KR20150095026A - Auto change of speed system for agriculture vehicle and Auto change of speed controlling methods using the same - Google Patents

Abstract

Disclosed are an automatic gear-shifting system of an agricultural vehicle and an automatic gear-shifting method using the same. An automatic gear-shifting system according to an embodiment of the present invention includes a driving lever switch manipulating the a shuttle gear-shifting unit, which is for gear-shifting to move forward or backward, to move forward and backward and to be in neutral; a main gear-shifting switch to gear-shift a main gear-shifting unit for a primary gear shift; a position sensor to detect a manipulation position of a mechanical sub gear-shifting lever to gear-shift a sub gear-shifting unit for a secondary gear-shift; an automatic/manual mode selecting switch selecting a gear-shifting mode to control the gear shift in either an automatic or a manual mode; a control unit controlling the gear shift corresponding to a corresponding signal combination based on signals inputted from the driving lever switch, main gear-shifting switch, position sensor, and the automatic/manual mode selecting switch; and an actuator receiving the signals from the control unit when the automatic gear-shifting mode is selected and generating power to change a position of the sub gear-shifting lever.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic shift control system for an agricultural work vehicle and an automatic shift control method using the same,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic transmission system and an automatic transmission control method using the automatic transmission system, and more particularly, to an automatic transmission system applied to an agricultural work vehicle (tractor)

FIG. 1 shows a mission combination (shift combination) applied to a conventional agricultural work vehicle.

Referring to FIG. 1, the mission combination of a conventional agricultural work vehicle is largely composed of a mission part 1 and a rear car part 6. The mission portion 1 includes a shuttle transmission portion 2 related to forward and backward shifts, a peripheral speed portion 3 and a negative speed change portion 4 for implementing a wide range of speeds, a front wheel drive portion 5 for a double speed turn and front wheel drive And the rear differential section 6 appropriately distributes the power shifted by the mission section 1 to the left and right rear wheels.

The shuttle transmission portion 2 constituting the mission portion 1 is a hydraulic clutch type that implements selective power connection by pressurization allowed to flow by the operation of a driver lever and the peripheral speed portion 3 is a synchronous type four- . In addition, the auxiliary transmission portion 4 can be selectively held by two pairs of gears having different gear ratios in accordance with the movement of the shifter associated with the operation of the auxiliary shift lever.

The front wheel drive unit 5 is applied with a hydraulic clutch system in the same manner as the shuttle transmission unit 2 and various components constituting the mission unit 1 and the rear drive unit 6 are mounted on a transmission case 8, And is protected. In addition, the mission case 8 is filled with oil as a lubricant that smoothly transmits power between gears and rotates the shaft and reduces friction and abrasion between parts.

The auxiliary transmission portion 4 receives the transmission power that has been subjected to the primary shifting while passing through the peripheral speed portion 3 and shifts once again. The transmission power, which is finally shifted through the auxiliary speed change portion 4, And is appropriately distributed to the left and right rear wheels which are provided to the eccentric portion (6) via the rear differential portion (6) and become drive wheels, and the vehicle moves.

In the figure, reference numeral 7 denotes a PTO drive unit for drawing engine power out of the gas to utilize the power output from the engine as a power for driving a working machine.

Conventional agricultural work vehicles equipped with such a speed-change device mainly use the high-speed gear of the transmission for running on the road to move to the farmland, and use the low-speed range for the work on farmland. At this time, the auxiliary shift lever is used to change the running speed from the low speed range to the high speed range to the high speed range.

That is, in order to set the gear ratio (speed ratio) of the low speed region in which the work on the farmland is important, the above-described speed change gear lever Speed ratio) is set so that it is possible to select a speed suitable for a work or running on the road.

By changing the speed change stage of the peripheral speed part in a state where the auxiliary speed change lever is located at the high speed end or the low speed end, it is possible to carry out high speed or high speed traveling in running on the road, and it is possible to perform ultra low speed operation or medium low speed operation. In other words, it is possible to select the optimum speed according to the condition through various combinations of the speed range of the peripheral speed portion and the auxiliary speed portion.

