CN115773363A - Gear self-learning method and device based on electronic gear shifting, vehicle and medium - Google Patents
Gear self-learning method and device based on electronic gear shifting, vehicle and medium Download PDFInfo
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Abstract
The invention discloses a gear self-learning method and device based on electronic gear shifting, a vehicle and a medium. The method comprises the following steps: when the whole vehicle is off-line, receiving a gear shifting driving force output by a gear shifting actuator controller according to a target gear calibration instruction; the target gear calibration instruction comprises a parking gear calibration instruction and a non-parking gear calibration instruction; determining an initial self-learning position according to the gear shifting driving force and a theoretical angle difference value corresponding to the target gear calibration instruction, and determining a gear position to be selected at a balance force point in a current swing path by taking the initial self-learning position as a starting point; and determining a theoretical gear range of the current vehicle target gear according to the target tolerance value of the current vehicle, and taking the gear position to be selected meeting the theoretical gear range as the target gear position. According to the technical scheme, the gear position of the gearbox can be accurately adjusted in a self-adaptive manner, and the accuracy of the gear position is improved.
Description
Technical Field
The invention relates to the technical field of automobile gears, in particular to a gear self-learning method and device based on electronic gear shifting, a vehicle and a medium.
Background
With the rapid development in the automobile field, the gear position of the gearbox is accurately calibrated, and the accuracy of the gear position in the use process of a vehicle is ensured, which is particularly important.
In the prior art, for a Transmission based on a Dual Clutch Transmission (DCT), the Transmission is generally required to have a gear sensor, and gear calibration is performed when the entire vehicle goes offline based on a gear signal of an automatic Transmission Control Unit (TCU). However, in the case of a transmission without a gear sensor, gear calibration cannot be performed normally, and accuracy of the gear position is reduced. Therefore, how to accurately perform self-adaptive adjustment on the gear position of the gearbox and improve the accuracy of the gear position is a problem to be solved urgently at present.
Disclosure of Invention
The invention provides a gear self-learning method, a gear self-learning device, a vehicle and a medium based on electronic gear shifting, which can accurately perform self-adaptive adjustment on the gear position of a gearbox and improve the accuracy of the gear position.
According to one aspect of the invention, a gear self-learning method based on electronic gear shifting is provided, and comprises the following steps:
when the whole vehicle is off-line, receiving a gear shifting driving force output by a gear shifting actuator controller according to a target gear calibration instruction; the target gear calibration instruction comprises a parking gear calibration instruction and a non-parking gear calibration instruction;
determining an initial self-learning position according to the gear shifting driving force and a theoretical angle difference value corresponding to the target gear calibration instruction, and determining a gear position to be selected at a balance force point in the current swing path by taking the initial self-learning position as a starting point;
and determining a theoretical gear range of the current vehicle target gear according to the target tolerance value of the current vehicle, and taking the gear position to be selected meeting the theoretical gear range as the target gear position.
According to another aspect of the invention, a gear self-learning device based on electronic gear shifting is provided, which comprises:
the driving force receiving module is used for receiving the gear shifting driving force output by the gear shifting actuator controller according to the target gear calibration instruction when the whole vehicle is off-line; the target gear calibration instruction comprises a parking gear calibration instruction and a non-parking gear calibration instruction;
the gear position determination module to be selected is used for determining an initial self-learning position according to the gear shifting driving force and a theoretical angle difference value corresponding to the target gear calibration instruction, and determining the position of the gear to be selected which is located at a balance force point in the current swing path by taking the initial self-learning position as a starting point;
and the target gear position determining module is used for determining a theoretical gear range of a target gear of the current vehicle according to the target tolerance value of the current vehicle, and taking the gear position to be selected meeting the theoretical gear range as the target gear position.
According to another aspect of the present invention, there is provided a vehicle including:
a shift actuator, a shift actuator controller; and
a memory communicatively coupled to the at least one shift actuator; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one shift actuator to enable the at least one shift actuator to perform the electronic shift-based gear self-learning method of any embodiment of the present invention.
According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for implementing a shift actuator to perform a gear self-learning method based on electronic shifting according to any embodiment of the present invention.
