CN113464638B - Manual mode gear shifting control method and vehicle - Google Patents

Manual mode gear shifting control method and vehicle Download PDF

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Publication number
CN113464638B
CN113464638B CN202110734551.0A CN202110734551A CN113464638B CN 113464638 B CN113464638 B CN 113464638B CN 202110734551 A CN202110734551 A CN 202110734551A CN 113464638 B CN113464638 B CN 113464638B
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vehicle
wheel
gear
manual mode
control method
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CN113464638A (en
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刘治文
张学锋
杨云波
李岩
王小峰
许健男
吴刚
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FAW Group Corp
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FAW Group Corp
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Priority to PCT/CN2022/094844 priority patent/WO2023273704A1/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/46—Inputs being a function of speed dependent on a comparison between speeds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/50—Inputs being a function of the status of the machine, e.g. position of doors or safety belts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/60—Inputs being a function of ambient conditions
    • F16H59/66—Road conditions, e.g. slope, slippery
    • 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
    • F16H61/16—Inhibiting or initiating shift during unfavourable conditions, e.g. preventing forward reverse shift at high vehicle speed, preventing engine over speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/46—Inputs being a function of speed dependent on a comparison between speeds
    • F16H2059/465—Detecting slip, e.g. clutch slip ratio

Abstract

The invention relates to the technical field of vehicles, in particular to a manual mode gear shifting control method and a vehicle, wherein the manual mode gear shifting control method comprises the following steps: the method comprises the steps that a vehicle runs in a manually controlled M gear, and the wheel speed of an active wheel of the vehicle is acquired as ndObtaining the wheel speed of the driven wheel as np(ii) a Calculating to obtain a wheel speed difference value delta n which is equal to nd‑np(ii) a Judging whether the wheel speed difference value delta n is larger than a wheel difference threshold value delta n or notTIf so, executing a slip control strategy, if not, judging whether the gradient value of the running of the vehicle is larger than a set gradient threshold value within set time, if so, judging whether the change frequency of the running direction of the vehicle is larger than a set change threshold value, if so, forbidding automatic upshift by the automatic transmission, and if not, controlling the automatic transmission according to the set gear-shifting control strategy. The invention can give consideration to dynamic driving and vehicle escaping when the vehicle is in a manual mode, thereby improving the performance of the whole vehicle.

Description

Manual mode gear shifting control method and vehicle
Technical Field
The invention relates to the technical field of vehicles, in particular to a manual mode gear shifting control method and a vehicle.
Background
With the development of the vehicle industry, more and more vehicles enter the field of production and living. In order to reduce the difficulty of shifting gears of drivers, vehicles with automatic speed changing are more and more.
The automatic transmission can automatically shift gears according to the vehicle speed and the input of an accelerator pedal of a driver, and when the driver places a gear shifting handle in a manual mode position, the gear shifting operation of the transmission can be realized according to the input of the driver to the gear shifting handle, namely according to the driving intention of the driver. In general, the manual mode is generally used for subjective intention situations of a driver such as power driving, getting out of trouble, wading and the like. Aiming at the application of escaping from the difficulties, the prior art mainly focuses on limiting the automatic gear-up of the transmission, thereby improving the wheel torque and power and realizing the escaping from the difficulties of the vehicle. However, the prior art only considers the application of the manual mode for escaping from the trouble, and does not consider the application of the driving power of the manual mode; secondly, the prior art focuses on increasing the wheel-side torque and power to achieve vehicle escaping, but when the vehicle is trapped on a road surface with low adhesive force (such as mud pit and snow), the larger wheel-side torque is not beneficial to vehicle escaping. In the prior art, dynamic driving and vehicle escaping cannot be well considered, so that the performance of the whole vehicle is reduced.
Therefore, a manual mode shift control method and vehicle are needed to solve the above technical problems.
Disclosure of Invention
The invention aims to provide a manual mode gear shifting control method which can give consideration to dynamic driving and vehicle escaping when a vehicle is in a manual mode, and improve the performance of the whole vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
a manual mode shift control method comprising the steps of:
s1, the vehicle runs in M gear controlled by hand, and the wheel speed of the driving wheel of the vehicle is acquired as ndObtaining a wheel speed n of a driven wheel of the vehiclep；
S2, calculating to obtain a wheel speed difference delta nd-np；
S3, judgment instituteWhether the wheel speed difference value delta n is larger than the wheel speed difference threshold value delta nTIf yes, executing a slip control strategy, and if not, executing the next step;
s4, judging whether the gradient value of the vehicle running is larger than the set gradient threshold value within the set time, if so, executing the next step;
s5, judging whether the number of times of change of the running direction of the vehicle in the set time is larger than the set change threshold value CountTAnd if the gear shifting control strategy is not set, the automatic transmission is controlled according to the set gear shifting control strategy.
