CN105717805B - A kind of exploitation of automatic mechanical type gearbox control and test platform - Google Patents

Abstract

Exploitation and test platform the invention discloses a kind of automatic mechanical type gearbox control, including battery (1), gearbox control (2), automatic mechanical type gearbox (3), accelerator pedal (4), vehicle emulator (5), CAN data collecting cards (6) and host computer (7).Battery is powered for TCU and VSU.AMT controls object as the real of TCU, including selects gear shifting motor, gear-selecting and shifting executing mechanism, selects gear shift angular displacement sensor and gearbox body.It is vehicle emulator 5 (VSU), gearbox AMT and TCU to be tested in ring hardware.The present invention is few in ring component, and analogue system is simple, and debugging is convenient.

Description

A development and testing platform for an automatic mechanical gearbox controller

technical field

The invention relates to the development and testing technology of the automatic transmission controller of the automobile, in particular to a development and testing platform of the automatic mechanical transmission controller.

Background technique

The development of the automatic transmission system mainly involves two components, one is the transmission including the actuator, and the other is the transmission control unit (Transmission Control Unit, TCU). The automatic mechanical transmission (Automatic Manual Transmission, AMT) is based on the manual transmission (Manual Transmission, MT), adding an automatic gear selection and shifting actuator to replace the original manual shifting control part. Therefore, AMT has the advantages of MT and automatic transmission (Automatic Transmission, AT), that is, higher transmission efficiency, lower fuel consumption, relatively low manufacturing cost, reduced driver's operating intensity and improved gear shifting quality. At present, the research process of AMT is in the stage of comprehensive transition to intelligence. According to the different actuators, AMT can be divided into three categories: electromechanical, electropneumatic and electrohydraulic. At present, AMT using DC motor as the driving source has huge advantages in manufacturing cost, reliability and controllability, so it is very popular.

TCU is an important part of AMT, including hardware and software, and is an important carrier integrating machinery, electronics and control; it plays an extremely important role in the automatic transmission of vehicles and smooth driving. However, the development of the TCU required extensive testing. In the early stage, due to the imperfect control logic, it is easy to cause component damage, so the actual vehicle test is by no means the best choice. For the development of automotive electronic controllers, the current market mainly adopts two methods of hardware in the loop (Hardware in the Loop, HIL) and automotive electronic control unit development platform. Hardware-in-the-loop is to put some difficult-to-simulate components in the loop in physical form, and other components in the loop as models, and perform closed-loop testing together. Hardware-in-the-loop reduces the work intensity to a certain extent, but still requires complex mechanical and electrical connections. Especially when the platform structure and component installation are unreasonable, it will cause secondary planning, which is time-consuming and labor-intensive. The automotive electronic control unit development platform realizes the automatic generation and operation from the full model to the embedded code. Although the development process is greatly simplified, it is expensive and requires professional training before it can be used proficiently.

Chinese invention patent CN101968630A adopts a hardware-in-the-loop method and discloses a simulation test bench for an automatic transmission controller. It includes a host computer, a real-time target computer, a signal generating and measuring component, an electronic engine controller, and a plurality of electromagnetic valves. The engine, gearbox, and vehicle dynamics are modeled, and the gearbox controller and engine electronic controller are real objects to form a simulation platform. Chinese invention patent CN102354121A adopts an automobile electronic control unit development platform, and discloses a development method and a development platform for rapid prototyping. The control strategy model is established in the host computer and can be downloaded to the processor of MicroAutobox. Through the signal conditioning module of the hardware device, various sensors and switch signals required by the control strategy are collected from the processor; through the power drive module of the hardware device, the peripheral real controller is driven to make the equipment operate normally.

The TCU has two main tasks, one is to replace the engine management unit for torque control during the gear shift, and the other is to control the gear selection and shift of the gearbox. The stability of the vehicle is basically not involved, so in the hardware-in-the-loop simulation of the TCU, the vehicle system model can be simplified without considering the impact of the suspension and steering issues. According to this feature, the present invention is based on AMT, and proposes a TCU rapid development and testing platform based on an embedded system.

Contents of the invention

In view of the above problems, the present invention aims to propose a low-cost, easy-to-implement, simple-structure development and test platform that can quickly verify the gearbox controller. In the early stage, instead of real vehicle test and bench test, the reliability of TCU hardware and the correctness of control strategy are verified.

