CN116717591A - Vehicle control method and device for AMT (automated mechanical transmission) of commercial vehicle - Google Patents

Vehicle control method and device for AMT (automated mechanical transmission) of commercial vehicle Download PDF

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Publication number
CN116717591A
CN116717591A CN202310713275.9A CN202310713275A CN116717591A CN 116717591 A CN116717591 A CN 116717591A CN 202310713275 A CN202310713275 A CN 202310713275A CN 116717591 A CN116717591 A CN 116717591A
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China
Prior art keywords
gear
vehicle
current
value
control data
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Application number
CN202310713275.9A
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Chinese (zh)
Inventor
姜良超
邓金涛
齐向超
吕文香
耿鑫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Weichai Power Co Ltd
Weifang Weichai Power Technology Co Ltd
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Weichai Power Co Ltd
Weifang Weichai Power Technology Co Ltd
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Priority to CN202310713275.9A priority Critical patent/CN116717591A/en
Publication of CN116717591A publication Critical patent/CN116717591A/en
Pending legal-status Critical Current

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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
    • F16H61/18—Preventing unintentional or unsafe shift, e.g. preventing manual shift from highest gear to reverse gear
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
    • 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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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Transmission Device (AREA)

Abstract

The application provides a vehicle control method and device for a commercial vehicle AMT, and belongs to the technical field of automobiles. The method comprises the steps that an automatic gearbox control unit TCU obtains current vehicle speed change control data and judges whether a current position sensor is in an abnormal state or not. And under the condition that the current position sensor is judged to be in an abnormal state, generating a gear shifting flow instruction corresponding to the current gear according to the current gear history control data. And determining whether the current gear is matched with the real gear based on the motor rotation speed value from the motor controller after the gear shifting executing mechanism executes the gear shifting process instruction so as to control the vehicle to run based on the matching result. Through the scheme, the problem that the position sensor in the AMT of the commercial vehicle fails to cause the vehicle to lose power, the driving experience of the vehicle is affected, and the personal safety of a vehicle user or related personnel is even threatened is solved.

Description

Vehicle control method and device for AMT (automated mechanical transmission) of commercial vehicle
Technical Field
The application relates to the technical field of automobiles, in particular to a vehicle control method and device for an AMT (automated mechanical transmission).
Background
Currently, most commercial vehicles are provided with an electronic control mechanical automatic transmission (automatic MechanicalTransmission, AMT), and an AMT can judge the current gear record according to the position values fed back by position sensors corresponding to gear selection, gear shifting, gear insertion and gear shifting and range shifting respectively.
In the actual driving use scene of the commercial vehicle, with the increase of the vehicle use time, a driver can maintain the vehicle and maintain the position sensor related to the gear according to the maintenance habit of the vehicle or the actual vehicle condition. If the driver fails to maintain the vehicle in time or suddenly, the position sensor fails in the running process of the vehicle, and the commercial vehicle can have gear shifting errors, so that the vehicle in normal running loses power, and the life safety of personnel in the vehicle or personnel nearby the vehicle is threatened.
Disclosure of Invention
The embodiment of the application provides a vehicle control method and device for a commercial vehicle AMT, which are used for solving the problems that a vehicle loses power due to the failure of a position sensor in the commercial vehicle AMT, the driving experience of the vehicle is affected and the personal safety of a vehicle user or related personnel is even threatened.
In one aspect, an embodiment of the present application provides a vehicle control method for a commercial vehicle AMT, including:
the automatic gearbox control unit TCU acquires current vehicle speed change control data and judges whether a current position sensor is in an abnormal state or not;
if yes, generating a gear shifting flow instruction corresponding to the current gear according to the current gear history control data;
and determining whether the current gear is matched with the real gear or not based on a motor rotating speed value from a motor controller after the gear shifting executing mechanism executes the gear shifting process instruction, so as to control the vehicle to run based on a matching result.
In one implementation of the present application, the current vehicle shift control data includes at least: the gear shifting state, the required gear, the execution information of the gear shifting instruction and the feedback position value of the position sensor; the demand gear is determined based on a vehicle state; the vehicle state includes at least one or more of: power economy mode, accelerator pedal opening, brake pedal opening, vehicle speed, handle signal, load status, external environmental status.
In one implementation of the present application, acquiring current vehicle speed change control data and determining whether a current position sensor is in an abnormal state, specifically includes:
matching the current vehicle speed change control data with corresponding abnormal verification conditions respectively; wherein the abnormal verification condition includes at least: the gear shifting state is not in a gear shifting state, the required gear is not equal to neutral gear and does not enter the gear shifting state, the speed change executing mechanism has no driving instruction, and the feedback position value is not in a preset position value interval;
and under the condition that the corresponding matching results are successful, determining that the current position sensor is in an abnormal state.
