CN113757350A - Intelligent driving vehicle gear control method and system and automobile - Google Patents
Intelligent driving vehicle gear control method and system and automobile Download PDFInfo
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- CN113757350A CN113757350A CN202110874532.8A CN202110874532A CN113757350A CN 113757350 A CN113757350 A CN 113757350A CN 202110874532 A CN202110874532 A CN 202110874532A CN 113757350 A CN113757350 A CN 113757350A
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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
- F16H59/02—Selector apparatus
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides a method and a system for controlling gears of an intelligent driving vehicle and an automobile, wherein the method comprises the following steps: receiving an automatic driving request signal sent by an automatic driving module, and judging whether the automatic driving request signal meets a preset condition of entering an automatic driving mode or not by the gearbox control module; if so, the gearbox control module requests to receive control of the automatic driving module; receiving a gear request sent by the automatic driving module, controlling the gearbox to switch into an initial gear and feeding back that the vehicle is in an automatic driving mode at present; the current driving working condition in the driving process is obtained through the automatic driving module, and the gear shifting of the gearbox is controlled by the gearbox control module according to the current driving working condition. The heavy vehicle adopting the automatic gearbox control technology of the method disclosed by the embodiment can help enterprises to solve the problems of low logistics transportation efficiency, high labor cost, factory production safety risk and the like of the traditional factory, and further can effectively realize cost reduction and efficiency improvement.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a system for controlling gears of an intelligent driving vehicle and an automobile.
Background
In a huge freight network, logistics transportation with trucks as carriers is the most important link in the whole supply chain, and trucks as terminals are also one of the links with weak current digitization and intellectualization levels, and are of great importance for upgrading of industrial supply chains.
However, most of the existing electric vehicles are single-speed transmissions, which are not suitable for heavy vehicles, and therefore, it is a common research direction of those skilled in the art to develop multi-speed transmissions suitable for heavy vehicles and transmission control based on smart driving.
Disclosure of Invention
Based on the above, the invention aims to provide a gear control method and system for an intelligent driving vehicle and an automobile, so as to provide a control technology of a multi-speed gearbox suitable for a heavy-duty automobile.
One aspect of the present invention provides a method for controlling a gear of an intelligent driving vehicle, which is applied to a transmission control module of a transmission, and the method comprises:
receiving an automatic driving request signal sent by an automatic driving module, and judging whether the automatic driving request signal meets a preset condition of entering an automatic driving mode or not by the gearbox control module;
if so, the gearbox control module requests to receive control of the automatic driving module;
receiving a gear request sent by the automatic driving module, controlling the gearbox to switch into an initial gear and feeding back that the vehicle is in an automatic driving mode at present;
the current driving working condition in the driving process is obtained through the automatic driving module, and the gear shifting of the gearbox is controlled by the gearbox control module according to the current driving working condition.
According to one aspect of the above technical solution, the step of judging whether the transmission control module satisfies a preset condition for entering an automatic driving mode includes:
judging whether the position of a stop lever of the gearbox is at a preset position, judging whether the gearbox has functional faults, judging whether an electronic hand brake is in a release state, and judging whether an electronic stabilizing system has a brake signal.
According to one aspect of the foregoing technical solution, the step of the transmission control module requesting to receive control of the autopilot module specifically includes:
the gearbox control module sends a state which CAN be used for controlling to the automatic driving module through a CAN bus;
the transmission control module requests receipt of control of the autopilot module and awaits transmission of an instruction by the autopilot module to enter autopilot.
According to one aspect of the above technical solution, the step of receiving the gear request sent by the automatic driving module specifically includes:
the gearbox control module receives a gear request sent by the automatic driving module through a CAN bus;
the gearbox control module responds to the gear request and controls the gearbox to switch into an initial gear;
and the gearbox control module sends the current automatic driving state to the CAN bus so as to enter an automatic driving mode.
According to the one hand of above-mentioned technical scheme, obtain the current driving operating mode in the driving process through automatic driving module, gearbox control module is according to the step that current driving operating mode controlled the fender position of gearbox switches specifically includes:
acquiring a current driving working condition in a driving process through the automatic driving module, wherein the current driving working condition at least comprises speed information of a vehicle;
and controlling the gearbox to enter a gearbox gear matched with the current vehicle speed based on the gear shifting logic according to the speed information.
