CN115264043A - Automatic synchronous calibration system and method for double gearboxes, vehicle and readable storage medium - Google Patents
Automatic synchronous calibration system and method for double gearboxes, vehicle and readable storage medium Download PDFInfo
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- CN115264043A CN115264043A CN202210723889.0A CN202210723889A CN115264043A CN 115264043 A CN115264043 A CN 115264043A CN 202210723889 A CN202210723889 A CN 202210723889A CN 115264043 A CN115264043 A CN 115264043A
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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
- F16H61/04—Smoothing ratio shift
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Abstract
The application provides a double-gearbox automatic synchronous calibration system and method, a vehicle and a readable storage medium, which belong to the technical field of transmission devices, and the double-gearbox automatic synchronous calibration system comprises: a double gearbox; the acquisition device is arranged on the double gearbox and used for acquiring position data of an original gear and a current gear of the double gearbox; the gearbox control device is connected with the acquisition device and used for calculating the gear shifting time of the double gearbox from the original gear to the current gear according to the position data of the original gear and the current gear of the double gearbox; and the electric control system is connected with the gearbox control device and used for alarming according to the gear shifting time and adjusting the rotating speed of the motor. Through the technical scheme of this application, thereby can promote the gear shift ride comfort through the rotational speed of control motor, reach the purpose of quick gear adjustment. The gear-disengaging difficulty caused by overhigh rotating speed of the motor is avoided.
Description
Technical Field
The application relates to the technical field of transmission devices, in particular to an automatic synchronous calibration system and method for a double-gearbox, a vehicle and a readable storage medium.
Background
With the development of the times, mines are gradually using clean energy. The trend of electric operation is more obvious. The electric mine car has large self weight, large load capacity and complex carrying working condition, and can adapt to various road conditions such as heavy load uphill, heavy load downhill, no-load uphill, no-load downhill and the like. At present, the electric mine car can not be fast adapt to the frequent gear shifting requirement of an operator, is easy to cause untimely gear shifting, and has poor driving smoothness and other experiences.
Disclosure of Invention
The method aims to solve or improve the problems of irregular wetland boundary definition and low accuracy.
Therefore, the first purpose of the application is to provide an automatic synchronous calibration system for a double gearbox.
A second object of the present application is to provide a vehicle.
The third purpose of the application is to provide an automatic synchronous calibration method for the double gearboxes.
A fourth objective of the present application is to provide an automatic synchronous calibration system for dual gearboxes.
A fifth object of the present application is to provide a readable storage medium.
To achieve the first objective of the present application, the technical solution of the first aspect of the present invention provides an automatic synchronous calibration system for a dual gearbox, including: a motor; the double-gearbox is connected with the motor; the acquisition device is arranged on the double-gearbox and used for acquiring position data of an original gear and a current gear of the double-gearbox; the gearbox control device is connected with the acquisition device and used for calculating the gear shifting time of the double gearbox from the original gear to the current gear according to the position data of the original gear and the current gear of the double gearbox; and the electric control system is respectively connected with the gearbox control device and the motor and is used for alarming according to the gear shifting time and adjusting the rotating speed of the motor.
According to the application, the automatic synchronous calibration system for the double gearboxes comprises a motor, the double gearboxes, a collecting device, a gearbox control device and an electric control system. The double gearboxes are used for shifting gears of the vehicle, and the vehicle can be a pure electric mining dump truck. The acquisition device is arranged on the double-gearbox, and can acquire position data of an original gear and a current gear of the double-gearbox, so that the intention of an operator is judged. And the gearbox control device calculates the gear shifting time of the double gearbox from the original gear to the current gear according to the position data of the original gear and the current gear of the double gearbox. The electric control system gives an alarm according to the gear shifting time, adjusts the rotating speed of the motor, reduces the rotating speed of the motor during downshifting, and then the gearbox control device controls the double gearboxes to shift gears. Data are collected through the collecting device, the gearbox control device compares the original gear point with the existing gear point, the gear shifting time of the main box and the auxiliary box is calculated, a limiting strategy is adopted for the rotating speed of the motor, the problem of gear disengaging difficulty caused by overhigh rotating speed of the motor can be avoided, the gear shifting smoothness is improved, and the purpose of rapid gear adjustment is achieved.
In addition, the technical scheme provided by the application can also have the following additional technical characteristics:
in the technical scheme, the double gearbox comprises a main box and an auxiliary box, and the gearbox control device is used for calculating the gear shifting time of the main box and the auxiliary box from an original gear to a current gear.
