strategy, the clamping stagnation phenomenon of the static gear shifting of the vehicle can be effectively avoided; by applying the scheme, the problems of power lag and self-learning misjudgment can be solved.
Description
Technical Field
The invention relates to the technical field of vehicle gear shifting control of a DCT (double clutch automatic transmission), in particular to a gear shifting control method and device for preventing synchronizer from being blocked and a TCU (transmission control unit).
Background
Generally, conventional dual clutch automatic transmissions mostly employ synchronizers for shifting gears, and the shifting operation is performed in a stationary state of the vehicle. Limited by the hardware structure of the synchronizer, the gear sleeve and the combined gear can have the condition that the tooth tip pushes up the tooth tip in the static gear shifting process, so that the gear shifting is blocked. In the prior art, when a TCU (automatic transmission control unit) detects that gear shifting is blocked, a command is sent to return to a neutral gear, then a clutch is attached to drive an input shaft to rotate, the clutch is released to engage the gear again, and at the moment, the relative position of a gear sleeve and a combined gear is changed. Thereby overcoming the problem of primary gear engagement and clamping stagnation.
Compared with experimental data, the probability of the jamming of the first gear shifting is approximately 2%, and the probability of the jamming of the second gear shifting is approximately 0.02%. At present, the gear shifting clamping stagnation condition can be solved through the control method, but the technology has two problems, 1) if the clamping stagnation occurs for the first time, the gear is successfully engaged again for the second time, the gear shifting time lasts for about 4s, and a common customer can obviously feel the power lag. 2) In the use process of the DCT, the middle point, the synchronous point and the dead point displacement in the gear shifting process need to be learned again by self for the synchronous process of TCU control; the self-learning occurs in a static state of the vehicle, and if the gear shifting clamping stagnation occurs, the TCU can mistakenly determine the point as a displacement stop point, so that the subsequent software misjudgment can be caused.
In view of the above, it is desirable to optimize the control of the gear shifting operation of the DCT vehicle to overcome the above technical drawbacks.
Disclosure of Invention
In order to solve the technical problems, the invention provides a gear shifting control method and device for preventing synchronizer from being blocked and a TCU (transmission control unit).
The invention provides a gear shifting control method for preventing synchronizer from being blocked, which comprises the following steps:
the TCU outputs a first instruction to control the shifting fork to act on the condition that whether the vehicle speed is less than the preset vehicle speed is judged;
taking a gear sleeve of the synchronizer at a shifting ring completion point as a judgment condition, outputting a second instruction by the TCU to control a corresponding clutch to output torque until a working parameter of the clutch is a parameter threshold value representing an anti-blocking control point;
and the parameter threshold value of the characteristic anti-clamping control point is used for driving the clutch to determine when the rotating speed of the input shaft of the transmission reaches a preset rotating speed threshold value.
Preferably, based on TCU self-learning logic, the clutch is driven to determine the parameter threshold value representing the anti-sticking control point when the rotating speed of the input shaft of the transmission reaches a preset rotating speed threshold value.
Preferably, the parameter threshold value includes a friction plate pressure threshold value, a displacement threshold value or a flow rate threshold value of the clutch lubricating oil of the clutch.
Preferably, the pressure threshold value, the displacement threshold value and the flow threshold value are each determined by a corresponding variable which drives the odd-even clutch.
Preferably, the gear sleeve of the synchronizer is located at the dial ring completion point, and the gear sleeve is located at the synchronization point for exceeding the preset time to determine.
Preferably, the gear sleeve is located at a synchronization point, and the gear sleeve is determined by taking the condition that the displacement of the gear sleeve is consistent with a preset displacement as a judgment condition.
Preferably, the preset displacement is determined by the gear sleeve displacement when the shifting fork hydraulic control system resistance pushing the gear sleeve disappears based on TCU self-learning logic.
The present invention also provides a shift control device for preventing a synchronizer from being stuck, including:
a detection unit for detecting a vehicle speed of the vehicle;
the command sending unit is used for outputting a first command to control the shifting fork to act when the vehicle speed is less than the preset vehicle speed; and when the gear sleeve of the synchronizer is positioned at a shifting ring completion point, outputting a second instruction to control the corresponding clutch to output torque until the working parameter of the clutch is a parameter threshold value representing an anti-jamming control point;
and the judging unit is used for determining the parameter threshold value of the characteristic anti-clamping stagnation control point by the clutch when the rotating speed of the input shaft of the transmission reaches a preset rotating speed threshold value.