Optionally, in the step S1, the driving wheels are two driving wheels of the vehicle, the driven wheels are two non-driving wheels of the vehicle, and the wheel speed n of the driving wheel isdAnd a wheel speed n of the driven wheelpCan be calculated according to the following equations:
nd＝(nd left+nd right side)/2,
np＝(np left+npdirement (p))/2，
Wherein: n isd left sideThe wheel speed of the left active wheel, nd right sideThe wheel speed of the right driving wheel, np leftThe wheel speed of the left driven wheel, npdirement (p)The wheel speed of the right driven wheel.
Alternatively, in step S3, the slip control strategy is such that the automatic transmission prohibits automatic downshift in the M gear until the wheel speed n of the driving wheeldAnd when the gear is zero, the current gear is still maintained, and the current gear is limited not to be larger than the set gear.
Alternatively, in step S4, if no, it is determined whether the driver steps on the brake pedal, and if yes, the automatic transmission is driven to the wheel speed n of the driving wheel in the M geardWhen 0, the gear is reduced to 1.
Alternatively, if the driver does not step on the brake pedal, the automatic transmission is controlled in the M-range according to the set shift control strategy.
Optionally, the set gear shift control strategy includes manual upshift control and automatic upshift control.
Optionally, a first speed sensor is arranged on the driving wheel to monitor the speed of the driving wheel.
Optionally, a second speed sensor is arranged on the driven wheel to monitor the speed of the driven wheel.
Optionally, a gradient sensor is arranged on the vehicle to monitor the gradient value of the vehicle in the running process.
Another object of the present invention is to provide a vehicle that ensures that the performance of the entire vehicle meets the expected requirements of the driver. In order to achieve the purpose, the invention adopts the following technical scheme:
a vehicle performs manual shift control using the manual mode shift control method as described above.
The invention has the beneficial effects that:
the invention provides a manual mode gear shifting control method, which is characterized in that under a manually controlled M gear, the wheel speed of a driving wheel of a vehicle is detected and obtained to be ndObtaining a wheel speed n of a driven wheel of the vehiclepObtaining a wheel speed difference value delta n according to whether the wheel speed difference value delta n is larger than a wheel difference threshold value delta n or notTIf the gear shifting mode is not the set gear shifting mode, the vehicle is normally controlled according to the set gear shifting mode. Through the mode, the vehicle can be taken into consideration of both the escaping of the vehicle and the dynamic driving when the vehicle is in the manual mode, and the performance of the whole vehicle is improved.
The vehicle provided by the invention is controlled by using the manual mode gear shifting control method, so that the performance of the whole vehicle can be improved, and the performance of the whole vehicle is ensured to meet the expected requirements of a driver.
Drawings
FIG. 1 is a flow chart of a manual mode shift control method of the present invention;
FIG. 2 is a schematic illustration of a shift control strategy set in a manual mode shift control method of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings and the embodiment. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some but not all of the features relevant to the present invention are shown in the drawings.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In order to realize both vehicle escape and dynamic driving and improve the performance of the whole vehicle when the vehicle is in a manual mode, the invention provides a manual mode gear shifting control method as shown in fig. 1. The manual mode gear shifting control method comprises the following steps:
s1, the vehicle runs in M gear controlled by hand, and the wheel speed of the driving wheel of the vehicle is acquired as ndObtaining a wheel speed of a driven wheel of the vehicleIs np；
S2, calculating to obtain a wheel speed difference delta n d-np；
S3, judging whether the wheel speed difference value delta n is larger than the wheel difference threshold value delta n or notTIf yes, executing a slip control strategy, and if not, executing the next step;
s4, judging whether the gradient value of the vehicle running is larger than the set gradient threshold value within the set time, if so, executing the next step;
s5, judging whether the number of times of change of the running direction of the vehicle in the set time is larger than the set change threshold value CountTAnd if the gear shifting control strategy is not set, the automatic transmission is controlled according to the set gear shifting control strategy.