In one implementation of the present application, the method further includes:
under the condition that the current position sensor is judged to be in an abnormal state, acquiring a gear at the previous moment corresponding to the abnormal state as a current gear;
determining control data of the gear position of the speed change executing mechanism into the current gear position, wherein the control data is the current gear position historical control data; the current gear history control data at least comprises execution operation data of each gear control valve of the speed change executing mechanism.
In one implementation manner of the present application, a gear shift flow instruction corresponding to a current gear is generated according to current gear history control data, and specifically includes:
determining the sequential execution operation time and the corresponding execution operation of each gear control valve corresponding to the current gear according to the execution operation data; the performing operation includes opening a valve of the gear control valve;
and generating an execution operation sequence corresponding to each gear control valve according to the execution operation time and the execution operation, so as to determine the gear shifting flow instruction corresponding to the execution operation sequence according to the execution operation sequence.
In one implementation of the present application, determining whether the current gear is matched with the actual gear based on a motor rotation speed value from a motor controller after the gear shift executing mechanism executes the gear shift process instruction specifically includes:
after the gear shifting executing mechanism executes the gear shifting flow instruction, acquiring the motor rotating speed value from the motor controller;
comparing the motor rotation speed value with a preset rotation speed comparison value to determine whether the current gear is matched with the real gear according to a comparison result; the rotation speed comparison value is calculated based on a first parameter, a transmission ratio corresponding to the current gear, a main speed reduction ratio, a tire radius and a second parameter; the first parameter corresponds to a vehicle speed; the second parameter is used for converting the operation unit of the rotating speed.
In one implementation of the present application, the method further includes:
and under the condition that the motor rotating speed value is smaller than or equal to the rotating speed comparison value, determining that the current gear is matched with the real gear, and taking the current gear as the real gear.
In one implementation of the present application, the method further includes:
under the condition that the motor rotating speed value is larger than the rotating speed comparison value, acquiring an output shaft rotating speed value from a rotating speed sensor in real time;
respectively determining a difference curve of the ratio and each element value in a preset transmission ratio sequence in a preset time period according to the ratio of the motor rotating speed value to the output shaft rotating speed value in real time; the gear ratio sequence is generated based on gear ratios of a plurality of gears; the ordinate of the difference curve is the difference between the ratio and the element value, and the abscissa is time;
and determining a real gear corresponding to the current gear based on the curve slope, the curve value and the corresponding preset difference interval of each difference curve.
In one implementation manner of the present application, determining the actual gear corresponding to the current gear based on the curve slope, the curve value and the corresponding preset difference interval of each difference curve specifically includes:
and in the preset time period, determining a gear corresponding to the difference curve as the real gear according to the transmission ratio sequence under the condition that the curve slope of the difference curve is smaller than a preset value and the curve value is in the difference interval.
On the other hand, the embodiment of the application also provides a vehicle control device for the AMT of the commercial vehicle, which comprises the following components:
the judging module is used for acquiring current vehicle speed change control data by the TCU and judging whether the current position sensor is in an abnormal state or not;
the generating module is used for generating a gear shifting flow instruction corresponding to the current gear according to the current gear history control data if yes;
and the determining module is used for determining whether the current gear is matched with the real gear or not based on the motor rotating speed value from the motor controller after the gear shifting executing mechanism executes the gear shifting process instruction so as to control the vehicle to run based on the matching result.
According to the scheme, the abnormality of the position sensor can be judged, and under the abnormal condition, the speed change executing mechanism executes the control gear related operation according to the gear shift flow instruction in the abnormal state, so that the gear release problem caused by the abnormality of the position sensor during the running of the vehicle is avoided. Secondly, the authenticity of the current gear can be determined, and the accuracy of the judgment of the current gear is ensured. In addition, when the position sensor is abnormal, the vehicle is forbidden to enter a normal gear shifting process, so that the problem that the power of the vehicle is not interrupted can be further ensured. Therefore, the problem that the position sensor in the AMT of the commercial vehicle fails to cause the vehicle to lose power, the driving experience of the vehicle is affected, and the personal safety of a vehicle user or related personnel is even threatened is solved.