Preferably, the method further comprises the following steps: and the self-learning unit is used for driving the clutch to determine the parameter threshold value representing the anti-jamming control point when the rotating speed of the input shaft of the transmission reaches a preset rotating speed threshold value based on TCU self-learning logic.
Preferably, the parameter threshold value comprises a friction plate pressure threshold value, a displacement threshold value or a flow rate threshold value of clutch lubricating oil of the clutch.
Preferably, the judging unit determines the pressure threshold, the displacement threshold and the flow threshold respectively according to corresponding parameters driving the odd-even clutch.
Preferably, the judging unit determines that the gear sleeve of the synchronizer is located at the ring pulling completion point when the gear sleeve is located at the synchronization point for more than a preset time.
Preferably, the judging unit determines that the gear sleeve is located at a synchronization point when the displacement of the gear sleeve is consistent with a preset displacement.
Preferably, the self-learning unit determines the preset displacement according to the gear sleeve displacement when the shifting fork hydraulic control system resistance of the gear sleeve disappears based on TCU self-learning logic.
The invention also provides a TCU comprising a shift control device as described above that prevents jamming of the synchronizer.
Compared with the prior art, the scheme provides a gear shifting strategy in another way. Specifically, a shifting fork action control command is output by taking whether the vehicle speed is less than a preset vehicle speed as a judgment condition; and then after the synchronizer gear sleeve is positioned at the shifting ring completion point, outputting a command for controlling the output torque of the corresponding clutch, so that the clutch works in a parameter threshold value state of the anti-clamping control point to drive the input shaft of the transmission to rotate at a preset rotating speed threshold value. So set up, under the initial condition of shifting gears statically, can in time start corresponding clutch output torque to drive the input shaft and take place the rotation of trace, effectively solved the condition that the synchronizer prong that probably exists in the in-process of shifting gears apical tooth point, ensure that the tooth cover keeps rotating relatively through the process that combines the tooth, can avoid the jamming phenomenon of shifting of synchronizer completely. Meanwhile, the problems of dynamic lag and self-learning misjudgment are effectively solved.
In a preferred scheme of the invention, the determination of the clutch anti-blocking control point and the shifting ring completion point is carried out based on TCU self-learning logic, specifically, the parameter threshold value of the characteristic anti-blocking control point is determined by the clutch when the rotating speed of the transmission input shaft reaches a preset rotating speed threshold value, and the preset displacement is determined by the gear sleeve displacement when the resistance of a shifting fork hydraulic control system for pushing the gear sleeve disappears. Therefore, the control points are accurately obtained by utilizing a TCU self-learning strategy, the size and assembly difference of the gearbox can be widely adapted, and the method has better adaptability by correcting the hardware deviation and subsequent hardware abrasion.
Drawings
FIG. 1 is a flow chart of a shift control method to prevent synchronizer binding according to an embodiment;
fig. 2 is a block diagram of a shift control device for preventing synchronizer binding according to an embodiment.
In the figure:
the device comprises a detection unit 21, an instruction sending unit 22, a judgment unit 23 and a self-learning unit 24.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
Without loss of generality, the present embodiment is based on the control method flowchart shown in fig. 1, and specifically describes a shift control method for preventing synchronizer from being stuck according to an embodiment of the present invention. It should be understood that the non-static gear shifting control of the existing DCT gearbox is not the core invention point of the present application, and the self-structure of the DCT gearbox and the existing control strategy of the TCU do not constitute a substantial limitation to the technical solution claimed in the present application.
Referring to fig. 1, which is a flowchart of a shift control method for preventing synchronizer from being stuck in the present embodiment, specific operation steps of the shift control for preventing synchronizer from being stuck will be described in detail with reference to fig. 1.
S1: the vehicle speed is detected.
Under normal conditions, gear shifting and jamming can not occur when the vehicle is in a dynamic gear engagement state, so that whether the vehicle needs to start an anti-jamming strategy or not needs to be judged. In specific implementation, whether the vehicle speed is smaller than a preset vehicle speed is taken as a judgment condition to obtain whether the current vehicle is in a static gear shifting state, and a synchronizer starting anti-clamping gear shifting strategy is made according to the static gear shifting state.
The preset vehicle speed may be set according to the matching of specific vehicle types, such as but not limited to 1km/h, or may be smaller. Therefore, the vehicle speed information acquired by the vehicle speed sensor is compared with the preset vehicle speed of 1km/h, and if the vehicle speed is greater than 1km/h, dynamic gear shifting is considered.