According to the technical scheme of the embodiment of the invention, when the whole vehicle is off-line, an initial self-learning position is determined according to a gear shifting driving force output by a gear shifting actuator controller according to a target gear calibration instruction and a theoretical angle difference value corresponding to the target gear calibration instruction, and a gear to be selected at a balance force point in a current swing path is determined by taking the initial self-learning position as a starting point; finally, the theoretical gear range of the target gear of the current vehicle is determined according to the target tolerance value of the current vehicle, the gear position to be selected meeting the theoretical gear range is used as the target gear position, the problem of low accuracy of the gear position is solved, the gear position of the gearbox is accurately adjusted in a self-adaptive mode, and the accuracy of the gear position is improved.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an architecture of an electronic gear shifting system based on a DCT transmission provided according to the prior art;
FIG. 2 is a flowchart of a gear self-learning method based on electronic gear shifting according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a shift structure provided in accordance with an embodiment of the present invention;
FIG. 4 is a flowchart of a gear self-learning method based on electronic gear shifting according to a second embodiment of the present invention;
FIG. 5 is a schematic diagram of a target gear position calibration principle provided by a second embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a gear self-learning device based on electronic gear shifting provided by a third embodiment of the invention;
FIG. 7 is a schematic structural diagram of a vehicle implementing the electronic shift-based gear self-learning method of the embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
FIG. 1 is a schematic diagram of an architecture of an electronic shift system based on a DCT transmission provided according to the prior art; the gear shifter is used for acquiring the gear shifting intention of a driver and sending the position information of a gear lever to a Controller Area Network (CAN) bus; the gear shifting actuator controller is used for receiving the gear lever position and parking (Park, P) key information on the CAN and generating a target gear, driving the gear shifting actuator to realize switching between the P gear and the Neutral (N) gear on one hand, and sending a target gear request comprising a Reverse (R) gear, a Drive (D) gear and an N gear to the gearbox controller on the other hand; the gear shifting actuator is arranged on the DCT transmission case to realize PN gear shifting of the transmission case; and the gearbox controller is used for receiving the RND signal sent by the gear shifting actuator controller and realizing RND gear shifting.
The existing gear learning method needs a gearbox to be provided with a PRND gear sensor, and gear calibration is carried out when a whole vehicle is off-line based on a gear signal of a TCU. However, since the DCT transmission eliminates the gear sensor, the existing calibration method cannot be implemented if the gear position of the DCT transmission is calibrated. In order to solve the problem of accurate calibration of the gear position of a DCT (discrete cosine transformation) gearbox, the embodiment of the invention provides a gear self-learning method based on electronic gear shifting.
Example one
Fig. 2 is a flowchart of an electronic shift-based gear self-learning method according to an embodiment of the present invention, which is applicable to a case of adaptively calibrating a gear position of a transmission, and the method may be executed by an electronic shift-based gear self-learning device, which may be implemented in hardware and/or software, and may be configured in a vehicle. As shown in fig. 2, the method includes:
s110, receiving a gear shifting driving force output by a gear shifting actuator controller according to a target gear calibration instruction when the whole vehicle is off-line; the target gear calibration instruction comprises a parking gear calibration instruction and a non-parking gear calibration instruction.
The whole vehicle offline can indicate a state that the delivery can be carried out after the vehicle leaves the assembly production line. The target gear can refer to a gear needing gear position calibration. The target gear calibration instruction can refer to a calibration starting instruction issued by the whole vehicle offline device to the gear shifting actuator controller according to the gear name required to be calibrated currently. The parking gear calibration instruction may be an instruction for performing gear calibration on a parking gear. The non-parking gear calibration command may refer to a command for performing gear calibration on a non-parking gear, such as an R gear or a D gear.
The gear shifting driving force can refer to a driving force which controls the whole vehicle to swing to a target gear from a down-line gear, such as an N gear, and can ensure that gear shifting cannot be performed. Fig. 3 is a schematic structural diagram of a shifting structure provided by an embodiment of the invention; specifically, the gear shifting actuator drives the fan plate through rotating the gear shifting shaft, the positioning plate spring is pressed into a groove of the fan plate, and the position calibration of the parking gear or the non-parking gear is obtained. Therefore, when the gear position of the gearbox is calibrated, a gear shifting driving force needs to be applied to the gear shifting actuator so as to fix the current gear as the target gear needing to be calibrated in the gear position, and an effective basis is provided for a subsequent calibration and adjustment process.
And S120, determining an initial self-learning position according to the gear shifting driving force and a theoretical angle difference value corresponding to the target gear calibration instruction, and determining a gear position to be selected at a balance force point in the current swing path by taking the initial self-learning position as a starting point.