According to an aspect of the foregoing technical solution, the method further includes:
the gearbox gear shifting module controls the gear shifting process of the gearbox to be torque control and at least comprises torque clearing, gear picking, speed regulation, gear engaging and torque returning control processes;
the torque control right of the motor electronic control module is controlled by the gearbox control module in the gear shifting process, and the torque provided by the motor electronic control module follows the torque requirement of the gearbox control module;
the gearbox control module calculates the torque requirement of the automatic driving module in real time, and when the gearbox control module controls the torque returning value of the motor electric control module to be equal to the required value of the automatic driving module, one-time gear shifting is completed;
after gear shifting is completed, the torque control right of the motor electric control module returns the automatic driving module for control, and at the moment, the gearbox control module still calculates the torque requirement of the automatic driving module in real time.
According to an aspect of the foregoing technical solution, the method further includes:
in the automatic driving process, the gearbox control module judges whether the gearbox is subjected to human intervention or not, whether the connection with the automatic driving module is over time or not, whether an electronic hand brake is pulled up emergently or not and whether the gearbox has functional faults or not;
if yes, the gearbox control module controls the gearbox to be switched into a neutral gear, and sends an automatic driving quitting signal to the automatic driving module, and the automatic driving module quits the automatic driving mode and returns the whole vehicle gear control right and the whole vehicle torque control right to the whole vehicle control module.
Another aspect of the present invention is to provide a shift range switching system for an intelligent driving vehicle, the system comprising:
the judgment module is used for receiving an automatic driving request signal sent by the automatic driving module, and the gearbox control module judges whether the gearbox control module meets the preset condition of entering an automatic driving mode;
a request module for the transmission control module to request receipt of control of the autopilot module;
the receiving module is used for receiving the gear request sent by the automatic driving module, controlling the gearbox to switch into an initial gear and feeding back that the vehicle is currently in an automatic driving mode;
and the control module is used for acquiring the current driving working condition in the driving process through the automatic driving module, and the gearbox control module controls the gear switching of the gearbox according to the current driving working condition.
According to an aspect of the foregoing technical solution, the determining module is further configured to:
judging whether the position of a stop lever of the gearbox is at a preset position, judging whether the gearbox has functional faults, judging whether an electronic hand brake is in a release state, and judging whether an electronic stabilizing system has a brake signal.
Yet another aspect of the present invention is to provide an automobile comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned intelligent driving vehicle gear control method when executing the program.
Compared with the prior art, the gear control method, the gear control system and the automobile of the intelligent driving vehicle can control the gearbox to switch into the initial gear and send an automatic driving state to other control units through the gearbox control module, and the gearbox control module can also perform gear control according to actual working condition requirements in the automatic driving process, so that the vehicle is always in the optimal transmission gear.
Drawings
FIG. 1 is a flow chart of a method for controlling a shift of an intelligent driving vehicle according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a shift control system of an intelligent driving vehicle according to a third embodiment of the invention;
the following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The invention aims to provide a control strategy for intelligently driving gears of a 4-gear pure electric gearbox, which is characterized in that interactive control is mainly carried out by a TCU (gearbox control module) in cooperation with a VCU (vehicle control module), an MCU (motor electric control module), an SCU (selector control module), an EPB (electronic parking brake system) and an ADU (automatic driving module), so that emergency working condition processing such as switching of an intelligent driving mode, gear control and faults is realized, smooth gear shifting and automatic safe driving of the whole vehicle are ensured, and a gearbox control technology based on intelligent driving of a multi-speed gearbox of a heavy vehicle is provided.