In the conventional mission combination of the agricultural work vehicle, the peripheral speed reducer and the auxiliary speed shifter are mechanically structured such that the shifter is shifted by a driver lever operation to convert the shifter into a desired speed ratio. Therefore, there is a problem that the configuration is very complicated, the shift operation is troublesome, and fatigue accumulates during frequent shift operation.

In order to solve the problem, a technique has been proposed in which the hydraulic clutch is structured by selectively compressing the peripheral portion by pressure, and the shift control of the peripheral portion is automatically controlled by using the hydraulic control valve. However, there is a disadvantage in that there is a limitation in the number of changeable speed steps only by controlling the peripheral speed portion in a state where the auxiliary speed change lever is located at the high speed end or the low speed end.

Japanese Laid-Open Patent Publication No. 2013-068289 (published on Jan. 201,

An automatic transmission system for an agricultural work vehicle having a structure capable of selecting an automatic transmission or a manual transmission and capable of automatically controlling a shift of a downshift portion as well as a peripheral speed portion when an automatic transmission mode is selected, So as to provide an automatic transmission control method.

According to an aspect of the present invention, there is provided a traveling lever switch provided for forward / backward and neutral operation of a shuttle transmission portion for forward or backward shift, A peripheral speed switch provided for shifting operation of the peripheral speed part for the primary speed change; A position detecting sensor for detecting an operating position of a mechanical shift selector provided for a shift control of a negative speed change section for a second shift; An automatic / manual selection switch for selecting a shift mode so that the shift can be controlled to either one of automatic or manual mode; A control unit for performing shift control according to a signal combination based on a signal input from the traveling lever switch, the peripheral speed switch and the position detection sensor, and the automatic / manual selection switch, and a control unit And an actuator for receiving a signal and generating power for switching the position of the auxiliary shift lever.

In one aspect of the present invention, when the automatic / manual selection switch is selected as the manual shift mode, the shift control according to the combination of the shift speeds selected by the peripheral speed switch and the mechanical speed change lever may be performed.

And the peripheral speed portion may include a hydraulic clutch in which an optional power connection is implemented by pressure control of a hydraulic control valve having a plurality of flow paths corresponding to the set speed ratio.

When the automatic / manual selection switch is selected in the automatic shift mode and the speed ratio of the peripheral speed section by the control unit is at the highest level and the speed increase is required, the actuator is operated so that the additional shift lever is shifted to the upper shift stage Lt; / RTI >

At this time, the actuator may be any one selected from a hydraulic or pneumatic cylinder, a hydraulic or pneumatic motor.

The vehicle further includes a peripheral speed ramp for expressing a shift speed of the peripheral speed portion selected by the peripheral speed switch so that the driver can recognize the speed ratio, a shift mode lamp for expressing the shift speed mode selected by the automatic / And a forward / backward ramp for expressing the forward, neutral, and reverse states selected by the travel lever switch so that the driver can recognize it.

According to another aspect of the present invention as a means for solving the problem, there is provided a control method for a vehicle, comprising: a shift mode discrimination step according to an automatic / manual selection switch operation; A step of performing control to switch to an automatic shift mode when it is determined that the shift mode is set to automatic; And performing a shift control to change the speed ratio of the peripheral speed portion and the auxiliary speed portion based on the speed and the load of the vehicle after the automatic speed change mode is switched to the automatic speed change control method.

The control method according to another aspect of the present invention may further include determining whether the current shift setting state of the vehicle selected by the driver operation matches the automatic shift mode entry condition and determining that the shift mode is set to automatic And switching to the automatic shift mode when the current shift setting state of the vehicle matches the automatic shift mode entry condition may be executed.

At this time, the condition for entering the automatic transmission mode may be a case where the traveling lever switch for forward / rearward shift is selected in the forward direction and the speed change stage of the peripheral speed section by the peripheral speed switch has an input for selection.

Further, in the automatic shift mode, the shift control of the peripheral speed portion can be set to be performed in preference to the shift control of the negative speed change portion.

Preferably, a shift control for increasing the speed ratio of the auxiliary speed change portion is performed when the shift position of the peripheral speed portion is located at the top end in the automatic speed change mode and it is determined that the speed increase is necessary.

Here, the shift control for the auxiliary speed change section is a control operation for increasing the number of shift stages by driving the actuator for switching the position of the auxiliary shift lever on the basis of the operating position of the auxiliary shift lever detected by the position detecting sensor have.