The theoretical angle difference may refer to a theoretical angle difference between the N gear and the P gear or the non-P gear. The initial self-learning position may refer to an initial P-range position or a non-P-range position determined from the theoretical angle difference. The current oscillation path may refer to a path through which the gear of the shift actuator oscillates from the initial self-learned position. The balance force point may refer to a point at which a gear of the gearbox is in equilibrium in the sector. The candidate gear position may refer to a gear position preliminarily determined according to the equilibrium force point.
And S130, determining a theoretical gear range of a current vehicle target gear according to the target tolerance value of the current vehicle, and taking a gear position to be selected meeting the theoretical gear range as a target gear position.
The target tolerance value may refer to an error value between a theoretical process value and an actual process value of the vehicle. Illustratively, dimensional tolerances, equipment tolerances, wear tolerances, and the like may be included. The theoretical gear range may refer to a range value used to evaluate the position of the gear to be selected. For example, the theoretical gear range may be constructed based on the theoretical gear position of the vehicle and the target tolerance value. Specifically, taking the target gear as the gear P as an example, if the theoretical gear position of the gear P is 10 ° and the target tolerance value is 5 °, the theoretical gear range may be 10 ° ± 5 °. The target gear position may refer to a gear position to be selected that conforms to a theoretical gear range. For example, if the theoretical gear range is 10 ° ± 5 °, and the gear position to be selected is 12 °, the gear position to be selected may be the target gear position; similarly, if the gear position to be selected is 4 °, the gear position to be selected cannot be used as the target gear position. Therefore, after the gear position of the gearbox is subjected to self-adaptive learning, the gear position with high accuracy can be obtained through rationality verification, and the accuracy of the gear position is improved.
According to the technical scheme of the embodiment of the invention, when the whole vehicle is off-line, an initial self-learning position is determined according to a gear shifting driving force output by a gear shifting actuator controller according to a target gear calibration instruction and a theoretical angle difference value corresponding to the target gear calibration instruction, and a gear to be selected at a balance force point in a current swing path is determined by taking the initial self-learning position as a starting point; finally, the theoretical gear range of the target gear of the current vehicle is determined according to the target tolerance value of the current vehicle, the gear position to be selected meeting the theoretical gear range is used as the target gear position, the problem of low accuracy of the gear position is solved, the gear position of the gearbox is accurately adjusted in a self-adaptive mode, and the accuracy of the gear position is improved.
Example two
Fig. 4 is a flowchart of a gear self-learning method based on electronic gear shifting according to a second embodiment of the present invention, which is detailed based on the second embodiment of the present invention, and in this embodiment, the operation of determining an initial self-learning position according to the gear shifting driving force and a theoretical angle difference corresponding to a target gear calibration instruction is detailed, and the method may specifically include: and acquiring the middle position of a swing path generated after the swing of the initial gear position, and determining the initial self-learning position by combining the theoretical angle difference value corresponding to the middle position and the target gear calibration instruction. As shown in fig. 4, the method includes:
s210, receiving a gear shifting driving force output by a gear shifting actuator controller according to a target gear calibration instruction when the whole vehicle is off-line; the target gear calibration instruction comprises a parking gear calibration instruction and a non-parking gear calibration instruction.
S220, acquiring the middle position of a swing path generated after the swing of the initial gear position, and determining the initial self-learning position by combining the theoretical angle difference value corresponding to the middle position and the target gear calibration instruction.
Specifically, after the gear shifting actuator starts to swing from an initial gear position according to the gear shifting driving force, the middle position of a swing path is obtained, and then an initial self-learning position corresponding to the target gear is determined by combining a theoretical angle difference value between the N gear and the target gear. Therefore, the position of the theoretical target gear can be obtained, and an effective basis is provided for subsequent operation.
And S230, determining a first limit position and a second limit position of a balance force point in the current swing path by taking the initial self-learning position as a starting point, and taking a middle numerical value of the first limit position and the second limit position as a gear position to be selected.
The first and second limit positions may refer to corresponding limit positions of the shift actuator in a balanced state. For example, the first limit position and the second limit position may represent positions corresponding to a maximum limit value or a minimum limit value, respectively. Specifically, the position corresponding to the minimum limit value may be taken as the first limit position, and the position corresponding to the maximum limit value may be taken as the second limit position. The embodiments of the present invention are not limited in this regard.