Referring to fig. 1, a first embodiment of the present invention provides a method for controlling a gear of an intelligent driving vehicle, which is applied to a transmission control module of a transmission, and the method includes steps S10-S40:
step S10, receiving an automatic driving request signal sent by an automatic driving module, and judging whether the gearbox control module meets the preset condition of entering an automatic driving mode or not by the gearbox control module;
before receiving an automatic driving request signal sent by an automatic driving module, a BCM (vehicle body control module) controls a vehicle to be electrified remotely, and modules such as a TCU (including a VCU and an EPB) are in an initial state in a whole vehicle ready state, namely, the TCU cannot enter automatic driving temporarily; when the gearbox control module receives an automatic driving request signal sent by the automatic driving module, the gearbox control module judges whether the self state meets the preset condition of entering an automatic driving mode;
the preset conditions can be whether the position of a stop lever of the gearbox is at a preset position, whether the gearbox has a functional fault or not, whether an electronic hand brake is in a release state or not and whether a brake signal exists in an electronic stability system or not;
when the position of the gear lever of the gearbox is in a preset position (generally, N gear, namely neutral), the gearbox has no functional fault, the electronic hand brake is normally released, and the electronic stability system has no brake signal, the method proceeds to step S20;
step S20, the transmission control module requesting to receive control of the autopilot module;
specifically, the gearbox control module sends a state 0x1, namely Available for control, to the CAN bus to indicate that the control of the automatic driving module CAN be accepted, and waits for the automatic driving module to send an instruction to enter automatic driving;
step S30, receiving a gear request sent by the automatic driving module, controlling the gearbox to switch into an initial gear and feeding back that the vehicle is currently in an automatic driving mode;
specifically, when the automatic driving mode is waited to enter, the automatic driving module sends a gear request 0x5: D to the CAN bus, the gearbox control module receives the gear request and immediately responds to the gear shifting request, controls the gearbox to be engaged in the initial gear 2 (namely D2), and sends a state 0x2: Atuo Drive Active to the CAN bus to indicate that the automatic driving mode is successfully entered, and then the method enters step S40;
and S40, acquiring the current driving condition in the driving process through an automatic driving module, and controlling the gear switching of the gearbox by the gearbox control module according to the current driving condition.
The automatic transmission control module controls gears according to actual working condition requirements of the automatic driving module when the whole vehicle is in an automatic driving state, the gearbox is controlled to be shifted up and down according to gear shifting logic, the initial gear is set to be 2 gears in a default mode, the shifting up comprises a process of 2-3-4 gears, and the shifting down comprises a process of 4-3-2 gears.
By adopting the intelligent driving vehicle gear control method disclosed by the invention, the gearbox control module can control the gearbox to switch into the initial gear and send an automatic driving state to other control units, and in the automatic driving process, the gearbox control module can also carry out gear control according to the requirements of actual working conditions, so that the vehicle is always in the optimal transmission gear.
The second embodiment of the invention provides a gear control method for an intelligent driving vehicle, which comprises the following steps:
the step of the transmission control module requesting to receive control of the autopilot module, in particular comprising steps S21-S22:
step S21, the gearbox control module sends a state available for control to the automatic driving module through a CAN bus;
the above Available control finger Available for control can indicate that there is no factor affecting the entry into the automatic driving mode by sending a status to the automatic driving module.
Step S22, the transmission control module requests to receive control of the autopilot module and waits for the autopilot module to command to enter autopilot.
Specifically, the transmission control module requests control by the autopilot module, and after the autopilot module sends a first control instruction, the transmission control module responds to the control instruction and controls the transmission.
The step of receiving the gear request sent by the automatic driving module specifically comprises the steps S31-S33:
step S31, the gearbox control module receives a gear request sent by the automatic driving module through a CAN bus;
step S32, the gearbox control module responds to the gear request and controls the gearbox to switch into an initial gear;
the starting gear is generally the gear 2 of the gearbox, when the gearbox control module responds to a gear request sent by the automatic driving module, the gearbox control module controls the gearbox to switch into the gear 2, and after the gearbox switches into the gear 2, the vehicle can run.
Step S33, the transmission control module sends the CAN bus that it is currently in an autonomous state to enter an autonomous mode.
After the vehicle enters the automatic driving mode, the gearbox control module sends out the current automatic driving mode through the CAN bus so as to inform other control units that the vehicle is in the automatic driving state.