In order to realize above-mentioned technical purpose, the present invention adopts following technical scheme:

A development and testing platform for an automatic mechanical gearbox controller, including a storage battery, a gearbox controller, an automatic mechanical gearbox, an accelerator pedal, a vehicle simulator, a CAN data acquisition card and an upper computer, characterized in that:

The battery is electrically connected to the transmission controller and the vehicle simulator respectively; both the transmission controller and the vehicle simulator are equipped with a power conversion module, which can convert 12V DC to 5V, and the transmission controller is electrically connected to the accelerator pedal. The whole vehicle simulator is electrically connected with the automatic mechanical gearbox; both the gearbox controller and the whole vehicle simulator (5) are provided with a CAN module, and the two are connected through the CAN bus; the upper computer passes the CAN data acquisition card (6) and the CAN The bus is connected to realize data collection.

The present invention also provides a method for developing using the development and testing platform of the automatic mechanical gearbox controller, which includes:

Step 1. When the power-on signal is detected, the TCU commands the AMT to return to neutral, and detects the parking brake and door switch signals at the same time. If the parking brake signal is 1, the indicator light will flash, and if the door switch signal is 1, it will indicate The light flashes and the start signal is invalid, the driver needs to close the door and put down the handbrake;

Step 2. The engine torque can be obtained by two-dimensional table lookup according to the position of the accelerator pedal and the engine speed. If it is greater than the maximum torque of the engine, the effective torque of the engine is taken as the maximum torque; otherwise, the lookup table torque is taken;

Step 3. If the current gear is 0 or the clutch is disengaged, the engine is idling and the vehicle speed is 0; if it is in gear and the clutch is engaged, the vehicle acceleration is calculated according to the ideal model of the transmission system, and then the vehicle speed is accumulated;

Step 4. The TCU collects the vehicle speed, accelerator pedal position, and clutch status signals from the CAN network, and uses them as the conditions for deciding to shift gears. At the same time, the upper layer shift control strategy calculates the shifting speed. If the current speed is not equal to the shifting speed, Then continue to wait; if the current vehicle speed is equal to the gearshift speed, the TCU will give the target gear and send an overreach signal to request control of the engine;

Step 5. Command the clutch to disengage. The TCU underlying control program gives the desired gear selection position and shift position, and uses PWM to control the gear selection motor to move in sequence; the gear selection angle position sensor feeds back the current position of the gear selection to the TCU for real-time Correction;

Step 6. The CAN signal interaction of the entire operation process is transmitted to the PC through the CAN data acquisition card (6), and the entire process is monitored through Labview. The gear control strategy and the underlying motor control program are changed; if the gear shift is completed, the current gear is transmitted to the CAN network, and the vehicle status is updated;

Step 7. Change the position of the potentiometer to change the current road gradient, change the position of the accelerator pedal to change the operating point of the engine, and change the combination of buttons to determine whether the vehicle works in forward gear or reverse gear

Compared with the existing test platform, the rapid development and test platform of the present invention has the following advantages due to the adoption of the above technical scheme:

1. The in-the-loop hardware is the vehicle simulator 5 (VSU), the gearbox AMT, and the TCU to be tested. There are few components in the ring, the simulation system is simple, and the debugging is convenient.

2. The input of vehicle operating parameters such as accelerator pedal position, brake pedal position, slope, etc. can be realized through various switches or potentiometers, and the vehicle operating status such as vehicle speed and engine speed can be indicated through LEDs. Low cost and easy to implement.

3. Realize the engine, vehicle transmission system and clutch in the form of embedded C code according to the ideal mathematical model and embed them in the vehicle simulator 5 (VSU), providing a vehicle environment for the TCU to be tested. Simple and versatile, it can be widely used in the rapid development platform of automotive electronic controllers.

4. The upper computer uses Labview to build a data acquisition and follow-up system, which can display and save the data in the simulation in real-time in the form of graphics. Since the simulation process and the data display are always synchronized, it is convenient to analyze and improve the TCU shift control logic.

Description of drawings

Figure 1 is the overall frame diagram of the TCU development and testing platform;

Fig. 2 is a flow chart of the control logic of the TCU development and testing platform;

Figure 3 is the flow chart of Labview human-computer interaction interface design.

Among them: 1-battery, 2-gearbox controller, 3-automatic mechanical gearbox, 4-accelerator pedal, 5-vehicle simulator 5, 6-CAN data acquisition card, 7-host computer.

detailed description:

The present invention will be described in detail below in conjunction with accompanying drawing:

Figure 1 is the overall frame diagram of the TCU rapid development and testing platform. Including battery 1, transmission controller 2 (TCU), automatic mechanical transmission 3 (AMT), accelerator pedal 4, vehicle simulator 5 (VSU), CAN data acquisition card 6 and upper computer 7.