According to the embodiment of the present invention, it is possible to select the automatic shift mode or the manual shift mode according to the driver's choice, thereby enabling the vehicle to travel in the optimal shift mode suitable for the situation. When the automatic shift mode is selected, So that it is possible to greatly reduce the operational fatigue caused by frequent shifting operations.

In addition, when automatic transmission mode is selected, the speed range of the automatic transmission can be widened automatically by automatically controlling the speed range of the auxiliary speed change section as well as the peripheral speed section. Accordingly, the optimum speed It is possible to drive and work so that the driving performance can be improved and the working efficiency can be increased.

1 is a structural view of a mission combination (shift combination) of a conventional agricultural work vehicle;
2 is a schematic view schematically showing an automatic transmission system for an agricultural work vehicle according to an aspect of the present invention.
3 is a schematic view of a transmission portion applied to an automatic transmission system according to an aspect of the present invention.
Fig. 4 is a schematic plan view of the travel lever switch for the shuttle transmission portion shift operation shown in Fig. 3; Fig.
5 is a side view showing a mechanical connection of the travel lever switch and the forward / backward valve.
FIG. 6 is a side schematic view of a mechanical-type upshift lever for a reduction gear shift operation shown in FIG. 3; FIG.
7 is a flow chart relating to automatic shift control performed through an automatic transmission system according to an aspect of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings.

2 is a schematic view showing an automatic transmission system for an agricultural work vehicle according to an aspect of the present invention.

2, the automatic transmission system according to an aspect of the present invention includes a traveling lever switch 25 for shifting operation of the shuttle transmission portion 20, A switch 35 is provided. And a position detecting sensor 42 for detecting the operating position of the mechanical-type shift selector lever 45 provided for the shifting operation of the auxiliary speed change section 40.

The travel lever switch 25 is involved in an operation for positioning the connection position of the shuttle transmission portion 20 in the hydraulic clutch type in the forward or backward direction or in the neutral position, and the peripheral speed switch 35 is also engaged with the operation of the hydraulic clutch type And is involved in an operation of selecting the speed change stage of the peripheral speed section 30. [ The information on the operating position of the shift lever 45 detected by the position detecting sensor 42 is transmitted to the control unit 10. [

An automatic / manual selection switch (50) is provided around the driver's seat for selecting a shift mode to be automatically or manually switched. A signal outputted from the traveling lever switch 25, the peripheral speed switch 35 and the position detection sensor 42 and the automatic / manual selection switch 50 is transmitted to the control unit 10, and the control unit 10 ) Performs shift control according to the signal combination based on the received signal.

When the shift mode is manually selected, the shift control is performed according to the combination of the shift lever selected by the travel lever switch 25, the peripheral speed switch 35 and the auxiliary shift lever 45. [ Conversely, when automatic is selected, the control unit 10 directly controls the hydraulic pressure control valve 38 involved in the clutch interrupting of the peripheral speed section 30 in consideration of the current speed and load of the vehicle, so that proper shifting is performed.

The auxiliary shift lever 45 is a mechanical structure that allows the driver to directly input the operation force to set the speed change stage. In the automatic shift mode, the actuator 60, which receives the signal output from the control unit 10, The setting position can be changed. That is, in the automatic shift mode, the actuator 60 receives the control of the control unit 10 to generate power for switching the position of the auxiliary shift lever 45. [

The actuator 60 is preferably operated such that the automatic / manual selection switch 50 is selected in the automatic shift mode and the shift control stage of the peripheral speed section 30 by the control unit 10 is at the uppermost stage, The shift lever 45 can be driven to position the shift lever 45 in the shift speed stage section higher than the currently selected shift speed stage.

The actuator 60 may be a hydraulic or pneumatic cylinder or a hydraulic or pneumatic motor and may be connected directly to the auxiliary shift lever 45 or may be a transmission gear or a transmission gear system of a rack and pinion type or a pair of worm and worm wheels Is connected to the reduction gear train by an appropriate power transmission method and applies a force in the direction of pushing or pulling.