In the technical scheme, the double gearbox comprises a main box and an auxiliary box, and the gearbox control device can calculate the gear shifting time of the main box and the auxiliary box from an original gear to a current gear according to position data of the original gear and the current gear of the main box and the auxiliary box. After the electric control system reduces the rotating speed of the motor, the transmission control device controls the main box and the auxiliary box to shift gears.
In the above technical solution, the dual transmission further includes a shift mechanism, and the shift mechanism is configured to shift gears in response to a shift command.
In this solution, the twin gearbox further comprises a gear shift mechanism which is able to shift gears in response to a gear shift command from the gearbox control means.
In the above technical scheme, the double-gearbox automatic synchronous calibration system further comprises an alarm device, and the alarm device is connected with the electric control system and used for alarming.
In the technical scheme, the double-gearbox automatic synchronous calibration system further comprises an alarm device, when the gearbox control device calculates the gear shifting time of the double gearbox from the original gear to the current gear according to the position data of the original gear and the current gear of the double gearbox, the electric control system receives an alarm signal of the gearbox control device and controls the alarm device to give an alarm, so that a driver is reminded.
Among the above-mentioned technical scheme, collection system includes position sensor, and position sensor locates on the gearshift for gather the position data of current gear.
In this technical scheme, collection system includes position sensor, and position sensor locates on the gearshift, through position sensor, can gather the position data of current gear to can calculate the time of shifting that double-speed case shifted to current gear from former gear.
To achieve the second object of the present application, a technical solution of a second aspect of the present application provides a vehicle including: the automatic synchronous calibration system for the double-gearbox according to any one of the technical schemes in the first aspect of the application.
According to the vehicle provided by the technical scheme of the present application, the dual gearbox automatic synchronization calibration system according to any one of the first aspect of the present application is included, so that the vehicle has all the beneficial effects of the dual gearbox automatic synchronization calibration system according to any one of the first aspect of the present application, and details are not repeated herein.
In order to achieve the third objective of the present application, a technical solution of the third aspect of the present application provides an automatic synchronization calibration method for a dual transmission, including: acquiring position data of original gears and current gears of the double-gearbox through an acquisition device; calculating the gear shifting time of the double gearbox from the original gear to the current gear according to the position data of the original gear and the current gear of the double gearbox through a gearbox control device; the rotation speed of the motor is adjusted according to the gear shifting time through an electric control system; and controlling the double speed changing boxes to shift gears.
According to the automatic synchronous calibration method of the double-gearbox, the position data of the original gear and the current gear of the double-gearbox are obtained through the acquisition device, then the gear shifting time of the double-gearbox from the original gear to the current gear is calculated through the gearbox control device according to the position data of the original gear and the current gear of the double-gearbox, finally the electric control system is used for adjusting the rotating speed of the motor according to the gear shifting time, and the gearbox control device controls the main box and the auxiliary box of the double-gearbox to shift gears. Data are collected through the collecting device, the gearbox control device compares the original gear point with the existing gear point, the gear shifting time of the main box and the auxiliary box is calculated, a limiting strategy is adopted for the rotating speed of the motor, the problem of gear shifting difficulty caused by overhigh rotating speed of the motor can be avoided, the gear shifting smoothness is improved, and the purpose of rapid gear adjustment is achieved.
In the above technical solution, before the electric control system adjusts the rotation speed of the motor according to the gear shifting time of the dual gearbox, the method further comprises: and an electric control system is used for alarming according to the gear shifting time.
In the technical scheme, before the electric control system adjusts the rotating speed of the motor according to the gear shifting time of the double-gearbox, the electric control system controls the alarm device to give an alarm according to the gear shifting time, so that a driver is reminded.
To achieve the fourth objective of the present application, a technical solution of a fourth aspect of the present application provides an automatic synchronization calibration system for a dual transmission, including: the automatic synchronous calibration method for the double gearbox comprises a memory and a processor, wherein a program or an instruction which can be run on the processor is stored in the memory, and the processor realizes the steps of the automatic synchronous calibration method for the double gearbox in any one of the third technical scheme when executing the program or the instruction, so that the method has the technical effects of any one of the third technical scheme and is not described herein again.
In order to achieve the fifth object of the present application, in the fifth aspect of the present application, a readable storage medium is provided, where a program or an instruction is stored, and when the program or the instruction is executed by a processor, the step of the method for calibrating double-gearbox automatic synchronization according to any one of the third aspect of the present application is implemented, so that the method has the technical effect of any one of the above third aspect of the present application, and details of the method are not repeated here.