Fig. 5 is a schematic diagram illustrating a target gear position calibration principle according to an embodiment of the present invention. Specifically, taking the target gear as the P gear as an example, the first limit position γ is obtained P1 And a second extreme position gamma P2 Thereafter, the median value of the first and second extreme positions (i.e., the P position) can be calculated by the following equation: gamma ray P ＝(γ P1 +γ P2 ) The position gamma of the gear to be selected corresponding to the gear P is obtained P . Similarly, if the target gear is not the P gear, for example, the first limit position γ is obtained Non P1 And a second extreme position gamma Non P2 Thereafter, the median value (i.e., the non-P position) of the first and second extreme positions may be calculated by the following equation: gamma ray Non P ＝(γ Non P1 +γ Non P2 ) A position gamma of a gear to be selected corresponding to the non-P gear is obtained Non P . It is noted that the non-P gear may be R gear or R gearThe specific distinguishing form of the gear D, the gear R or the gear D can be distinguished according to signals received by the gearbox, and the distinguishing form is not repeated in the embodiment of the invention.
In an alternative embodiment, determining the first extreme position and the second extreme position at the equilibrium force point in the current swing path starting from the initial self-learned position comprises: acquiring current state information fed back by a sensor; wherein the state information comprises a position movement condition; and taking the initial self-learning position as a starting point and taking the position of the current state information in the current swing path in the unmoving state as a first limit position or a second limit position. The sensor may refer to a device inside the shift actuator that detects position information of the shift actuator. Specifically, after receiving a gear shifting driving force output by a gear shifting actuator controller according to a target gear calibration instruction and being in an initial self-learning position, monitoring current state information of a sensor, and when the driving force exists but the current state information is in a non-moving state, proving that the current position is a balance force point, thereby obtaining a first limit position and a second limit position of the balance force point.
S240, determining a theoretical gear range of a current vehicle target gear according to the target tolerance value of the current vehicle, and taking a gear position to be selected meeting the theoretical gear range as a target gear position.
It is worth noting that if the position of the gear to be selected does not meet the theoretical gear range, the position of the gear to be selected obtained through self-learning at this time is ignored, and the previous target gear position is continuously used.
Therefore, the obtained gear position to be selected is subjected to rationality verification, the gear position after calibration can be prevented from exceeding the gear range, and the safety problem caused by error control due to the gear-shifting situation in normal gear shifting operation is avoided.
And S250, transmitting the target gear position to a memory of a gear shifting actuator controller so that the gear shifting actuator controller issues a gear position control instruction according to the target gear position.
The gear position control command may be a gear switching command.
Specifically, after the target gear position is determined, the target gear position can be stored in the corresponding position of the memory, and the previous gear position is replaced and updated, so that a gear position control instruction can be issued according to the newly calibrated target gear position when the gear is shifted next time, and the accuracy of the gear shifting position is ensured.
And S260, when the vehicle is normally used, self-learning of the gear position of the target gear is carried out according to the current use condition, and the candidate gear position is obtained.
The normal use of the vehicle may refer to a state in which the vehicle can be used normally after the vehicle is delivered. Self-learning of gear positions may refer to gear calibration based on a shift actuator. For example, the method can be used for calibrating the corresponding gear when the whole vehicle is off line. The embodiments of the present invention are not described herein in detail.
The candidate gear position may refer to a gear position obtained by calculation according to an actual application process of the vehicle.
In an optional embodiment, the self-learning of the gear position of the target gear according to the current use condition comprises the following steps: when the vehicle is powered off and the current gear is a parking gear, the parking gear is used as a target gear, and gear position self-learning is carried out on the parking gear; when the vehicle is powered on and the current gear is a non-parking gear, the non-parking gear is used as a target gear, and gear position self-learning is carried out on the non-parking gear. Specifically, when the vehicle is powered off and the current gear is a parking gear, the parking gear is used as a target gear, and gear calibration is performed on the parking gear according to a gear shifting actuator to obtain a candidate gear position corresponding to the parking gear; when the vehicle is powered on and the current gear is a non-parking gear, the non-parking gear is used as a target gear, gear calibration is carried out on the non-parking gear according to a gear shifting actuator, and a candidate gear position corresponding to the non-parking gear is obtained. Therefore, the gear position of the target gear in normal use of the vehicle can be obtained, the influence of abrasion generated in normal use of the vehicle on the gear position is avoided, and the gear position can be calibrated again in time.