Reference numeral 70 denotes a peripheral speed ramp for expressing a shift speed of the peripheral speed section 30 selected by the peripheral speed switch 35 in a driver recognizable manner and reference numeral 80 denotes a speed change mode selected by the automatic / manual selection switch 50 It is a shift mode lamp which can be recognized by the driver. And reference numeral 90 denotes a forward / backward ramp for expressing the forward, neutral, and reverse states selected by the travel lever switch 25 so that the driver can recognize it.

3 is a schematic view of a transmission portion applied to an automatic transmission system according to an aspect of the present invention.

3, there are provided a shuttle transmission portion 20 that engages in forward, neutral, and reverse shifting, and a transmission portion 20 that converts the power whose rotational direction is determined by the shuttle transmission portion 20 to a speed suitable for the speed- Speed portion 40 and a secondary speed-change portion 40 for performing a secondary speed-change operation for increasing or decreasing the power primary-shifted by the peripheral speed portion 30.

The shuttle transmission portion 20 includes a pair of left and right hydraulic forward clutch 200 and reverse clutch 210. The forward clutch 200 or the reverse clutch 210 is connected and connected in accordance with the movement of the pressure oil which is allowed to open the oil passage of the forward-reverse valve 28 connected to the travel lever switch 25, And becomes neutral when both the forward and backward flow passages of the forward-backward valve 28 are closed.

The forward / backward valve 28 is supplied with pressurized oil from the hydraulic pump and selectively supplies the pressurized oil to the oil passage communicating with the forward or reverse clutch 210. At this time, the forward or backward flow path of the forward / backward valve 28 is opened / closed in conjunction with the mechanical operation of the travel lever switch 25 provided around the driver's seat and the electrical contact condition.

The peripheral component 30 is connected to the output shaft of the shuttle transmission portion 20 and includes a plurality of pairs of driving gears 300 and 300 and a hydraulic clutch 310 for selecting a power transmission direction among the pair of gears. . ≪ / RTI > The hydraulic clutch 310 is supplied with the pressurized oil whose flow direction is determined from the hydraulic control valve 38. The hydraulic control valve 38 receives the signal of the above-described peripheral speed switch 35 and controls the flow direction of the pressurized oil.

When the automatic / manual selection switch 50 is manually selected, the hydraulic control valve 38 for interrupting the hydraulic clutch of the peripheral speed section 30 can be shifted in accordance with the speed change stage selected by the peripheral speed switch 35 And when the automatic transmission mode is switched to the automatic transmission mode, the control unit 10 is directly controlled and operated so that proper peripherals can be achieved.

As shown in the figure, the auxiliary speed change section 40 is mechanically connected to the auxiliary speed change lever 45 so that the primary shifted power is transmitted in the direction of increasing or decreasing speed in accordance with the movement of the shifter 400 interlocked with the auxiliary speed change lever 45, But may be configured to accelerate or decelerate the primary shifted power by the operation of the hydraulic high / low clutch interlocked with the operation of the auxiliary shift lever.

4 is a schematic plan view of the traveling lever switch for the shifting operation of the shuttle transmission shown in Fig.

When the work vehicle is advanced, the travel lever switch 25 pushes the lever upward in the figure to the forward (F) side. If the lever is to be retracted, the lever is pulled downward to be positioned in the reverse (R) It is possible to change it. When the lever is positioned between the forward position F and the backward position R, the neutral position N is established.

5, the travel lever switch 25 includes a shaft assembly 250 mechanically connected to a forward-reverse valve 28 that interrupts the operation of the shuttle transmission portion 20, and a forward / backward switch 260 The opening and closing condition of the valve 28 according to the operation of the travel lever switch 25 and the electrical contact detection condition of the forward and reverse switch 260 must be satisfied simultaneously. The flow path is opened and closed.

Fig. 6 is a schematic view of the mechanical auxiliary shift lever shown in Fig. 3 as viewed from the side for shifting the auxiliary speed change section. Fig.

6, the speed change section selectable by the negative speed change lever 45 can be divided into a low speed section and a high speed section or can be divided into a low speed L, a medium speed M and a high speed H as shown in the drawing . Of course, when the present invention is applied to a vehicle requiring a higher number of gear shifts, the speed change section may be subdivided as much as possible, and thus is not limited to a specific number of sections.