In this embodiment, the current driving condition during driving is obtained through the automatic driving module, and the step of controlling the gear shift of the transmission by the transmission control module according to the current driving condition specifically includes steps S40-S41:
step S40, acquiring the current driving condition in the driving process through the automatic driving module, wherein the current driving condition at least comprises the speed information of the vehicle;
for example, after a vehicle enters an automatic driving mode, a transmission control unit sends out information that the vehicle is currently in the automatic driving mode through a CAN bus, an environment recognition unit constantly scans road information in the vehicle traveling process (including forward and backward), an automatic driving module calculates a gear requirement corresponding to the current traveling speed by acquiring the road information, the automatic driving module sends a gear shifting instruction to the transmission control module, and the transmission control module controls the transmission to shift up and down.
And step S41, controlling the gearbox to enter a gearbox gear matched with the current vehicle speed based on the gear shifting logic according to the speed information.
When the vehicle runs on a garden road at the speed of 30km \ h, the vehicle is in the direction of travel and turns around, and needs to stop to wait, so that the environment recognition unit can feed back the road information to the automatic driving module, the automatic driving module calculates that the stop waiting needs to be performed with the downshift operation, and the transmission control module controls the transmission to downshift according to the current speed, thereby completing the downshift operation of the transmission.
The above-mentioned shift logic means that the gears of the gearbox correspond to different speed ranges of the vehicle, for example: in this embodiment, the speed range corresponding to the starting gear (i.e. gear 2) is 0-20km \ h, the speed range corresponding to gear 3 is 21-50km \ h, and the speed range corresponding to gear 4 is 51-80km \ h. When the automobile runs at 60km \ h, the gearbox is switched into the 4 th gear.
In this embodiment, the transmission gear shifting module controls the transmission gear shifting process to be torque control, and at least comprises torque clearing, gear picking, speed regulating, gear engaging and torque returning control processes;
the torque control right of the motor electronic control module is controlled by the gearbox control module in the gear shifting process, and the torque provided by the motor electronic control module follows the torque requirement of the gearbox control module;
the gearbox control module calculates the torque requirement of the automatic driving module in real time, and when the gearbox control module controls the torque returning value of the motor electric control module to be equal to the required value of the automatic driving module, one-time gear shifting is completed;
after gear shifting is completed, the torque control right of the motor electric control module returns the automatic driving module for control, and at the moment, the gearbox control module still calculates the torque requirement of the automatic driving module in real time. When the next gear shifting action is controlled, the torque control right can be smoothly handed over in time, and the whole vehicle is not impacted and suspended due to the conditions of torque fluctuation, sudden change and the like.
In this embodiment, the method further includes:
step S50, in the automatic driving process, the gearbox control module judges whether the gearbox has human intervention, whether the connection with the automatic driving module is overtime, whether the electronic hand brake is pulled up emergently and whether the gearbox has functional fault;
when factors influencing automatic driving of the automobile appear in the automatic driving process, in order to timely give the control right of the automobile back to the driver, the method goes to step S51;
and step S51, the gearbox control module controls the gearbox to switch into a neutral gear and sends an automatic driving quitting signal to the automatic driving module, and the automatic driving module quits the automatic driving mode and returns the whole vehicle gear control right and the whole vehicle torque control right to the whole vehicle control module.
When the gearbox control module controls the gearbox to cut into a neutral gear, namely, power cannot be transmitted to a driving wheel by the motor, and the motor cannot continuously output power for the automobile; at the moment, in order to give the control right of the vehicle to the driver, the gearbox control module automatically sends an automatic driving quitting signal to the automatic driving module to request the driver to take over the vehicle, the automatic driving module immediately quits the automatic driving mode after receiving the quitting signal and gives the gear control right and the torque control right of the whole vehicle back to the whole vehicle control module, and then the driver can control the running of the vehicle through the control switch and the gear.
By adopting the intelligent driving vehicle gear control method disclosed by the invention, the gearbox control module can control the gearbox to switch into the initial gear and send an automatic driving state to other control units, and in the automatic driving process, the gearbox control module can also carry out gear control according to the requirements of actual working conditions, so that the vehicle is always in the optimal transmission gear.