It should be noted that, whether the vehicle is in a static state requirement is detected, and in a general case, in a vehicle starting stage, a static state gear engagement requirement exists in a process of switching from a forward D gear to an R gear and switching from the R gear to the D gear. That is, the determination can be made based on the traveling speed of the vehicle in both the D-R and R-D operations of the shift lever.
And when the vehicle speed is less than the preset vehicle speed, the vehicle is in a static gear. S2 may be performed.
S2: the TCU outputs a first command to control the shifting fork to act.
Based on the first command of TCU control shift fork action, the gearbox electrohydraulic control unit receives the TCU command, provides thrust control shift fork and begins the action of shifting gears.
Specifically, the clutch is located at a kiss point (transmission torque is 3 Nm), a hydraulic system applies pressure to push a shifting fork to move, and the shifting ring enters a shifting ring stage after synchronization is completed, wherein the system pressure needs to overcome system resistance; when the gear sleeve slides to the shifting ring completion position, the gear sleeve enters a free sliding stage, and the resistance disappears at the moment to form a shifting ring completion point.
The dial ring completion point is preferably determined by the gear sleeve being located at the synchronization point for more than a preset time, so as to avoid error influence. The preset time is set in a minimum time setting principle, for example, but not limited to, the preset time is about 35ms, and both the judgment accuracy and the user experience can be effectively considered within the scope of the present application. Here, the position of the sleeve gear at the synchronization point may be determined on the condition that the displacement of the sleeve gear coincides with a preset displacement.
In addition, the shifting ring completion point is preferably determined based on TCU self-learning logic, and in specific implementation, the preset displacement is determined by the gear sleeve displacement when the shifting fork hydraulic control system resistance pushing the gear sleeve disappears.
In the scheme, a gear sleeve of the synchronizer is positioned at a shifting ring completion point as a judgment condition, and a control instruction for controlling the output torque of the clutch can be output so as to drive the input shaft to rotate slightly. That is, S3 may be performed after the sleeve gear of the fork control synchronizer reaches the ring pulling completion point.
And S3, outputting a second command by the TCU to control the output torque of the corresponding clutch until the working parameter of the clutch is a parameter threshold value representing the anti-clamping control point.
And characterizing the parameter threshold value of the anti-clamping control point so as to determine the clutch when the rotating speed of the input shaft of the transmission reaches the preset rotating speed threshold value. Therefore, the torque output by the clutch drives the input shaft to rotate slightly, and the functional requirement of anti-clamping stagnation is met. Here, the rotation speed threshold may be preset according to specific requirements, in order to avoid that the rotation speed threshold is too high and is prone to generate abnormal noise, for example, but not limited to, the rotation speed threshold is preset to be 100-300rpm, and the preset rotation speed threshold is preferably 100rpm.
It is well known that due to differences in transmission size and assembly, the drag torque of each transmission shafting is not the same, and the displacements of the various stages of the synchronizer (such as, but not limited to, neutral coast, synchronization point, ring shift, free coast, shift engage, and gear mesh) are not completely uniform. Preferably, the control point of the clutch is determined based on the TCU self-learning logic, and the adaptability of the scheme is improved by correcting the hardware deviation and subsequent hardware abrasion. Specifically, a parameter threshold value representing the anti-blocking control point is determined by the clutch when the rotating speed of the input shaft of the transmission is driven to reach a preset rotating speed threshold value.
It should be noted that the specific parameter threshold value representing the clutch control point may be determined by self-learning by combining two modes of structural pressure and displacement control. Specifically, the parameter threshold may include a pressure threshold or a displacement threshold of a friction plate of the clutch, or a clutch oil flow threshold when the pressure threshold or the displacement threshold is obtained; that is, when the clutch just drives the shafting to rotate, the pressure value or displacement value of the friction plate and the flow of the clutch lubricating oil with the pressure value or displacement value can be determined and recorded as the corresponding parameter threshold value.
The self-learning method is briefly explained using clutch flow as an example. Controlling the flow of the clutch to be kept for 5s from a specific flow value (such as but not limited to 0), detecting whether the rotating speed of the input shaft reaches a preset rotating speed threshold value of 100rpm by using an input shaft rotating speed sensor, if the rotating speed of the input shaft does not reach 100rpm, continuously increasing the flow value until the rotating speed of the input shaft reaches 100rpm, and determining and recording the flow value at the moment as the flow threshold value. It will be appreciated that the aforementioned starting flow rate may be 0, or empirical data may be selected, in particular, for each transmission type, and data that is clearly out of range may be removed by data accumulation.