Additional aspects and advantages of the present application will be set forth in part in the description which follows, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic block diagram of a dual transmission automatic synchronization calibration system according to an embodiment of the present application;
FIG. 2 is a schematic block diagram of a dual transmission automatic synchronization calibration system according to another embodiment of the present application;
FIG. 3 is a block diagram schematic of a vehicle according to an embodiment of the present application;
FIG. 4 is a schematic block diagram of a dual transmission automatic synchronous calibration system according to another embodiment of the present application;
FIG. 5 is a flowchart illustrating steps of a method for calibrating dual transmission automatic synchronization according to an embodiment of the present application;
FIG. 6 is a flowchart illustrating steps of a method for calibrating dual transmissions in an automatic synchronization according to an embodiment of the present application;
FIG. 7 is a flowchart illustrating steps of a method for calibrating dual transmissions in an automatic synchronization manner according to an embodiment of the present application.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 4 is:
10: an automatic synchronous calibration system of the double-gearbox; 100: a motor; 110: a double gearbox; 120: a collection device; 130: a transmission control device; 140: an electronic control system; 150: an alarm device; 20: a vehicle; 300: a memory; 400: a processor.
Detailed Description
In order that the above objects, features and advantages of the present application can be more clearly understood, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.
The following describes a double-gearbox automatic synchronous calibration system and method, a vehicle and a readable storage medium according to some embodiments of the application with reference to fig. 1 to 7.
As shown in fig. 1, an embodiment of the first aspect of the present application provides a dual gearbox automatic synchronization calibration system 10, which includes a motor 100, a dual gearbox 110, a collection device 120, a gearbox control device 130, and an electronic control system 140. Specifically, a double gearbox 110 is connected to the electric machine 100. The collecting device 120 is disposed on the dual gearbox 110 and is configured to obtain position data of an original gear and a current gear of the dual gearbox 110. The gearbox control device 130 is connected to the acquisition device 120, and is configured to calculate, according to the position data of the original gear and the current gear of the dual gearbox 110, a gear shifting time for shifting the dual gearbox 110 from the original gear to the current gear. The electronic control system 140 is connected to the transmission control device 130 and the motor 100, respectively, and the electronic control system 140 is configured to alarm and adjust the rotation speed of the motor 100 according to the shift time.
The automatic synchronous calibration system 10 for the double gearbox provided by the embodiment comprises a motor 100, a double gearbox 110, a collecting device 120, a gearbox control device 130 and an electric control system 140. The double gearbox 110 is used for shifting gears of the vehicle 20, and the vehicle 20 can be a pure electric mining dump truck. The collecting device 120 is arranged on the double-gearbox 110, and can obtain position data of an original gear and a current gear of the double-gearbox 110, so that the intention of an operator is judged. The transmission control device 130 calculates the gear shifting time of the dual transmission 110 from the original gear to the current gear according to the position data of the original gear and the current gear of the dual transmission 110. The electronic control system 140 alarms according to the shift time, adjusts the rotation speed of the motor 100, reduces the rotation speed of the motor 100 during downshift, and then the transmission control device 130 controls the double transmission 110 to shift gears. Data are collected through the collecting device 120, the gearbox control device 130 compares the original gear point with the existing gear point, gear shifting time of the main box and the auxiliary box is calculated, a limiting strategy is adopted for the rotating speed of the motor 100, the problem of gear shifting difficulty caused by overhigh rotating speed of the motor 100 can be avoided, gear shifting smoothness is improved, and the purpose of rapid gear adjustment is achieved.
Further, the dual gearbox 110 includes a main box and an auxiliary box, and the gearbox control device 130 can calculate the shifting time of the main box and the auxiliary box from the original gear to the current gear according to the position data of the original gear and the current gear of the main box and the auxiliary box. After the electronic control system 140 reduces the rotation speed of the motor 100, the transmission control device 130 controls the main box and the auxiliary box to shift gears.
In the above embodiment, dual gearbox 110 further includes a shift mechanism that is capable of shifting in response to a shift command from gearbox control device 130. The acquisition device 120 comprises a position sensor, the position sensor is arranged on the gear shifting mechanism, and the position data of the current gear can be acquired through the position sensor, so that the gear shifting time of the double gearbox 110 from the original gear to the current gear can be calculated.
As shown in fig. 2, in some embodiments, the dual gearbox automatic synchronization calibration system 10 further includes an alarm device 150, and when the gearbox control device 130 calculates the gear shifting time of the dual gearbox 110 from the original gear to the current gear according to the position data of the original gear and the current gear of the dual gearbox 110, the electronic control system 140 receives an alarm signal from the gearbox control device 130 and controls the alarm device 150 to alarm, so as to remind the driver.