Referring to fig. 2, a third embodiment of the present invention provides an intelligent shift switching system for a driving vehicle, including:
the automatic driving control system comprises a judging module 10, a transmission control module and a control module, wherein the judging module is used for receiving an automatic driving request signal sent by an automatic driving module, and the transmission control module judges whether the transmission control module meets a preset condition for entering an automatic driving mode;
before receiving an automatic driving request signal sent by an automatic driving module, a BCM (vehicle body control module) controls a vehicle to be electrified remotely, and modules such as a TCU (including a VCU and an EPB) are in an initial state in a whole vehicle ready state, namely, the TCU cannot enter automatic driving temporarily; when the gearbox control module receives an automatic driving request signal sent by the automatic driving module, the gearbox control module judges whether the self state meets the preset condition of entering an automatic driving mode;
the preset conditions can be whether the position of a stop lever of the gearbox is at a preset position, whether the gearbox has a functional fault or not, whether an electronic hand brake is in a release state or not and whether a brake signal exists in an electronic stability system or not;
a request module 20 for the transmission control module to request receipt of control of the autopilot module;
specifically, the gearbox control module sends a state 0x1, namely Available for control, to the CAN bus to indicate that the control of the automatic driving module CAN be accepted, and waits for the automatic driving module to send an instruction to enter automatic driving;
the receiving module 30 is configured to receive a gear request sent by the automatic driving module, control the transmission to switch into an initial gear, and feed back that the vehicle is currently in an automatic driving mode;
specifically, when the automatic driving mode is waited to enter, the automatic driving module sends a gear request 0x5: D to the CAN bus, the gearbox control module receives the gear request and immediately responds to the gear shifting request, controls the gearbox to be engaged in the initial gear 2 (namely D2), and simultaneously sends a state 0x2: Atuo Drive Active to the CAN bus to indicate that the automatic driving mode is successfully entered;
and the control module 40 is used for acquiring the current driving working condition in the driving process through the automatic driving module, and the gearbox control module controls the gear switching of the gearbox according to the current driving working condition.
The automatic transmission control module controls gears according to actual working condition requirements of the automatic driving module when the whole vehicle is in an automatic driving state, the gearbox is controlled to be shifted up and down according to gear shifting logic, the initial gear is set to be 2 gears in a default mode, the shifting up comprises a process of 2-3-4 gears, and the shifting down comprises a process of 4-3-2 gears.
By adopting the intelligent driving vehicle gear control method disclosed by the invention, the gearbox control module can control the gearbox to switch into the initial gear and send an automatic driving state to other control units, and in the automatic driving process, the gearbox control module can also carry out gear control according to the requirements of actual working conditions, so that the vehicle is always in the optimal transmission gear.
In this embodiment, the determining module is further configured to:
judging whether the position of a stop lever of the gearbox is at a preset position, judging whether the gearbox has functional faults, judging whether an electronic hand brake is in a release state, and judging whether an electronic stabilizing system has a brake signal.
When the gear lever position of the gearbox is in a preset position (generally N gear, namely neutral), functional faults do not exist in the gearbox, the electronic hand brake is normally released, and a braking signal does not exist in the electronic stabilizing system, the condition that the gearbox meets the preset condition for entering an intelligent driving mode can be judged.
A fourth embodiment of the present invention provides an automobile comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor implements the steps of the intelligent driving vehicle gear control method in the above embodiments when executing the program.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for controlling a gear of an intelligent driving vehicle is applied to a gearbox control module of a gearbox, and the method comprises the following steps:
receiving an automatic driving request signal sent by an automatic driving module, and judging whether the automatic driving request signal meets a preset condition of entering an automatic driving mode or not by the gearbox control module;
if so, the gearbox control module requests to receive control of the automatic driving module;
receiving a gear request sent by the automatic driving module, controlling the gearbox to switch into an initial gear and feeding back that the vehicle is in an automatic driving mode at present;
the current driving working condition in the driving process is obtained through the automatic driving module, and the gear shifting of the gearbox is controlled by the gearbox control module according to the current driving working condition.