The actuator 60 connected to the negative speed change lever 45 in the automatic speed change mode operates as a signal transmitted from the control unit 10 to move the negative speed change lever 45 so as to be located in a higher speed section than the currently set speed . Thus, in the automatic shift mode, the shift is automatically implemented even if the driver does not directly operate the auxiliary shift lever 45.

7 is a flow chart relating to an automatic shift control performed through the above-described automatic transmission system. The automatic transmission system will be described in connection with the drawing relating to the automatic transmission system attached heretofore.

Referring to Fig. 7, the shift mode selected by the driver is determined when the automatic / manual selection switch 50 is operated. If it is determined that the shift mode is manually selected at this time, the shift control selected by the travel lever switch 25 and the shift control corresponding to the combination of the shift speeds selected by the peripheral speed switch 35 and the sub shift lever 45 .

On the other hand, when it is determined that the shift mode is set to automatic, the control unit 10 performs control to switch to the automatic shift mode. After switching to the automatic shift mode, the peripheral speed section 30 and the auxiliary speed change section 40 The shift speed of the vehicle is changed in such a manner that the optimum output can be obtained in consideration of the speed and load of the vehicle according to the accelerator displacement.

In switching to the automatic shift mode, the step of determining whether the current shift setting state of the vehicle selected by the driver operation corresponds to the automatic shift mode entry condition may be included. At this time, the condition for entering the automatic shift mode may be the case where the traveling lever switch 25 is selected in the forward direction and the speed change stage of the peripheral speed section 30 has an input for selection by the peripheral speed switch 35 .

When it is determined that the shift mode is set to automatic and the current shift setting state of the vehicle meets the automatic shift mode entry condition, control to switch to the automatic shift mode is executed as described above, The speed change control is automatically performed to change the speed change stages of the peripheral speed section 30 and the auxiliary speed change section 40 so that the optimum output can be obtained.

The shift control of the peripheral speed section 30 is performed in preference to the shift control of the auxiliary speed change section 40. When the shift position of the peripheral speed section 30 is automatically shifted in the automatic speed change mode, The shift control is performed to increase the number of shift stages of the auxiliary speed change section 40 when it is determined that a larger speed increase is required in this state.

On the other hand, when the deceleration of the peripheral speed section 30 is required in the automatic transmission mode, the shift control of lowering the speed range of the peripheral speed section 30 to the lower speed range is performed. If it is determined that no further shift is required in the set shift speed, control is performed to maintain the shift speed.

On the other hand, the shift control for the negative speed change portion 40 in the circumstance where the peripheral speed portion 30 is located at the topmost end and requires the speed increase is controlled by the operation position of the negative shift lever 45 detected by the position detection sensor 42 When it is necessary to switch the position of the sub-shift lever 45 in a state where information related to the sub-shift lever 45 is input to the control unit 10, the position of the sub-shift lever 45 is shifted to a single- And may be a control for driving the actuator 60. [

For example, when it is detected that the auxiliary shift lever 45 is located at the L-stage (main speed end) in the automatic shift mode, the actuator 60 is operated so that the auxiliary shift lever 45 located at the L- (Intermediate speed), and when the auxiliary speed change lever 45 is detected to be located at the M (intermediate speed) end, control is performed to raise it to the high speed (high speed)

That is, in the automatic shift mode, the actuator 60 connected to the negative speed change lever 45 operates as a signal transmitted from the control unit 10 to move the negative speed change lever 45 so as to be positioned in a short- The shift is automatically performed even if the driver does not directly operate the auxiliary shift lever 45 in the automatic shift mode.

According to the embodiment of the present invention as described above, it is possible to select the automatic shift mode or the manual shift mode according to the driver's choice, thereby enabling the vehicle to travel in the optimal shift mode suitable for the situation. It is possible to greatly reduce the operational fatigue caused by frequent shifting operation since the hassle of changing the number of shift stages by directly operating is eliminated.

In addition, when automatic transmission mode is selected, the speed range of the automatic transmission can be widened automatically by automatically controlling the speed range of the auxiliary speed change section as well as the peripheral speed section. Accordingly, the optimum speed It is possible to drive and work so that the driving performance can be improved and the working efficiency can be increased.