According to whether the wheel speed difference value delta n is larger than the wheel difference threshold value delta n or notTIf the gear shifting mode is not the set gear shifting mode, the vehicle is normally controlled according to the set gear shifting mode. Through the mode, the vehicle can be taken into consideration of both the escaping and the dynamic driving when the vehicle is in the manual mode, and meanwhile, the performance of the whole vehicle can be improved in the face of a wet and slippery road surface.
Alternatively, in step S1, the driving wheels are two driving wheels of the vehicle, the driven wheels are two non-driving wheels of the vehicle, and the wheel speed n of the driving wheels dAnd the wheel speed n of the driven wheelpCan be calculated according to the following equations:
nd＝(nd left+nd right side)/2,
np＝(np left+np right)/2，
Wherein: n isd left sideThe wheel speed of the left active wheel, nd right sideThe wheel speed of the right driving wheel, np leftThe wheel speed of the left driven wheel, npdirement (p)The wheel speed of the right driven wheel. By adopting the mode, the left wheel and the right wheel of the driving wheel of the vehicle can be consideredThe wheel speed and the wheel speeds of the left wheel and the right wheel of the driven wheel ensure that the obtained wheel speed difference Delta n can accurately reflect the actual state of the vehicle.
Alternatively, in step S3, the slip control strategy is to prohibit the automatic transmission from automatically downshifting in the M range until the wheel speed n of the driving wheelsdAnd when the gear is zero, the current gear is still maintained, and the current gear is limited not to be larger than the set gear. Specifically, the wheel speed difference Δ n is larger than the wheel difference threshold Δ nTIf the vehicle speed is higher than the set speed, the driving wheel is in the original place to rotate, the vehicle is in a slipping state at the moment, the road adhesion is smaller, and the automatic downshift is forbidden at the M gear through the automatic transmission until the average wheel speed n of the driving wheeldWhen 0, i.e., when the vehicle is stopped, the current gear is maintained. The problem that when the driver steps on the accelerator again to try to get rid of the trouble after the vehicle is lowered to a low gear, the wheel side torque is large, the driving wheel slip is aggravated, and the vehicle is not beneficial to getting rid of the trouble is solved; meanwhile, the current gear of the automatic transmission is limited not to be larger than the set gear, on one hand, when the vehicle is stopped and the engine is in an idle state, the load applied to the engine by external resistance is not too large, the engine is guaranteed not to be flamed out, on the other hand, the driver is guaranteed to provide certain wheel torque when stepping on the accelerator again to try to get rid of the trouble, and the problem that the driver cannot get rid of the trouble due to the fact that the wheel torque is too small is avoided. Wherein, the set gear can be 3 gears.
Alternatively, in step S4, if no, it is determined whether the driver steps on the brake pedal, and if yes, the automatic transmission is driven at the M gear to the wheel speed n of the driving wheeldWhen 0, down to 1. If the driver steps on the brake pedal, the fact that the vehicle needs to be braked and stopped is proved, at the moment, after the vehicle stops, the automatic transmission is lowered to the 1 gear, the fact that the vehicle has enough starting torque when starting again is guaranteed, the requirement for normal starting of the vehicle is met, and the driving dynamic performance is guaranteed.
Alternatively, if the driver does not step on the brake pedal, the automatic transmission is controlled in the M gear in accordance with the set shift control strategy. Specifically, if the brake pedal is not stepped on, the vehicle is proved to run on a flat road, and at this time, normal running control is performed.
Optionally, the set gear shift control strategy includes manual upshift and downshift control and automatic upshift and downshift control. Specifically, the manual upshift control is to perform an upshift if the driver manually dials the shift lever in the upshift direction at the M position when the running state of the vehicle, i.e., the vehicle speed and the accelerator pedal opening degree, is on the right side of the allowable manual upshift line as shown in fig. 2, in accordance with the driver's intention; the manual downshift control is to execute a downshift if the driver manually dials the shift lever in the M position in the downshift direction when the driving state of the vehicle, i.e., the vehicle speed and the accelerator pedal opening, is on the left of the allowable manual downshift line as shown in fig. 2, according to the driver's intention.