And S270, calculating the position deviation between the candidate gear position and the target gear position, and if the position deviation exceeds a preset threshold value, taking the candidate gear position as the target gear position.
The position deviation may refer to an angle difference between the candidate gear position and the target gear position. The preset threshold may refer to a preset value for evaluating the candidate gear position. For example, the positional deviation may be set to 0.5 °.
Specifically, after the candidate gear position is obtained through calculation, the corresponding target gear position is obtained from the memory, the position deviation between the target gear position and the candidate gear position is calculated, and when the position deviation exceeds a preset threshold value, the candidate gear position is used as the target gear position to replace the target gear position in the memory.
It is worth noting that after the candidate gear position is obtained, in order to guarantee accuracy of the candidate gear position, before position deviation of the candidate gear position and a target gear position is calculated, rationality check can be conducted on the candidate gear position, and therefore it can be guaranteed that the finally obtained gear position is within a theoretical gear range.
According to the technical scheme of the embodiment of the invention, when the whole vehicle is off-line, the intermediate position of a swinging path generated after the controller of the gear shifting actuator swings from the initial gear position under the action of the gear shifting driving force output according to the target gear calibration instruction is obtained, and the initial self-learning position is determined by combining the theoretical angle difference value corresponding to the intermediate position and the target gear calibration instruction; further, determining a first limit position and a second limit position of a balance force point in the current swing path by taking the initial self-learning position as a starting point, and taking a middle numerical value of the first limit position and the second limit position as a gear position to be selected; further, determining a theoretical gear range of a target gear of the current vehicle according to a target tolerance value of the current vehicle, and taking a gear position to be selected meeting the theoretical gear range as a target gear position; transmitting the target gear position to a memory of a gear shifting actuator controller so that the gear shifting actuator controller issues a gear position control instruction according to the target gear position; finally, when the vehicle is normally used, self-learning of the gear position of the target gear is carried out according to the current use condition, and candidate gear positions are obtained; and calculating the position deviation between the candidate gear position and the target gear position, and if the position deviation exceeds a preset threshold value, taking the candidate gear position as the target gear position, so that the problem of low accuracy of the gear position is solved, the gear position of the gearbox under the normal use state of the whole vehicle or the vehicle can be accurately adjusted in a self-adaptive manner, and the accuracy of the gear position is improved.
EXAMPLE III
Fig. 6 is a schematic structural diagram of a gear self-learning device based on electronic gear shifting provided by a third embodiment of the present invention. As shown in fig. 6, the apparatus includes: a driving force receiving module 310, an candidate gear position determining module 320 and a target gear position determining module 330;
the driving force receiving module 310 is configured to receive, when the whole vehicle is off-line, a shifting driving force output by the shift actuator controller according to the target gear calibration instruction; the target gear calibration instruction comprises a parking gear calibration instruction and a non-parking gear calibration instruction;
the to-be-selected gear position determining module 320 is used for determining an initial self-learning position according to the gear shifting driving force and a theoretical angle difference value corresponding to the target gear calibration instruction, and determining a to-be-selected gear position at a balance force point in a current swing path by taking the initial self-learning position as a starting point;
and the target gear position determining module 330 is configured to determine a theoretical gear range of a target gear of the current vehicle according to the target tolerance value of the current vehicle, and use a gear position to be selected that meets the theoretical gear range as the target gear position.
According to the technical scheme of the embodiment of the invention, when the whole vehicle is off-line, an initial self-learning position is determined according to a gear shifting driving force output by a gear shifting actuator controller according to a target gear calibration instruction and a theoretical angle difference value corresponding to the target gear calibration instruction, and a gear to be selected at a balance force point in a current swing path is determined by taking the initial self-learning position as a starting point; finally, the theoretical gear range of the target gear of the current vehicle is determined according to the target tolerance value of the current vehicle, the gear position to be selected meeting the theoretical gear range is used as the target gear position, the problem of low accuracy of the gear position is solved, the gear position of the gearbox is accurately adjusted in a self-adaptive mode, and the accuracy of the gear position is improved.
Optionally, the candidate gear position determining module 320 may be specifically configured to: and acquiring the middle position of a swing path generated after the swing of the initial gear position, and determining the initial self-learning position by combining the theoretical angle difference value corresponding to the middle position and the target gear calibration instruction.