In addition, the TCU can carry out classification judgment on the current gear based on the actual rotation speed of the motor, so that misjudgment caused by inaccurate rotation speed sensors of the actual rotation speed of the motor of the vehicle under the condition of low speed is avoided, and the accuracy of gear judgment by utilizing the actual rotation speed of the motor and the rotation speed of the output shaft under the condition of high speed is ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic flow chart of a vehicle control method for a commercial vehicle AMT according to an embodiment of the present application;
fig. 2 is a schematic gear structure diagram of a commercial vehicle AMT corresponding to a vehicle control method for the commercial vehicle AMT according to an embodiment of the application;
FIG. 3 is a schematic flow chart of another method for controlling a commercial vehicle AMT according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a vehicle control device for a commercial vehicle AMT according to an embodiment of the application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The AMT gearbox of the current commercial vehicle judges the remembering of the current gear according to the position values fed back by the position sensors of gear selection, gear shifting, gear insertion and gear division and range gear, and if the current gear is changed due to the abnormality of a certain position sensor in the running process of the vehicle, the current gear is not matched with the required gear and enters the gear shifting process. In order to prevent the power source from galloping after load removal in the gear shifting process, the power source torque needs to be removed, and the driving torque is reestablished after the gear shifting is finished; when the position sensor fails, the position sensor cannot accurately reflect whether the gear is the required gear, so that the vehicle is always in the gear shifting process, torque cannot be established, the vehicle loses power, and the power of the vehicle is interrupted, which is a dangerous working condition. The driving experience of the vehicle is affected, and the personal safety of a driver is possibly threatened.
Based on the above, the embodiment of the application provides a vehicle control method and device for a commercial vehicle AMT, which are used for solving the problems that a vehicle loses power, vehicle driving experience is influenced and even personal safety of a vehicle user or related personnel is threatened due to the fact that a position sensor in the commercial vehicle AMT fails.
Various embodiments of the present application are described in detail below with reference to the attached drawing figures.
The embodiment of the application provides a vehicle control method for a commercial vehicle AMT, an execution main body of the control method is an automatic gearbox control unit (Transmission Control Unit, TCU) of the commercial vehicle AMT, as shown in fig. 1, the method may include steps S101-S103:
s101, the TCU acquires current vehicle speed change control data and judges whether a current position sensor is in an abnormal state or not.
In the normal running process of the commercial vehicle, the TCU can acquire current vehicle speed change control data in real time and judge whether the position sensor is abnormal or not. Wherein, the current vehicle speed change control data at least comprises: the gear shifting state, the required gear, the gear shifting instruction execution information and the feedback position value of the position sensor. The demand gear is determined based on the vehicle state. The vehicle state includes at least one or more of the following: power economy mode, accelerator pedal opening, brake pedal opening, vehicle speed, handle signal, load status, external environmental status.
The gear shifting state is obtained by the TCU according to the current gear, the required gear, the vehicle fault state, the external environment state and a preset gear shifting program, for example, when the vehicle is in a steep slope, the TCU judges that the required gear is in a low gear according to the vehicle speed, and then the TCU enters a low gear state. The shift state includes: during a shift, not during a shift.
The required gear is an optimal gear which is obtained by the TCU according to a power economy mode, an accelerator pedal opening, a brake pedal opening, a vehicle speed, a handle signal, a load state and an external environment state of the vehicle and is suitable for the current vehicle. The best gear suitable for the current vehicle is the low gear 1 gear or the low gear 2 gear according to the gradient and the curve state.
The shift instruction execution information is a state that the shift execution mechanism executes a shift instruction issued by the TCU, for example, the TCU issues a shift instruction, and the shift execution mechanism may start executing a shift according to the shift instruction.
The feedback position value of the position sensor is the position value of each gear, and the TCU can interact with the position sensor of each gear, the motor controller and the like to obtain the current actual position value of the plugging, separating, ranging, gear selecting and gear shifting executing mechanism (i.e. the speed change executing mechanism). The TCU may store a normal range of feedback position values for each gear in normal conditions, i.e. a preset position value interval, e.g. [1500, 4000], in millivolts. The preset position value interval can be set in the actual use process, and the application is not particularly limited to this.
The vehicle is controlled to move forward and reverse by inserting a gear shift, as shown in fig. 2, the position F in fig. 2 is forward, and the position R is backward; the range gear controls the High gear and the Low gear of the vehicle, the Low gear controls 1 to 6 gears and the High gear controls 7 to 12 gears; the gear shifting valve can shift gears to corresponding gear positions along the arrow direction; the selector valve can move the gear to the corresponding gear position in the direction of the arrow.