In the foregoing detailed description of the present invention, only specific embodiments thereof have been described. It is to be understood, however, that the invention is not to be limited to the specific forms thereof, which are to be considered as being limited to the specific embodiments, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. .

10: control unit 20: shuttle transmission portion
25: travel lever switch 28: forward / backward valve
30: peripheral speed 35: peripheral speed switch
38: Hydraulic control valve 40: Negative speed change section
42: Position detecting sensor 45: Negative shift lever
50: Automatic / manual selection switch 60: Actuator
70: Peripheral lamp 80: Shift mode lamp
90: forward and backward ramp

Claims (12)

A traveling lever switch provided for forward and rearward and neutral operation of the shuttle transmission portion for forward or reverse shifting;
A peripheral speed switch provided for shifting operation of the peripheral speed part for the primary speed change;
A position detecting sensor for detecting an operating position of a mechanical shift selector provided for a shift control of a negative speed change section for a second shift;
An automatic / manual selection switch for selecting a shift mode so that the shift can be controlled to either one of automatic or manual mode;
A control unit for performing shift control corresponding to the combination of the signals based on signals input from the traveling lever switch, the peripheral speed switch, the position detection sensor, and the automatic / manual selection switch;
And an actuator for receiving a signal from the control unit when the automatic shift mode is selected and generating power for switching the position of the sub shift position lever.
The method according to claim 1,
Wherein when the automatic / manual selection switch is set to the manual shift mode, the shift control is performed in accordance with the combination of the shift speeds selected by the peripheral speed switch and the mechanical speed change lever.
The method according to claim 1,
Wherein the peripheral speed portion is a hydraulic clutch system in which an optional power connection is implemented by pressure control of a hydraulic control valve having a plurality of flow paths corresponding to the set speed ratio.
The method according to claim 1,
Wherein the actuator is operated when the automatic / manual selection switch is selected in the automatic shift mode and the speed control stage of the peripheral speed by the control unit is at the highest level and the speed increase is required.
The method according to claim 1,
Wherein the actuator is any one selected from a hydraulic or pneumatic cylinder or a hydraulic or pneumatic motor.
The method according to claim 1,
A peripheral speed ramp for expressing the number of speed ratios of peripheral speeds selected by the peripheral speed switch in a manner recognizable by a driver,
A shift mode lamp for expressing the shift mode selected by the automatic / manual selection switch so that the driver can recognize the shift mode,
Further comprising a forward / backward ramp for expressing the forward, neutral, and reverse states selected by the travel lever switch so that the driver can recognize the driver.
A shift mode discrimination step according to an automatic / manual selection switch operation;
A step of performing control to switch to an automatic shift mode when it is determined that the shift mode is set to automatic; And
The automatic transmission according to any one of claims 1 to 6, wherein when the automatic transmission mode is switched to the automatic transmission mode, shifting control is performed to change the speed ratio of the peripheral speed portion and the auxiliary speed portion based on the speed and load of the vehicle (Automatic Shift Control Method Using System).
8. The method of claim 7,
Determining whether the current shift setting state of the vehicle selected by the driver operation matches the automatic shift mode entry condition,
The automatic shift control method comprising the steps of: determining that the shift mode is set to automatic, and switching to the automatic shift mode when the current shift setting state of the vehicle matches the automatic shift mode entry condition .
9. The method of claim 8,
The condition for entering the automatic transmission mode is that,
A traveling lever switch for forward / backward shifting is selected in the forward direction,
And when the speed change stage of the peripheral speed section has an input for selection by the peripheral speed switch, the automatic speed change control method using the automatic speed change system.
8. The method of claim 7,
Speed shift control is performed in the automatic shift mode in which the shift control of the peripheral speed section is performed in preference to the shift control of the negative speed change section.
11. The method of claim 10,
Wherein the shift control is performed so that the shift position of the peripheral speed portion is located at the top end in the automatic shift mode and the speed change stage of the auxiliary speed change portion is increased when it is determined that the speed increase is necessary.
12. The method of claim 11,
The shift control for the auxiliary speed change section is a control for changing the speed change stage by driving the actuator for switching the position of the auxiliary shift lever on the basis of the operating position of the auxiliary shift lever detected by the position detecting sensor The automatic transmission control method using the automatic transmission system.

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