As shown in fig. 3, an embodiment of the second aspect of the present application provides a vehicle 20 including the dual transmission automatic synchronization calibration system 10 according to any one of the embodiments described above.
According to the embodiment of the present application, a vehicle 20 is provided, which includes the dual transmission automatic synchronization calibration system 10 according to any of the embodiments described above, so that it has all the benefits of the dual transmission automatic synchronization calibration system 10 according to any of the embodiments described above, and therefore, the details are not repeated herein. The vehicle 20 may be a pure electric mining dump truck.
As shown in fig. 5, an embodiment of a third aspect of the present application provides an automatic synchronous calibration method for a dual transmission, including the following steps:
step S102: acquiring position data of an original gear and a current gear of a double-gearbox through an acquisition device;
step S104: calculating the gear shifting time of the double gearbox from the original gear to the current gear according to the position data of the original gear and the current gear of the double gearbox by using a gearbox control device;
step S106: the rotation speed of the motor is adjusted according to the gear shifting time through an electric control system;
step S108: and controlling the double speed changing boxes to shift gears.
According to the automatic synchronous calibration method for the double-gearbox provided by the embodiment, firstly, the position data of the original gear and the current gear of the double-gearbox are obtained through the acquisition device, then the gear shifting time of the double-gearbox from the original gear to the current gear is calculated through the gearbox control device according to the position data of the original gear and the current gear of the double-gearbox, finally, the electric control system is used for adjusting the rotating speed of the motor according to the gear shifting time, and the gearbox control device is used for controlling the main box and the auxiliary box of the double-gearbox to shift gears. Data are collected through the collecting device, the gearbox control device compares the original gear point with the existing gear point, the gear shifting time of the main box and the auxiliary box is calculated, a limiting strategy is adopted for the rotating speed of the motor, the problem of gear shifting difficulty caused by overhigh rotating speed of the motor can be avoided, the gear shifting smoothness is improved, and the purpose of rapid gear adjustment is achieved.
As shown in fig. 6, an embodiment of the third aspect of the present application provides another method for calibrating dual gearbox automatic synchronization, including the following steps:
step S202: acquiring position data of an original gear and a current gear of a double-gearbox through an acquisition device;
step S204: calculating the gear shifting time of the double gearbox from the original gear to the current gear according to the position data of the original gear and the current gear of the double gearbox by using a gearbox control device;
step S206: alarming according to the gear shifting time through an electric control system;
step S208: the rotation speed of the motor is adjusted according to the gear shifting time through an electric control system;
step S210: and controlling the double speed changing boxes to shift gears.
In the embodiment, before the electronic control system adjusts the rotating speed of the motor according to the gear shifting time of the double gearbox, the electronic control system controls the alarm device to give an alarm according to the gear shifting time, so that a driver is reminded.
As shown in fig. 4, an embodiment of a fourth aspect of the present application provides a dual gearbox automatic synchronization calibration system 10, including: the memory 300 and the processor 400, where the memory 300 stores a program or an instruction that can be executed on the processor 400, and the processor 400 implements the steps of the double transmission automatic synchronization calibration method in any embodiment of the third aspect when executing the program or the instruction, so that the technical effects of any embodiment of the third aspect are achieved, and are not described herein again.
An embodiment of the fifth aspect of the present application provides a readable storage medium, where a program or an instruction is stored, and the program or the instruction, when executed by a processor, implements the steps of the double transmission automatic synchronization calibration method according to any one of the embodiments of the third aspect, so that the technical effects of any one of the embodiments of the third aspect are achieved, and details are not described herein again.
As shown in fig. 5 to 7, according to the automatic synchronous calibration method for the dual gearbox of the embodiment provided by the application, in order to solve the problems of unsmooth gear shifting and mechanism locking caused by frequent gear shifting of an operator by the dual gearbox, data are collected by the collection device, the TCU compares the original gear position point with the current gear position point, the gear shifting time of the main box and the auxiliary box is calculated, a restriction strategy is adopted for the rotating speed of the motor, and the problem of gear shifting difficulty caused by overhigh rotating speed of the motor is avoided.
As shown in fig. 7, the method for calibrating the automatic synchronization of the dual transmission comprises the following steps:
step S302: the acquisition device acquires data;
step S304: TCU calculation and comparison;
step S306: VCU alarm;
step S308: the VCU adjusts the rotating speed of the motor and reduces the rotating speed.