In the embodiment of the application, the current vehicle speed change control data is acquired, and whether the current position sensor is in an abnormal state is judged, which specifically comprises the following steps:
the TCU matches the current vehicle shift control data with the corresponding abnormal verification conditions, respectively. Wherein the abnormal verification condition at least comprises: the gear shifting state is not in a gear shifting state, the required gear is not equal to the neutral gear and does not enter the gear shifting state, the speed change executing mechanism has no driving instruction, and the feedback position value is not in a preset position value interval. And under the condition that the corresponding matching results are successful, determining that the current position sensor is in an abnormal state.
In other words, the TCU determines that the current position sensor of the AMT is abnormal when four conditions are met, that is, the current shift state is not in the in-shift state, that the required gear is not equal to the neutral gear, that the gear is not shifted, that the speed change executing mechanism has no driving instruction, that the feedback position value is not in the preset position value interval.
S102, under the condition that the TCU judges that the current position sensor is in an abnormal state, generating a gear shifting flow instruction corresponding to the current gear according to the current gear history control data.
In the embodiment of the application, under the condition that the current position sensor is judged to be in an abnormal state, the TCU acquires the gear at the previous moment corresponding to the abnormal state as the current gear. And determining control data of the gear position of the speed change executing mechanism into the current gear as current gear historical control data. The current gear history control data at least includes execution operation data of each gear control valve of the shift execution mechanism.
That is, when the TCU determines that an abnormality occurs in the position sensor of the commercial vehicle, the TCU will determine the gear at the previous time of the abnormality. For example, when the gear is not abnormal, the gear is always driven at 8 gears, and the TCU suddenly judges that the position sensor is abnormal, then the gear at 8 gears is the current gear, and the TCU controls the control data of the speed change executing mechanism (the gear shift valve, the range shift valve and the gear selection valve) to be shifted to the gear at 8 gears, and the control data of the gear shift to the gear at 8 gears is used as the current gear history control data. The current gear history control data may be control data for a neutral gear into the current gear.
Specifically, the TCU generates a shift flow instruction corresponding to a current gear according to current gear history control data, and specifically includes:
and the TCU determines the sequential execution operation time and the corresponding execution operation of each gear control valve corresponding to the current gear according to the execution operation data. Performing an operation includes opening a gear control valve. And generating an execution operation sequence corresponding to each gear control valve according to the execution operation time and the execution operation, and determining a gear shifting flow instruction corresponding to the execution operation sequence according to the execution operation sequence.
In other words, the TCU may generate the execution sequence according to the valve opening sequence and the valve opening time of each valve of the shift execution mechanism in the execution operation data. The execution operation time refers to the valve opening time and the valve opening sequence of each shift control valve.
Taking the current gear as 8 gear as an example, as shown in fig. 2, the TCU simultaneously issues a valve opening command to the selector valve 201, the selector valve 202, the plug selector valve 205, and the range selector valve 208, and continuously executes the operation time (valve opening time) t 1 The gear selecting valve 201, the gear selecting valve 202, the inserting gear selecting valve 205 and the range gear valve 208 are closed afterwards; then, a valve command is issued to the shift valve 203 for a valve opening time t 2 The shift valve 203 is then closed. The execution operation sequence comprises the steps of firstly opening the valve, wherein the valve opening time is t 1 [ selector valve 201, selector valve 202, insert selector valve 205, range selector valve 208 ]]Then the valve is opened, and the valve opening time is t 2 Is [ shift valve 203 ]]。
Wherein t is 1 、t 2 Can be set by the user according to actual use, e.g. t 1 =0.2 seconds, t 2 =0.3 seconds, which is not particularly limited by the present application. t is t 1 、t 2 The automatic control device is used for ensuring sufficient inflation time of the gear control valves so that each gear control valve reaches an expected position and gear engagement success is ensured.
Taking the current gear as 3 gear as an example, the TCU simultaneously gives valve instructions to the selector valve 201, the plug selector valve 205 and the range selector valve 207 to continuously execute the operation time t 1 After that, a valve command is issued to the shift valve 204 for a valve opening time t 2 And thereafter closes the shift valve 204. The execution operation sequence comprises the steps of firstly opening the valve, wherein the valve opening time is t 1 [ Gear selecting ]Valve 201, plug-in shift valve 205, range shift valve 207]Then the valve is opened, and the valve opening time is t 2 Is [ shift valve 204 ]]。
In addition, after the position sensor is abnormal, the TCU will prohibit entering the shift flow, and only the above-described shift control valve control flow can be executed, but the shift flow of the other required gear that is not the current gear cannot be executed.