Optionally, the candidate gear position determining module 320 may specifically include: and the middle numerical value calculating unit is used for determining a first limit position and a second limit position which are positioned at a balance force point in the current swing path by taking the initial self-learning position as a starting point, and taking the middle numerical value of the first limit position and the second limit position as a gear position to be selected.
Optionally, the intermediate numerical value calculating unit may be specifically configured to: acquiring current state information fed back by a sensor; wherein the state information comprises a position movement condition; and taking the initial self-learning position as a starting point and taking the position of the current state information in the current swing path in the unmoving state as a first limit position or a second limit position.
Optionally, the gear self-learning device based on electronic gear shifting may further include: and the position storage module is used for transmitting the target gear position to a memory of the gear shifting actuator controller after the gear position to be selected meeting the theoretical gear range is taken as the target gear position, so that the gear shifting actuator controller issues a gear position control instruction according to the target gear position.
Optionally, the gear self-learning device based on electronic gear shifting may further include: the candidate gear position calculating module is used for carrying out gear position self-learning on the target gear according to the current use condition when the vehicle is normally used after the target gear position is transmitted to a memory of the gear shifting actuator controller to obtain a candidate gear position; and calculating the position deviation between the candidate gear position and the target gear position, and taking the candidate gear position as the target gear position if the position deviation exceeds a preset threshold value.
Optionally, the candidate gear position calculation module may be specifically configured to: when the vehicle is powered off and the current gear is a parking gear, the parking gear is used as a target gear, and gear position self-learning is carried out on the parking gear; when the vehicle is powered on and the current gear is a non-parking gear, the non-parking gear is used as a target gear, and gear position self-learning is carried out on the non-parking gear.
The electronic gear shifting-based gear self-learning device provided by the embodiment of the invention can execute the electronic gear shifting-based gear self-learning method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 7 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, as shown in fig. 7, the vehicle includes a shift actuator 410, a memory 420, an input device 430, an output device 440, and a shift actuator controller 450; the shift actuator 410, memory 420, input device 430, output device 440, and shift actuator controller 450 in the vehicle may be connected by a bus or other means, as exemplified by the bus connection in fig. 7.
The memory 420 serves as a computer readable storage medium for storing software programs, computer executable programs, and modules, such as program instructions/modules corresponding to the electronic shift-based gear self-learning method according to the embodiment of the present invention (for example, the driving force receiving module 310, the candidate gear position determining module 320, and the target gear position determining module 330 in the electronic shift-based gear self-learning apparatus). The shift actuator 410 executes various functional applications and data processing of the vehicle by executing software programs, instructions and modules stored in the memory 420, namely, the electronic shift-based gear self-learning method described above is realized.
The method comprises the following steps:
when the whole vehicle is off-line, receiving a gear shifting driving force output by a gear shifting actuator controller according to a target gear calibration instruction; the target gear calibration instruction comprises a parking gear calibration instruction and a non-parking gear calibration instruction;
determining an initial self-learning position according to the gear shifting driving force and a theoretical angle difference value corresponding to the target gear calibration instruction, and determining a gear position to be selected at a balance force point in the current swing path by taking the initial self-learning position as a starting point;
and determining a theoretical gear range of the current vehicle target gear according to the target tolerance value of the current vehicle, and taking the gear position to be selected meeting the theoretical gear range as the target gear position.
The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 420 may further include memory located remotely from shift actuator 410, which may be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 430 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the vehicle. The output device 440 may include a display device such as a display screen.
EXAMPLE five
Fifth, an embodiment of the present invention further provides a storage medium containing computer executable instructions, where the computer executable instructions are executed by a computer shift actuator to perform a method for gear self-learning based on electronic shifting, where the method includes:
when the whole vehicle is off-line, receiving a gear shifting driving force output by a gear shifting actuator controller according to a target gear calibration instruction; the target gear calibration instruction comprises a parking gear calibration instruction and a non-parking gear calibration instruction;
determining an initial self-learning position according to the gear shifting driving force and a theoretical angle difference value corresponding to the target gear calibration instruction, and determining a gear position to be selected at a balance force point in a current swing path by taking the initial self-learning position as a starting point;
and determining a theoretical gear range of the current vehicle target gear according to the target tolerance value of the current vehicle, and taking the gear position to be selected meeting the theoretical gear range as the target gear position.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the electronic shift-based gear self-learning method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that in the embodiment of the gear self-learning device based on electronic gear shifting, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. A gear self-learning method based on electronic gear shifting is characterized by comprising the following steps:
when the whole vehicle is off-line, receiving a gear shifting driving force output by a gear shifting actuator controller according to a target gear calibration instruction; the target gear calibration instruction comprises a parking gear calibration instruction and a non-parking gear calibration instruction;
determining an initial self-learning position according to the gear shifting driving force and a theoretical angle difference value corresponding to the target gear calibration instruction, and determining a gear position to be selected at a balance force point in the current swing path by taking the initial self-learning position as a starting point;
and determining a theoretical gear range of the current vehicle target gear according to the target tolerance value of the current vehicle, and taking the gear position to be selected meeting the theoretical gear range as the target gear position.