Wherein, battery 1 is electrically connected with transmission controller 2 (TCU) and vehicle simulator 5 (VSU) respectively; The 12V direct current is converted to 5V, the gearbox controller 2 is electrically connected to the accelerator pedal 4, and the vehicle simulator 5 (VSU) is electrically connected to the automatic mechanical gearbox 3 (AMT); the gearbox controller 2 and the vehicle simulator 5 (VSU) are all provided with CAN module, both are connected by CAN bus; Host computer 7 is connected with CAN bus by CAN data acquisition card 6, realizes the collection of data;

The storage battery 1 is a vehicle-mounted 12V storage battery, which supplies power for the gearbox controller 2 to be tested, the vehicle simulator 5 (VSU) and the gear selection motor;

The battery 1 voltage is collected by the vehicle simulator 5 (VSU), which can monitor the working state of the battery 1 in real time;

The transmission controller 2 (TCU) is divided into hardware and software. The hardware circuit is equipped with a power conversion module, a signal processing module, an MPU module, an online debugging module, a motor drive module, a motor current detection module and a CAN module.

The software is divided into the upper gear shift control strategy and the lower motor control;

The power conversion module of the transmission controller 2 (TCU) hardware circuit converts the 12V direct current of the storage battery into a 5V direct current, and supplies power for other modules in the controller and the gear shift angular displacement sensor;

The signal processing module of the transmission controller 2 (TCU) hardware circuit includes a debounce circuit for switch signals, a first-order RC filter circuit for analog signals, and a hysteresis voltage comparison circuit for rotational speed signals, which are used to eliminate noise in different types of signals. glitches and jitter;

The MPU module of described gearbox controller 2 (TCU) hardware circuit adopts Infineon XC2000 series single-chip microcomputer, comprises power supply pin filter circuit, reset circuit and external crystal oscillator circuit;

The on-line debugging module utilization of described gearbox controller 2 (TCU) hardware circuit can be connected with Infineon special-purpose emulator, carries out the burning of program and the online observation and debugging of variable;

The motor drive module of the transmission controller 2 (TCU) hardware circuit mainly includes a motor drive chip and an H bridge made up of MOSFETs, which are directly connected to the gear selection motor and the shift motor through the connector;

The hardware circuit of the gearbox controller 2 (TCU) is provided with two motor current detection modules, which are composed of a 5 milliohm resistor and a current detection chip. A 5 milliohm resistor is connected in series with the motor, and the current detection chip collects the voltage across the 5 milliohm resistor, and the current flowing through the gear selection motor and gear shift motor can be obtained by Ohm's law;

The CAN module of the transmission controller 2 (TCU) hardware circuit mainly includes a CAN driver chip, and utilizes the CAN module to send a gear selection motor position, a gear shift motor position, a gear selection motor current, a gear shift motor current and a current gear signal;

The transmission controller 2 (TCU) needs to detect the TCU under different working conditions, the hardware circuit when shifting gears frequently, especially the reliability of the motor drive module and the correctness and smoothness of the software shift control strategy;

The accelerator pedal 4 is the only actual vehicle signal generating device in the platform. Since the potentiometer lacks an automatic return function, and the position of the accelerator pedal 4 is an important signal to determine the engine power output and the TCU to perform gear shifting, the accelerator pedal 4 adopts a real vehicle device;

The accelerator pedal 4 is provided with a displacement sensor, which can simultaneously generate two paths of accelerator pedal 4 position signals, and the two paths of signals can be mutually verified. Described accelerator pedal 4 position signals are collected by vehicle simulator 5 (VSU);

The automatic mechanical transmission 3 (AMT) has five gears in total, and provides time-varying load force and gear selection motor current for the transmission controller TCU to be tested during the gear shifting process. The automatic mechanical gearbox 3 includes a gear selection motor, a gear shifting motor, a gear selection angular displacement sensor, a gear shifting angular displacement sensor, a gear selection actuator and a gear shift actuator;

The AMT gear selection motor increases the torque through the deceleration of the worm gear pair, and then changes the rotational motion of the motor into an up and down motion through the rack and pinion pair, so as to perform the gear selection operation;

The AMT gearshift motor also increases the torque through the deceleration of the worm gear pair, and then drives the shift lever to move left and right through the first-stage gear pair to realize gear shifting;

The AMT gear selection angular displacement sensor is used to indicate the current gear selection and the position of the gear shift fork;

The vehicle simulator 5 (VSU) provides a vehicle environment for the development of the TCU. It is divided into hardware and software. The hardware circuit includes power conversion module, signal generation module, signal processing module, MCU module, online debugging module, CAN module and alarm module. The software is divided into two parts: the bottom drive and the upper control;