Automatic upshift control, namely executing automatic upshift when the driving state of the vehicle, namely the vehicle speed and the accelerator pedal opening degree, is on the right side of an automatic upshift line as shown in fig. 2, wherein an automatic upshift control strategy is to avoid the situation that the engine and the automatic transmission are possibly damaged due to overhigh engine speed and timely upshift to reduce the engine speed so as to protect the engine and the automatic transmission; the automatic downshift control is that when the driving state of the vehicle, i.e., the vehicle speed and the accelerator pedal opening, are on the left side of the automatic downshift point as shown in fig. 2, an automatic downshift is executed, the automatic downshift point has only 0 accelerator pedal opening, and the automatic 2-gear downshift 1, the automatic 3-gear downshift 2 and the automatic 4-gear downshift 3 are performed in this order from left to right in fig. 2.
The automatic 2-gear 1-gear speed reduction point is 0, the automatic 2-gear 1-gear speed reduction point is matched with a 0-gear speed up-shift line allowing the manual 1-gear 2-gear speed to be used, 2-gear starting of a vehicle can be achieved, excessive wheel-side torque during starting is avoided, the escaping capability of the vehicle under the road working condition with low adhesive force is guaranteed, automatic down-shift control is to avoid the problem that engine flameout possibly occurs due to the fact that the engine speed is too low and the engine load is large at a high gear position, down-shift is timely carried out to enable the engine speed to be improved, the engine torque can be improved, and the engine flameout is avoided. The automatic downshift point is always below the corresponding allowable manual upshift line, i.e. the automatic downshift point is always to the left of the corresponding allowable manual upshift line, e.g. the vehicle speed point for automatic 3-gear downshift is to the left of the vehicle speed point for manual 2-gear upshift 3, to avoid automatic downshift after the driver has manually upshift, i.e. to avoid a gear shift cycle.
Likewise, the manual downshift line is allowed to always be lower than, i.e. to be located to the left of, the corresponding automatic upshift line, e.g. the vehicle speed point for the manual 3-gear downshift 2-gear upshift 3-gear is allowed to be located to the left of the vehicle speed point for the automatic 2-gear upshift 3-gear upshift, in order to avoid a manual downshift by the driver followed by an automatic upshift, i.e. to avoid a shift cycle.
Optionally, a first speed sensor is provided on the active wheel to monitor the speed of the active wheel. Through setting up the rotational speed of first speed sensor real time monitoring initiative wheel, specifically, all be provided with first speed sensor on controlling two initiative wheels, can accurately obtain the fast n of being n of wheel of initiative wheeldTherefore, the working condition of the vehicle is accurately judged.
Optionally, a second speed sensor is provided on the driven wheel to monitor the speed of rotation of the driven wheel. Through setting up the rotational speed of second speed sensor real time monitoring driven wheel, specifically, all be provided with second speed sensor on controlling two driven wheels, can accurately obtain driven wheel's fast n of wheelpTherefore, the working condition of the vehicle is accurately judged.
Optionally, a grade sensor is provided on the vehicle to monitor the grade value of the vehicle during driving. Specifically, a gyroscope may be used to detect a longitudinal inclination of the vehicle during driving, so that whether the vehicle is in an uphill state or in a trap-free condition may be determined, and then the automatic transmission may be instructed to operate.
Since the vehicle can face different road conditions during driving, the vehicle can be on a relatively flat road, can be on a slippery road surface, and even can be trapped in a pit to be relieved. Therefore, when aiming at different working conditions, the automatic transmission is required to be matched with the engine, the normal running of the vehicle is ensured, and the driving experience is improved.
The embodiment also provides a vehicle, and the above manual mode gear shifting control method is used for manual gear shifting control, so that whether the vehicle is in a slipping working condition, a escaping working condition, a braking working condition or a normal operation working condition can be judged, and different controls are performed on the automatic transmission according to different working conditions.
When the automatic transmission is in a slipping working condition, the automatic transmission forbids automatic downshift in the M gear until the wheel speed n of the driving wheeldAnd when the gear is zero, the current gear is still maintained, and the current gear is limited not to be larger than the set gear. Specifically, the wheel speed difference Δ n is larger than the wheel difference threshold Δ nTIf the vehicle speed is higher than the set speed, the driving wheel is in the original place to rotate, the vehicle is in a slipping state at the moment, the road adhesion is smaller, and the automatic downshift is forbidden at the M gear through the automatic transmission until the average wheel speed n of the driving wheeldWhen the gear is 0, namely when the vehicle stops, the current gear is still maintained, so that the situation that the wheel torque is larger, the slipping of the driving wheel is aggravated and the vehicle is not favorable for escaping when a driver steps on the accelerator again to try to escape after the vehicle is lowered to a low gear is avoided; meanwhile, the current gear of the automatic transmission is limited not to be larger than the set gear, on one hand, when the vehicle is stopped and the engine is in an idle state, the load applied to the engine by external resistance is not too large, the engine is guaranteed not to be flamed out, on the other hand, the driver is guaranteed to provide certain wheel torque when stepping on the accelerator again to try to get rid of the trouble, and the problem that the driver cannot get rid of the trouble due to the fact that the wheel torque is too small is avoided. Wherein, the set gear can be 3 gears.