The decision of the required gear after the position sensor is abnormal can change normally, and the required gear is inconsistent with the current gear under normal conditions and enters a gear shifting process when other conditions are met; the application prohibits entering a gear shifting process after the position sensor is abnormal, locks the current gear, and only allows the running with the determined current gear even if the required gear changes.
Through the technical scheme, after the position sensor is abnormal, a control instruction can be sent to the gear control valve, the possibility of gear disengagement in the running process of the vehicle is avoided, and the problem of power interruption caused by gear disengagement due to the abnormality of the position sensor can be solved.
And S103, the TCU determines whether the current gear is matched with the real gear or not based on the motor rotation speed value from the motor controller after the gear shifting executing mechanism executes the gear shifting process instruction so as to control the vehicle to run based on the matching result.
And after the current gear is matched with the real gear, controlling the vehicle to run according to the real gear.
In the embodiment of the application, the TCU determines whether the current gear is matched with the actual gear or not based on the motor rotation speed value from the motor controller after the gear shifting executing mechanism executes the gear shifting process instruction, and specifically comprises the following steps:
after the shift execution mechanism executes the shift flow instruction, the TCU obtains a motor rotation speed value from the motor controller. And comparing the motor rotation speed value with a preset rotation speed comparison value to determine whether the current gear is matched with the real gear according to the comparison result. The rotation speed comparison value is calculated based on the first parameter, the transmission ratio corresponding to the current gear, the main speed reduction ratio, the tire radius and the second parameter. The first parameter corresponds to a vehicle speed. The second parameter is used to convert the arithmetic unit of the rotation speed.
Rotation speed comparison value n Low The motor rotating speed corresponding to the lower vehicle speed (such as 1 km/h) can be obtained by calculating a first parameter, a transmission ratio corresponding to the current gear, a main speed reduction ratio, a tire radius and a second parameter, and the specific calculation formula is as follows:
wherein 1 represents a first parameter, namely a vehicle speed of 1km/h; ig represents the theoretical gear ratio of the current gear, i0 represents the final reduction ratio, 0.377 is the second parameter, and r is the tire radius of the commercial vehicle. Since the vehicle speed unit is km/h per hour and the engine rotation speed unit is rpm per minute, it is necessary to convert the rotation speed unit to 2×3.14× 60,3.14, which is a rotation per hour, to represent the circumference ratio, and then to convert the vehicle speed to km, (2×3.14×60)/(1000=0.377).
In the embodiment of the application, under the condition that the motor rotating speed value is smaller than or equal to the rotating speed comparison value, the TCU determines that the current gear is matched with the real gear, and takes the current gear as the real gear.
The rotating speed value obtained by the output shaft rotating speed sensor at the low speed stage has fluctuation, and the reliability is not high; the obtained actual rotating speed of the motor is high in precision in the low-speed stage, so that the actual rotating speed of the motor is used for judging whether the vehicle is in the low-speed stage or not; therefore, the motor rotating speed value is smaller than or equal to the rotating speed comparison value in the low-speed stage, and the current gear is directly judged to be the true gear.
In the embodiment of the application, under the condition that the motor rotation speed value is larger than the rotation speed comparison value, the TCU acquires the output shaft rotation speed value from the rotation speed sensor in real time. And respectively determining a difference curve of the ratio and each element value in a preset transmission ratio sequence in a preset time period according to the ratio of the real-time motor rotating speed value to the output shaft rotating speed value. A gear ratio sequence is generated based on gear ratios of the plurality of gears. The ordinate of the difference curve is the difference between the ratio and the element value, and the abscissa is time. And determining the real gear corresponding to the current gear based on the curve slope, the curve value and the corresponding preset difference interval of each difference curve.
The TCU may calculate a ratio between the motor speed value obtained in real time and the output shaft speed value obtained in real time, which corresponds to the current transmission ratio i of the vehicle in real time, i.e. i=motor speed value/output shaft speed value. The predetermined ratio sequence is a sequence of ratios of the respective gear steps, e.g. [ i ] 1 ，i 2 ，i 3 ，···，i n ]N represents the nth gear. The TCU can calculate the difference value i between the current gear ratio i and each gear ratio in the gear ratio sequence Diff 。[i 1 ，i 2 ，i 3 ，···，i n ]Such as gear 1, gear 2, and gear 3, gear … …
In an actual usage scenario, the TCU may calculate a preset time period t 3 Such as the difference between the current gear ratio i and the gear ratios for 0.2 seconds, and a difference curve is generated. The user can preset a difference interval, the matching degree of the current transmission ratio and the transmission ratio of the gear in the preset transmission ratio sequence is represented, and if the transmission ratio difference between the current transmission ratio and the gear A in the sequence is in the difference interval, the current gear is represented as the gear A. The TCU may determine a true gear corresponding to the current gear according to a curve slope, a curve value, and a corresponding preset difference interval of each difference curve.