2. The intelligent driving vehicle gear control method according to claim 1, wherein the step of judging whether the gearbox control module meets the preset condition for entering the automatic driving mode by the gearbox control module comprises the following steps:
judging whether the position of a stop lever of the gearbox is at a preset position, judging whether the gearbox has functional faults, judging whether an electronic hand brake is in a release state, and judging whether an electronic stabilizing system has a brake signal.
3. The intelligent driving vehicle gear control method according to claim 1, wherein the step of the transmission control module requesting to receive control of the automatic driving module specifically comprises:
the gearbox control module sends a state which CAN be used for controlling to the automatic driving module through a CAN bus;
the transmission control module requests receipt of control of the autopilot module and awaits transmission of an instruction by the autopilot module to enter autopilot.
4. The intelligent driving vehicle gear control method according to claim 3, wherein the step of receiving the gear request sent by the automatic driving module specifically comprises:
the gearbox control module receives a gear request sent by the automatic driving module through a CAN bus;
the gearbox control module responds to the gear request and controls the gearbox to switch into an initial gear;
and the gearbox control module sends the current automatic driving state to the CAN bus so as to enter an automatic driving mode.
5. The intelligent driving vehicle gear control method according to claim 1, wherein a current driving condition in a driving process is obtained through an automatic driving module, and the step of controlling the gear switching of the gearbox by the gearbox control module according to the current driving condition specifically comprises the steps of:
acquiring a current driving working condition in a driving process through the automatic driving module, wherein the current driving working condition at least comprises speed information of a vehicle;
and controlling the gearbox to enter a gearbox gear matched with the current vehicle speed based on the gear shifting logic according to the speed information.
6. The intelligent driving vehicle gear control method of claim 5, further comprising:
the gearbox gear shifting module controls the gear shifting process of the gearbox to be torque control and at least comprises torque clearing, gear picking, speed regulation, gear engaging and torque returning control processes;
the torque control right of the motor electronic control module is controlled by the gearbox control module in the gear shifting process, and the torque provided by the motor electronic control module follows the torque requirement of the gearbox control module;
the gearbox control module calculates the torque requirement of the automatic driving module in real time, and when the gearbox control module controls the torque returning value of the motor electric control module to be equal to the required value of the automatic driving module, one-time gear shifting is completed;
after gear shifting is completed, the torque control right of the motor electric control module returns the automatic driving module for control, and at the moment, the gearbox control module still calculates the torque requirement of the automatic driving module in real time.
7. The intelligent driving vehicle gear control method according to any one of claims 1-6, characterized in that the method further comprises:
in the automatic driving process, the gearbox control module judges whether the gearbox is subjected to human intervention or not, whether the connection with the automatic driving module is over time or not, whether an electronic hand brake is pulled up emergently or not and whether the gearbox has functional faults or not;
if yes, the gearbox control module controls the gearbox to be switched into a neutral gear, and sends an automatic driving quitting signal to the automatic driving module, and the automatic driving module quits the automatic driving mode and returns the whole vehicle gear control right and the whole vehicle torque control right to the whole vehicle control module.
8. A smart driving vehicle range shifting system, the system comprising:
the judgment module is used for receiving an automatic driving request signal sent by the automatic driving module, and the gearbox control module judges whether the gearbox control module meets the preset condition of entering an automatic driving mode;
a request module for the transmission control module to request receipt of control of the autopilot module;
the receiving module is used for receiving the gear request sent by the automatic driving module, controlling the gearbox to switch into an initial gear and feeding back that the vehicle is currently in an automatic driving mode;
and the control module is used for acquiring the current driving working condition in the driving process through the automatic driving module, and the gearbox control module controls the gear switching of the gearbox according to the current driving working condition.
9. The intelligent driving vehicle gear control system of claim 8, wherein the determination module is further configured to:
judging whether the position of a stop lever of the gearbox is at a preset position, judging whether the gearbox has functional faults, judging whether an electronic hand brake is in a release state, and judging whether an electronic stabilizing system has a brake signal.
10. An automobile, characterized in that the automobile comprises a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method according to any one of claims 1 to 7 when executing the program.
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