And when the vehicle is in the escaping working condition, the gear is prohibited from being shifted up, and the vehicle is ensured to have enough torque output, so that the vehicle is convenient to escape.
In the braking working condition, the automatic transmission runs to the wheel speed n of the driving wheel at the gear MdWhen 0, down to 1. If a driver steps on a brake pedal, the fact that the vehicle needs to be braked and stopped is proved, at the moment, after the vehicle stops, the automatic transmission is lowered to the 1 gear, the fact that the vehicle has enough starting torque when the vehicle is started again is guaranteed, the need of normal starting of the vehicle is met, and the dynamic performance of driving is guaranteed.
And under a normal driving condition, the automatic transmission is controlled in the M gear according to a set gear shifting control strategy, and specifically, the automatic transmission can be controlled by manual gear lifting or automatic gear lifting.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A manual mode shift control method, comprising the steps of:
s1, the vehicle runs in M gear controlled by hand, and the wheel speed of the driving wheel of the vehicle is acquired as ndObtaining a wheel speed n of a driven wheel of the vehiclep；
S2, calculating to obtain the wheel speed difference delta nd-np；
S3, judging whether the wheel speed difference value delta n is larger than a wheel difference threshold value delta n or notTIf yes, executing a slip control strategy, and if not, executing the next step;
s4, judging whether the gradient value of the vehicle running is larger than the set gradient threshold value within the set time, if so, executing the next step;
s5, judging whether the number of times of the change of the driving direction of the vehicle in the set time is larger than the set change threshold value CountTIf yes, the automatic transmission forbids automatic upshifting, and if not, the automatic transmission controls according to a set gear shifting control strategy.
2. A manual mode shift control method as claimed in claim 1, wherein in step S1, said driving wheels are two driving wheels of the vehicle, said driven wheels are two non-driving wheels of the vehicle, and the wheel speed n of said driving wheels isdAnd a wheel speed n of the driven wheel pCan be calculated according to the following equation:
nd＝(nd left+nd right side)/2,
np＝(np left+npdirement (p))/2，
Wherein: n isd left sideWheel being a left-hand driving wheelSpeed, nd right sideThe wheel speed of the right driving wheel, np leftThe wheel speed of the left driven wheel, npdirement (p)The wheel speed of the right driven wheel.
3. The manual mode shift control method of claim 1, wherein said slip control strategy prohibits an automatic downshift of said automatic transmission in the M gear until the wheel speed n of said driving wheel in step S3dAnd when the gear is zero, the current gear is still maintained, and the current gear is limited not to be larger than the set gear.
4. The manual mode shift control method according to claim 1, wherein in step S4, if no, it is determined whether the driver steps on the brake pedal, and if yes, the automatic transmission is driven to the wheel speed n of the driving wheel in the M geardWhen 0, the gear is reduced to 1.
5. A manual mode shift control method according to claim 4 wherein if the driver does not depress the brake pedal, said automatic transmission is controlled in M gear according to the set shift control strategy.
6. A manual mode shift control method as claimed in claim 1 wherein said set shift control strategy includes manual upshift and downshift control and automatic upshift and downshift control.
7. A manual mode shift control method according to any one of claims 1-6 wherein a first speed sensor is provided on the active wheel to monitor the speed of rotation of the active wheel.
8. A manual mode shift control method according to any one of claims 1 to 6 wherein a second speed sensor is provided on the driven wheel to monitor the speed of rotation of the driven wheel.
9. A manual mode shift control method as claimed in claim 1 wherein a grade sensor is provided on the vehicle to monitor grade values during travel of the vehicle.
10. A vehicle characterized in that a manual shift control is performed using the manual mode shift control method according to any one of claims 1 to 9.
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CN113928322A (en) * 2021-11-26 2022-01-14 中国重汽集团济南动力有限公司 EPS-based vehicle low-speed escaping control method and system and vehicle

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