Specifically, in a preset time period, under the condition that the curve slope of the difference curve is smaller than a preset value and the curve value is in a difference interval, determining a gear corresponding to the difference curve as a real gear according to a transmission ratio sequence.
If the number of the differential curves is n, the TCU can determine the curve slope of each differential curve, screen the differential curves with the curve slope value smaller than a preset value, wherein the preset value is used for representing that the difference between the current transmission ratio and the gear transmission ratio is in an acceptable range in a preset time period. The preset value may be set by a user, which is not particularly limited in the present application. And when the curve slope value of the difference curve in real time is smaller than the preset value and the curve values are all in the difference interval, determining that the gear corresponding to the difference curve is the real gear.
That is, i Diff At a preset time end t 3 The transmission ratio i within the preset difference interval of the acceptable range x (is [ i ] 1 ，i 2 ，i 3 ，···，i n ]One of which) is identified as the current gear. Furthermore, when the current gear ratio i has no corresponding gear ratio in the gear ratio sequence, the current gear is considered to be neutral and driving is prohibited.
In the embodiment of the application, a flow of a vehicle control method for a commercial vehicle AMT is shown in fig. 3, and specifically includes:
s301, an initial state, namely that a commercial vehicle position sensor is not abnormal;
s302, judging whether a gear-shifting related position sensor is abnormal or not. If not, returning to S301;
s303, if yes, prohibiting entering a gear shifting process;
s304, driving time t of control valve of current gear related to gear selection, gear insertion and gear range 1 Closing the rear part;
s305, driving time t of gear shift control valve related to current gear 2 Closing the rear part;
s306, judging whether the motor rotation speed value is smaller than or equal to a preset rotation speed comparison value.
S307, if yes, determining that the current gear is a real gear;
s308, otherwise, estimating the current transmission ratio i;
s309, i and preset ratio sequence [ i ] 1 ，i 2 ，i 3 ，···，i n ]Comparing the differences one by one;
s3010, judge the difference i Diff ＝|i x -i| at t 3 Whether the time period is within the difference interval.
S3011, if yes, the current gear is i x A corresponding gear;
s3012, if not, determining that the current gear is a neutral gear, and prohibiting driving;
s3013, end.
According to the scheme, the abnormality of the position sensor can be judged, and under the abnormal condition, the speed change executing mechanism executes the control gear related operation according to the gear shift flow instruction in the abnormal state, so that the gear release problem caused by the abnormality of the position sensor during the running of the vehicle is avoided. Secondly, the authenticity of the current gear can be determined, and the accuracy of the judgment of the current gear is ensured. In addition, when the position sensor is abnormal, the vehicle is forbidden to enter a normal gear shifting process, so that the problem that the power of the vehicle is not interrupted can be further ensured. Therefore, the problem that the position sensor in the AMT of the commercial vehicle fails to cause the vehicle to lose power, the driving experience of the vehicle is affected, and the personal safety of a vehicle user or related personnel is even threatened is solved.
In addition, the TCU can carry out classification judgment on the current gear based on the actual rotation speed of the motor, so that misjudgment caused by inaccurate rotation speed sensors of the actual rotation speed of the motor of the vehicle under the condition of low speed is avoided, and the accuracy of gear judgment by utilizing the actual rotation speed of the motor and the rotation speed of the output shaft under the condition of high speed is ensured.
Fig. 4 provides a schematic structural diagram of a vehicle control apparatus for a commercial vehicle AMT, and as shown in fig. 4, an apparatus 400 includes:
the judging module 401 is configured to obtain current vehicle speed change control data by the automatic gearbox control unit TCU, and judge whether the current position sensor is in an abnormal state. And the generating module 402 is configured to generate a shift flow instruction corresponding to the current gear according to the current gear history control data if yes. A determining module 403, configured to determine whether the current gear matches the actual gear based on the motor rotation speed value from the motor controller after the gear shift executing mechanism executes the gear shift process instruction, so as to control the vehicle to run based on the matching result.
In an embodiment of the present application, the current vehicle shift control data includes at least: the gear shifting state, the required gear, the gear shifting instruction execution information and the feedback position value of the position sensor. The demand gear is determined based on the vehicle state. The vehicle state includes at least one or more of the following: power economy mode, accelerator pedal opening, brake pedal opening, vehicle speed, handle signal, load status, external environmental status.