Of course, for the odd-even clutch, the pressure threshold, the displacement threshold and the flow threshold are respectively determined by corresponding parameters driving the odd-even clutch and recorded in the TCU, and the self-learning of the characteristic clutch control point is realized by the method.
Therefore, the input shaft is driven to slightly rotate by controlling the output torque of the clutch, and the clamping stagnation phenomenon disappears due to relative rotation when the gear sleeve is in a gear combining process.
In order to make the present invention more comprehensible and practical for those skilled in the art, the following describes the corresponding devices of the above-described shift speed control method in detail. Referring to FIG. 2, a block diagram of a shift control device that prevents synchronizer binding is shown.
In the scheme, the gear shifting control device for preventing the synchronizer from being stuck comprises a detection unit 21, an instruction sending unit 22 and a judgment unit 23, wherein the detection unit 21 is used for detecting the speed of a vehicle; the command sending unit 22 is used for outputting a first command to control the shifting fork to act when the vehicle speed is less than the preset vehicle speed; and when the gear sleeve of the synchronizer is positioned at a shifting ring completion point, outputting a second instruction to control the corresponding clutch to output torque until the working parameter of the clutch is a parameter threshold value representing an anti-jamming control point; the judgment unit 23 is configured to determine the parameter threshold value representing the anti-jamming control point by using the clutch when the rotation speed of the transmission input shaft reaches a preset rotation speed threshold value.
Further, the control device further comprises a self-learning unit 24, which is used for driving the clutch to determine the parameter threshold value representing the anti-sticking control point when the rotating speed of the input shaft of the transmission reaches the preset rotating speed threshold value based on the TCU self-learning logic.
The parameter threshold value comprises a pressure threshold value or a displacement threshold value of a friction plate of the clutch, or a clutch lubricating oil flow threshold value when the pressure threshold value or the displacement threshold value is obtained.
Specifically, the judgment unit 23 determines the pressure threshold, the displacement threshold and the flow threshold respectively according to the corresponding parameters driving the odd-even clutch.
Specifically, the judging unit 23 determines that the gear sleeve of the synchronizer is located at the ring-pulling completion point when the gear sleeve is located at the synchronization point for more than a preset time.
Specifically, the determination unit 23 determines that the gear sleeve is located at the synchronization point when the displacement of the gear sleeve coincides with a preset displacement.
The self-learning unit 24 is used for determining the preset displacement according to the gear sleeve displacement when the resistance of the shifting fork hydraulic control system of the gear sleeve disappears on the basis of TCU self-learning logic.
The embodiment of the invention also provides a TCU which comprises the gear shifting control device for preventing the synchronizer from being blocked. It should be noted that, in the above embodiments provided in this embodiment, the main control principle of the TCU is not the core invention point of this application, and therefore, the details are not described herein again.
It will be understood by those skilled in the art that all or part of the steps in the methods of the above embodiments may be implemented by hardware related to instructions of a program, and the program may be stored in a computer readable storage medium, which may include ROM, RAM, magnetic or optical disk, etc.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (15)
1. A shift control method for preventing a synchronizer from being stuck, comprising:
the method comprises the steps that whether the vehicle speed is smaller than a preset vehicle speed is taken as a judgment condition, and when the vehicle speed is smaller than the preset vehicle speed, a TCU outputs a first instruction to control a shifting fork to act;
taking the gear sleeve of the synchronizer at a shifting ring completion point as a judgment condition, outputting a second instruction by the TCU to control the corresponding clutch to output torque until the working parameter of the clutch is a parameter threshold value representing an anti-clamping stagnation control point;
and the parameter threshold value of the characteristic anti-clamping control point is used for driving the clutch to determine when the rotating speed of the input shaft of the transmission reaches a preset rotating speed threshold value.
2. The method for shift control to prevent synchronizer from becoming stuck as set forth in claim 1, wherein said parameter threshold indicative of said anti-sticking control point is determined based on TCU self-learning logic to drive said clutch when a rotational speed of a transmission input shaft reaches a predetermined rotational speed threshold.
3. The shift control method for preventing synchronizer from being stuck according to claim 2, characterized in that said parameter threshold value comprises a friction plate pressure threshold value, a displacement threshold value or a flow rate threshold value of clutch oil of said clutch.