Step S310: and the main box and the auxiliary box shift gears.
To sum up, the beneficial effects of the embodiment of the application are as follows:
1. the intention of the operator is judged by the acquisition device.
2. The purpose of adjusting the gears quickly is achieved by controlling the rotating speed of the generator through software.
3. The rotating speed of the generator is controlled through software, so that the gear shifting smoothness is improved.
4. The gear is shifted quickly by adding a self-learning function.
In this application, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means 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 application. 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 description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An automatic synchronous calibration system for a double-gearbox is characterized by comprising:
an electric machine (100);
a double gearbox (110) connected to the motor (100);
the acquisition device (120) is arranged on the double gearbox (110) and used for acquiring position data of an original gear and a current gear of the double gearbox (110);
the gearbox control device (130) is connected with the acquisition device (120) and used for calculating the gear shifting time of the double gearbox (110) from an original gear to a current gear according to the position data of the original gear and the current gear of the double gearbox (110);
and the electric control system (140) is respectively connected with the gearbox control device (130) and the motor (100), and the electric control system (140) is used for alarming according to the gear shifting time and adjusting the rotating speed of the motor (100).
2. The dual gearbox automatic synchronous calibration system of claim 1,
the double gearbox (110) comprises a main box and an auxiliary box, and the gearbox control device (130) is used for calculating the shifting time of the main box and the auxiliary box from the original gear to the current gear.
3. The dual gearbox automatic synchronization calibration system of claim 1, characterized in that the dual gearbox (110) further comprises a shift mechanism for shifting in response to a shift command.
4. The dual gearbox automatic synchronous calibration system according to claim 1, further comprising an alarm device (150), wherein the alarm device (150) is connected to the electronic control system (140) for alarming.
5. The dual gearbox automatic synchronous calibration system of claim 3,
the acquisition device (120) comprises a position sensor, and the position sensor is arranged on the gear shifting mechanism and used for acquiring position data of a current gear.
6. A vehicle, characterized by comprising:
the double-gearbox automatic synchronous calibration system as recited in any one of claims 1 to 5.
7. An automatic synchronous calibration method for a double-gearbox is characterized by comprising the following steps:
acquiring position data of an original gear and a current gear of a double-gearbox through an acquisition device;
calculating the gear shifting time of the double gearbox from the original gear to the current gear according to the position data of the original gear and the current gear of the double gearbox by a gearbox control device;
adjusting the rotating speed of the motor according to the gear shifting time through an electric control system;
and controlling the double gearbox to shift gears.
8. The method for calibrating the automatic synchronization of the double gearbox according to claim 7, before the step of adjusting the rotation speed of the motor according to the gear shifting time of the double gearbox by the electronic control system, further comprising the following steps:
and alarming according to the gear shifting time through an electric control system.
9. An automatic synchronous calibration system for a double-gearbox is characterized by comprising:
memory (300) and a processor (400), wherein the memory (300) has stored thereon a program or instructions executable on the processor (400), the processor (400) when executing the program or instructions implementing the steps of the dual gearbox auto-synchronous calibration method according to claim 7 or 8.
10. A readable storage medium, on which a program or instructions are stored, characterized in that said program or instructions, when executed by a processor, implement the steps of a double gearbox automatic synchronization calibration method according to claim 7 or 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210723889.0A CN115264043A (en) | 2022-06-24 | 2022-06-24 | Automatic synchronous calibration system and method for double gearboxes, vehicle and readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210723889.0A CN115264043A (en) | 2022-06-24 | 2022-06-24 | Automatic synchronous calibration system and method for double gearboxes, vehicle and readable storage medium |
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| CN115264043A true CN115264043A (en) | 2022-11-01 |
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| CN202210723889.0A Pending CN115264043A (en) | 2022-06-24 | 2022-06-24 | Automatic synchronous calibration system and method for double gearboxes, vehicle and readable storage medium |
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| US20140171263A1 (en) * | 2011-08-11 | 2014-06-19 | Zf Friedrichshafen Ag | Method for shift control of an automated group gear |
| CN103062391A (en) * | 2013-01-18 | 2013-04-24 | 重庆青山工业有限责任公司 | Control method for gear preselection of dual clutch transmission |
| US20150260280A1 (en) * | 2013-01-18 | 2015-09-17 | Toyota Jidosha Kabushiki Kaisha | Shift control device and shift control method for vehicle |
| DE102019219966B3 (en) * | 2019-12-18 | 2021-05-27 | Zf Friedrichshafen Ag | Method for shift control of an automated group transmission |
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