2. The method according to claim 1, wherein the determining an initial self-learning position according to the theoretical angle difference corresponding to the shift driving force and the target gear calibration command comprises:
and acquiring the middle position of a swing path generated after the swing of the initial gear position, and determining the initial self-learning position by combining the theoretical angle difference value corresponding to the middle position and the target gear calibration instruction.
3. The method of claim 1, wherein determining the candidate gear position at the balance force point in the current swing path starting from the initial self-learned position comprises:
and determining a first limit position and a second limit position of a balance force point in the current swing path by taking the initial self-learning position as a starting point, and taking a middle value of the first limit position and the second limit position as a gear position to be selected.
4. The method of claim 3, wherein the determining the first extreme position and the second extreme position at the equilibrium force point in the current swing path starting from the initial self-learned position comprises:
acquiring current state information fed back by a sensor; wherein the state information comprises a position movement condition;
and taking the initial self-learning position as a starting point and taking the position of the current state information in the current swing path in the unmoving state as a first limit position or a second limit position.
5. The method according to claim 1, characterized by further comprising, after the target gear position being the candidate gear position that satisfies the theoretical gear range:
and transmitting the target gear position to a memory of a gear shifting actuator controller so that the gear shifting actuator controller issues a gear position control instruction according to the target gear position.
6. The method of claim 5, further comprising, after said transmitting said target gear position to a memory of a shift actuator controller:
when the vehicle is normally used, self-learning of gear positions of the target gear is carried out according to the current use condition, and candidate gear positions are obtained;
and calculating the position deviation of the candidate gear position and the target gear position, and if the position deviation exceeds a preset threshold value, taking the candidate gear position as the target gear position.
7. The method of claim 6, wherein the self-learning of the gear position of the target gear based on current usage comprises:
when the vehicle is powered off and the current gear is a parking gear, the parking gear is used as a target gear, and gear position self-learning is carried out on the parking gear;
when the vehicle is powered on and the current gear is a non-parking gear, the non-parking gear is used as a target gear, and gear position self-learning is carried out on the non-parking gear.
8. A gear self-learning device based on electronic gear shifting is characterized by comprising:
the driving force receiving module is used for receiving the gear shifting driving force output by the gear shifting actuator controller according to the target gear calibration instruction when the whole vehicle is off-line; the target gear calibration instruction comprises a parking gear calibration instruction and a non-parking gear calibration instruction;
the gear position determination module to be selected is used for determining an initial self-learning position according to the gear shifting driving force and a theoretical angle difference value corresponding to the target gear calibration instruction, and determining the position of the gear to be selected which is located at a balance force point in the current swing path by taking the initial self-learning position as a starting point;
and the target gear position determining module is used for determining a theoretical gear range of a target gear of the current vehicle according to the target tolerance value of the current vehicle, and taking the gear position to be selected meeting the theoretical gear range as the target gear position.
9. A vehicle, characterized in that the vehicle comprises:
a shift actuator, a shift actuator controller; and
a memory communicatively coupled to the at least one shift actuator; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one shift actuator to enable the at least one shift actuator to perform the electronic shift-based gear self-learning method of any of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a shift actuator to implement the electronic shift-based gear self-learning method according to any one of claims 1 to 7 when executed.
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| CN202211439608.5A CN115773363A (en) | 2022-11-17 | 2022-11-17 | Gear self-learning method and device based on electronic gear shifting, vehicle and medium |
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| CN202211439608.5A CN115773363A (en) | 2022-11-17 | 2022-11-17 | Gear self-learning method and device based on electronic gear shifting, vehicle and medium |
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