The vehicle simulator 5 (VSU) power conversion module converts 12V DC into 5V DC;

The vehicle simulator 5 (VSU) signal generation module includes a boat switch, a potentiometer and a combination key switch. The rocker switch is used to generate switching values, such as power-on signals; the potentiometer is used to generate analog signals, such as brake pedal position signals; the combination key switch is used to simulate multiple switching values, such as the position of the gear selection handle;

The vehicle simulator 5 (VSU) signal processing module includes a debounce circuit of switch signals and a first-order RC filter circuit of analog signals, which is used to remove burrs and jitter in signals;

The CAN module of the vehicle simulator 5 (VSU) is provided with a CAN driver chip, and communicates with the CAN network through the CAN bus. Need to send power-on, current acceleration, current vehicle speed, accelerator pedal 4 position and clutch status signals;

The alarm module of the vehicle simulator 5 (VSU) is provided with a light-emitting diode and a buzzer. Warns when the doors are opened, the parking brake handle is not down, and the gear selector motor is too large;

Described whole vehicle simulator 5 (VSU) software first carries out mathematical modeling with vehicle and driving environment, engine, clutch and driving motor according to ideal characteristic and converts the result into C code and embeds in the single-chip microcomputer; Process the signal from the signal generation module; the upper layer control program calculates vehicle speed, acceleration and other vehicle parameters;

One end of the CAN data acquisition card 6 is connected to the CAN network, and one end is connected to the USB interface of the upper computer 7 to realize data transmission and type conversion;

The upper computer 7PC runs a Labview program, which can provide a clear human-computer interaction interface; during the operation of the platform, it collects and analyzes the current of the gear selection motor, the current of the gear shift motor, the position of the gear selection motor, the position of the gear shift motor, the current Gear position and vehicle speed signals, and the results are displayed and saved in graphic form.

In order to further illustrate the information interaction of the present invention, the following list illustrates the specific signal flow in the TCU rapid development and test platform:

See Table 1, TCU rapid development and test platform signal flow, including in-loop hardware, signal name, implementation method and specific signal type.

Table 1 TCU rapid development and test platform signal flow

The power-on, parking brake, door switch and gear selection handle positions are switch signals, which can be respectively simulated by a boat switch and a combination switch. When the corresponding general-purpose input and output ports of the single-chip microcomputer detect high-level input, the corresponding control function will be triggered to realize specific functions such as power-on of the whole vehicle, braking of the whole vehicle, pressurization of wheel cylinders, and change of gear position;

The starting signal is a step signal, and the high level is sustainable, so it can be realized by a resettable key switch;

The brake pedal position signal and slope signal are analog signals. The potentiometer can realize the continuous change of 0-5V level, so it can be used to simulate the brake pedal and road gradient;

Although the position of the accelerator pedal is similar to that of the brake pedal, the potentiometer lacks an automatic return function, and the position signal of the accelerator pedal directly affects the shift strategy, which is extremely important, so the accelerator pedal of a real vehicle is used;

The voltage of the storage battery is 12V, and the input voltage of the single-chip microcomputer is required to be 5V, so a voltage divider circuit needs to be set on the path; the resistance value of the resistance near the source end should be at least 1.4 times that of the resistance near the ground end, so that the voltage input to the single-chip microcomputer is the largest 5V;

The current of the gear selection motor is generated by the current detection module of the TCU hardware circuit. The module consists of a 5 milliohm resistor and a current detection chip. The 5 milliohm resistor is connected in series with the motor, and the current detection chip collects the voltage across the 5 milliohm resistor and amplifies it by 20 times, and the current flowing through the gear selection motor and gear shift motor can be obtained by Ohm’s law;

The gear selection and shift positions are derived from angular displacement sensors on the AMT. The angular displacement sensor has a rated voltage of 5V and is powered by the TCU;

The signals in the TCU rapid development and test platform realize interaction through the CAN bus.

In order to further illustrate the implementation of the patent of the present invention, the development method using the development and testing platform of the automatic mechanical transmission controller will be described in detail in conjunction with FIG. 2 .