The judging module 401 is specifically configured to:
and matching the current vehicle speed change control data with corresponding abnormal verification conditions respectively. Wherein the abnormal verification condition at least comprises: the gear shifting state is not in a gear shifting state, the required gear is not equal to the neutral gear and does not enter the gear shifting state, the speed change executing mechanism has no driving instruction, and the feedback position value is not in a preset position value interval. And under the condition that the corresponding matching results are successful, determining that the current position sensor is in an abnormal state.
The vehicle control device 400 for a commercial vehicle AMT is also capable of:
and under the condition that the current position sensor is judged to be in an abnormal state, acquiring the gear at the previous moment corresponding to the abnormal state as the current gear. And determining control data of the gear position of the speed change executing mechanism into the current gear as current gear historical control data. The current gear history control data at least includes execution operation data of each gear control valve of the shift execution mechanism.
The generating module 402 is specifically configured to:
and determining the sequential execution operation time and the corresponding execution operation of each gear control valve corresponding to the current gear according to the execution operation data. Performing an operation includes opening a gear control valve.
And generating an execution operation sequence corresponding to each gear control valve according to the execution operation time and the execution operation, and determining a gear shifting flow instruction corresponding to the execution operation sequence according to the execution operation sequence.
The determining module 403 is specifically configured to:
and after the gear shifting executing mechanism executes the gear shifting flow instruction, acquiring a motor rotating speed value from the motor controller. And comparing the motor rotation speed value with a preset rotation speed comparison value to determine whether the current gear is matched with the real gear according to the comparison result. The rotation speed comparison value is calculated based on the first parameter, the transmission ratio corresponding to the current gear, the main speed reduction ratio, the tire radius and the second parameter. The first parameter corresponds to a vehicle speed. The second parameter is used to convert the arithmetic unit of the rotation speed.
The determining module 403 is specifically further configured to:
and under the condition that the motor rotating speed value is smaller than or equal to the rotating speed comparison value, determining that the current gear is matched with the real gear, and taking the current gear as the real gear.
The determining module 403 is specifically further configured to:
and under the condition that the motor rotating speed value is larger than the rotating speed comparison value, acquiring the rotating speed value of the output shaft from the rotating speed sensor in real time. And respectively determining a difference curve of the ratio and each element value in a preset transmission ratio sequence in a preset time period according to the ratio of the real-time motor rotating speed value to the output shaft rotating speed value. A gear ratio sequence is generated based on gear ratios of the plurality of gears. The ordinate of the difference curve is the difference between the ratio and the element value, and the abscissa is time. And determining the real gear corresponding to the current gear based on the curve slope, the curve value and the corresponding preset difference interval of each difference curve.
The determining module 403 is specifically further configured to:
and in a preset time period, determining a gear corresponding to the difference curve as a real gear according to the transmission ratio sequence under the condition that the curve slope of the difference curve is smaller than a preset value and the curve value is in a difference interval.
The embodiments of the present application are described in a progressive manner, and the same and similar parts of the embodiments are all referred to each other, and each embodiment is mainly described in the differences from the other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
The device and the method provided by the embodiment of the application are in one-to-one correspondence, so that the device also has similar beneficial technical effects as the corresponding method, and the beneficial technical effects of the device are not repeated here because the beneficial technical effects of the method are described in detail above.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.

Claims (10)

1. A vehicle control method for a commercial vehicle AMT, the method comprising:
the automatic gearbox control unit TCU acquires current vehicle speed change control data and judges whether a current position sensor is in an abnormal state or not;
if yes, generating a gear shifting flow instruction corresponding to the current gear according to the current gear history control data;
and determining whether the current gear is matched with the real gear or not based on a motor rotating speed value from a motor controller after the gear shifting executing mechanism executes the gear shifting process instruction, so as to control the vehicle to run based on a matching result.
2. The vehicle control method for a commercial vehicle AMT according to claim 1, characterized in that said current vehicle shift control data comprises at least: the gear shifting state, the required gear, the execution information of the gear shifting instruction and the feedback position value of the position sensor; the demand gear is determined based on a vehicle state; the vehicle state includes at least one or more of: power economy mode, accelerator pedal opening, brake pedal opening, vehicle speed, handle signal, load status, external environmental status.