4. A shift control method for preventing synchronizer binding according to claim 3, wherein said friction plate pressure threshold value, said displacement threshold value and said flow rate threshold value of clutch oil are respectively determined by corresponding parameters for driving the odd-even clutch.
5. The shift control method for preventing a synchronizer from being stuck according to claim 2, wherein a sleeve gear of the synchronizer is located at a dial ring completion point, and it is determined that the sleeve gear is located at a synchronization point for more than a preset time.
6. The shift control method for preventing synchronizer from being stuck according to claim 5, wherein the sleeve gear is located at a synchronization point, and the determination is made on the condition that the displacement of the sleeve gear is consistent with a preset displacement.
7. The shift control method for preventing synchronizer from being stuck according to claim 6, wherein the preset displacement is determined by the gear sleeve displacement when the shifting fork hydraulic control system resistance for pushing the gear sleeve disappears based on TCU self-learning logic.
8. Prevent shift control device of synchronous ware jamming, its characterized in that includes:
a detection unit for detecting a vehicle speed of the vehicle;
the command sending unit is used for outputting a first command to control the shifting fork to act when the vehicle speed is less than the preset vehicle speed; and the synchronizer is used for outputting a second instruction to control the corresponding clutch to output torque when the gear sleeve of the synchronizer is positioned at a shifting ring completion point until the working parameter of the clutch is a parameter threshold value representing an anti-blocking control point;
and the judging unit is used for determining the parameter threshold value of the characteristic anti-clamping control point by the clutch when the rotating speed of the input shaft of the transmission reaches a preset rotating speed threshold value.
9. The shift control device that prevents synchronizer jamming according to claim 8, characterized by further comprising: and the self-learning unit is used for driving the clutch to determine the parameter threshold value of the characteristic anti-jamming control point when the rotating speed of the input shaft of the transmission reaches a preset rotating speed threshold value based on TCU self-learning logic.
10. The shift control device for preventing synchronizer jamming according to claim 9, wherein the parameter threshold value includes a friction plate pressure threshold value, a displacement threshold value, or a flow rate threshold value of clutch oil of the clutch.
11. The shift control device for preventing synchronizer from being stuck according to claim 10, wherein said judging unit determines said friction plate pressure threshold value, said displacement threshold value and said flow threshold value of clutch oil, respectively, in accordance with the respective parameters for operating the odd-even clutch.
12. The shift control device for preventing a synchronizer from being stuck according to claim 10, wherein said judging unit determines that the sleeve gear of the synchronizer is located at a ring setting completion point when the sleeve gear is located at a synchronization point for more than a preset time.
13. The shift control device for preventing synchronizer from being stuck according to claim 12, wherein the judging unit determines that the sleeve gear is located at a synchronization point when the displacement of the sleeve gear coincides with a preset displacement.
14. The shift control device for preventing synchronizer from being stuck according to claim 13, wherein the self-learning unit determines the preset displacement based on TCU self-learning logic with the sleeve displacement when the shifting fork hydraulic control system resistance pushing the sleeve disappears.
15. A TCU comprising the shift control device of any one of claims 8-14 to prevent synchronizer sticking.
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| US5389053A (en) * | 1993-07-21 | 1995-02-14 | Eaton Corporation | System and method for sliding clutch engagement under tooth butt or torque lock conditions |
| KR101637753B1 (en) * | 2014-12-01 | 2016-07-07 | 현대자동차주식회사 | The shift control method of a hybrid vehicle for preventing coupling failure the starting gear stage |
| KR20160065617A (en) * | 2014-12-01 | 2016-06-09 | 현대자동차주식회사 | The shift control method for preventing a failed start-stage implementation of the hybrid vehicle |
| CN108150639A (en) * | 2016-12-02 | 2018-06-12 | 上海汽车集团股份有限公司 | Synchronisation control means and device, the automobile of synchronizer |
| CN107246473B (en) * | 2017-08-07 | 2019-05-21 | 安徽江淮汽车集团股份有限公司 | A kind of synchronizer shift fault self-adapting control method |
| CN109237010B (en) * | 2018-09-06 | 2020-08-18 | 南京奥吉智能汽车技术研究院有限公司 | Static gear engaging failure processing method for mechanical automatic transmission of pure electric vehicle |
| CN109707841B (en) * | 2019-01-03 | 2020-07-28 | 海马汽车有限公司 | Fault clearing method and device |
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