3. The vehicle control method for a commercial vehicle AMT according to claim 2, characterized by obtaining current vehicle shift control data and judging whether a current position sensor is in an abnormal state, comprising:
matching the current vehicle speed change control data with corresponding abnormal verification conditions respectively; wherein the abnormal verification condition includes at least: the gear shifting state is not in a gear shifting state, the required gear is not equal to neutral gear and does not enter the gear shifting state, the speed change executing mechanism has no driving instruction, and the feedback position value is not in a preset position value interval;
and under the condition that the corresponding matching results are successful, determining that the current position sensor is in an abnormal state.
4. The vehicle control method for a commercial vehicle AMT according to claim 1, characterized in that said method further comprises:
under the condition that the current position sensor is judged to be in an abnormal state, acquiring a gear at the previous moment corresponding to the abnormal state as a current gear;
determining control data of the gear position of the speed change executing mechanism into the current gear position, wherein the control data is the current gear position historical control data; the current gear history control data at least comprises execution operation data of each gear control valve of the speed change executing mechanism.
5. The vehicle control method for a commercial vehicle AMT according to claim 4, wherein generating a shift flow instruction corresponding to a current gear according to current gear history control data, specifically comprises:
determining the sequential execution operation time and the corresponding execution operation of each gear control valve corresponding to the current gear according to the execution operation data; the performing operation includes opening a valve of the gear control valve;
and generating an execution operation sequence corresponding to each gear control valve according to the execution operation time and the execution operation, so as to determine the gear shifting flow instruction corresponding to the execution operation sequence according to the execution operation sequence.
6. The vehicle control method for a commercial vehicle AMT according to claim 1, characterized in that determining whether the current gear matches a true gear based on a motor rotation speed value from a motor controller after a shift execution mechanism executes the shift flow instruction, specifically comprising:
after the gear shifting executing mechanism executes the gear shifting flow instruction, acquiring the motor rotating speed value from the motor controller;
comparing the motor rotation speed value with a preset rotation speed comparison value to determine whether the current gear is matched with the real gear according to a comparison result; the rotation speed comparison value is calculated based on a first parameter, a transmission ratio corresponding to the current gear, a main speed reduction ratio, a tire radius and a second parameter; the first parameter corresponds to a vehicle speed; the second parameter is used for converting the operation unit of the rotating speed.
7. The vehicle control method for a commercial vehicle AMT according to claim 6, characterized in that said method further comprises:
and under the condition that the motor rotating speed value is smaller than or equal to the rotating speed comparison value, determining that the current gear is matched with the real gear, and taking the current gear as the real gear.
8. The vehicle control method for a commercial vehicle AMT according to claim 6, characterized in that said method further comprises:
under the condition that the motor rotating speed value is larger than the rotating speed comparison value, acquiring an output shaft rotating speed value from a rotating speed sensor in real time;
respectively determining a difference curve of the ratio and each element value in a preset transmission ratio sequence in a preset time period according to the ratio of the motor rotating speed value to the output shaft rotating speed value in real time; the gear ratio sequence is generated based on gear ratios of a plurality of gears; the ordinate of the difference curve is the difference between the ratio and the element value, and the abscissa is time;
and determining a real gear corresponding to the current gear based on the curve slope, the curve value and the corresponding preset difference interval of each difference curve.
9. The vehicle control method for a commercial vehicle AMT according to claim 8, characterized in that determining a true gear corresponding to said current gear based on a curve slope, a curve value and a corresponding preset difference interval of each of said difference curves, specifically comprises:
and in the preset time period, determining a gear corresponding to the difference curve as the real gear according to the transmission ratio sequence under the condition that the curve slope of the difference curve is smaller than a preset value and the curve value is in the difference interval.
10. A vehicle control apparatus for a commercial vehicle AMT, characterized in that the apparatus comprises:
the judging module is used for acquiring current vehicle speed change control data by the TCU and judging whether the current position sensor is in an abnormal state or not;
the generating module is used for generating a gear shifting flow instruction corresponding to the current gear according to the current gear history control data if yes;
and the determining module is used for determining whether the current gear is matched with the real gear or not based on the motor rotating speed value from the motor controller after the gear shifting executing mechanism executes the gear shifting process instruction so as to control the vehicle to run based on the matching result.
CN202310713275.9A 2023-06-15 2023-06-15 Vehicle control method and device for AMT (automated mechanical transmission) of commercial vehicle Pending CN116717591A (en)

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CN202310713275.9A CN116717591A (en) 2023-06-15 2023-06-15 Vehicle control method and device for AMT (automated mechanical transmission) of commercial vehicle

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CN202310713275.9A CN116717591A (en) 2023-06-15 2023-06-15 Vehicle control method and device for AMT (automated mechanical transmission) of commercial vehicle

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