Step 1. When the power-on signal is detected, the TCU commands the AMT to return to neutral, and detects the parking brake and door switch signals at the same time. If the parking brake signal is 1, the indicator light will flash, and if the door switch signal is 1, it will indicate The light flashes and the start signal is invalid, the driver needs to close the door and put down the handbrake;

Step 2. The engine torque can be obtained by two-dimensional table lookup according to the position of the accelerator pedal and the engine speed. If it is greater than the maximum torque of the engine, the effective torque of the engine is taken as the maximum torque; otherwise, the lookup table torque is taken;

Step 3. If the current gear is 0 or the clutch is disengaged, the engine is idling and the vehicle speed is 0; if it is in gear and the clutch is engaged, the vehicle acceleration is calculated according to the ideal model of the transmission system, and then the vehicle speed is accumulated;

Step 4. The TCU collects the vehicle speed, accelerator pedal position, and clutch status signals from the CAN network, and uses them as the conditions for deciding to shift gears. At the same time, the upper layer shift control strategy calculates the shifting speed. If the current speed is not equal to the shifting speed, Then continue to wait; if the current vehicle speed is equal to the gearshift speed, the TCU will give the target gear and send an overreach signal to request control of the engine;

Step 5. Command the clutch to disengage. The TCU underlying control program gives the desired gear selection position and shift position, and uses PWM to control the gear selection motor to move in sequence; the gear selection angle position sensor feeds back the current position of the gear selection to the TCU for real-time Correction;

Step 6. The CAN signal interaction of the entire operation process is transmitted to the PC through the CAN data acquisition card 6, and the entire process is monitored through Labview. If the gear shift is not completed, the reason is analyzed through the data collected by Labview, and the shift control of the upper layer is carried out. The strategy and the underlying motor control program are changed; if the gear shift is completed, the current gear will be transmitted to the CAN network, and the vehicle status will be updated;

Step 7. Change the position of the potentiometer to change the current road gradient, change the position of the accelerator pedal to change the operating point of the engine, and change the combination of buttons to determine whether the vehicle works in forward gear or reverse gear. By repeating the above process, the VSU will obtain a new input state, and realize the verification of the TCU control logic under multiple working conditions.

For further illustrating the embodiment of the patent of the present invention, will illustrate the design flowchart of Labview in conjunction with Fig. 3:

Referring to Fig. 3, the VSU and TCU transmit the collected and calculated signals to the CAN bus, and transmit the CAN signals to the PC through the CAN data acquisition card 6. The CAN protocol of the engine, clutch and vehicle model is defined in the CAN module of the VSU, and the CAN protocol of the current position of the gear selection motor and the current of the gear selection motor is defined in the CAN module of the TCU. Labview parses the CAN signal according to the CAN protocol and displays it graphically. Real-time tracking of the signal flow of the test platform.

Although the present invention has been disclosed in detail with reference to the accompanying drawings, it should be understood that these descriptions are illustrative only and are not intended to limit the application of the present invention. The protection scope of the present invention is defined by the appended claims, and may include various changes, modifications and equivalent solutions for the invention without departing from the protection scope and spirit of the present invention.

Claims (4)

1. A development and testing platform for an automatic mechanical gearbox controller, including a battery (1), a gearbox controller (2), an automatic mechanical gearbox (3), an accelerator pedal (4), and a vehicle simulator (5), CAN data acquisition card (6) and upper computer (7), it is characterized in that: The battery (1) is electrically connected to the transmission controller (2) and the vehicle simulator (5) respectively; both the transmission controller (2) and the vehicle simulator (5) are equipped with a power conversion module, which can convert the 12V The direct current is converted into 5V, the transmission controller (2) is electrically connected with the accelerator pedal (4), and the vehicle simulator (5) is electrically connected with the automatic mechanical transmission (3); the transmission controller (2) is electrically connected with the vehicle The emulator (5) is all provided with a CAN module, and the two are connected by the CAN bus; the upper computer (7) is connected with the CAN bus by the CAN data acquisition card (6) to realize data collection; The vehicle simulator (5) provides a vehicle environment for the development of the TCU, and its hardware circuit includes a vehicle simulator power conversion module, a vehicle simulator signal generation module, a vehicle simulator signal processing module, and a vehicle simulator MCU module, vehicle simulator online debugging module, vehicle simulator CAN module and alarm module; The vehicle simulator power conversion module converts 12V DC into 5V DC; The signal generation module of the vehicle simulator (5) includes a rocker switch, a potentiometer and a combined key switch, the rocker switch is used to generate switching values, the potentiometer is used to generate analog signals, and the combined key switch is used to simulate multiple switching values; The vehicle simulator (5) signal processing module includes a debounce circuit for switch signals and a first-order RC filter circuit for analog signals, for removing burrs and jitter in signals; The CAN module of the vehicle emulator (5) is provided with a CAN driver chip, and realizes communication through a CAN bus and a CAN network; The alarm module of the vehicle simulator (5) is provided with a light-emitting diode and a buzzer; when the car door is opened, the parking brake handle is not put down, and the current of the gear selection motor is too large, a warning is issued; One end of the CAN data acquisition card is connected to the CAN network, and the other end is connected to the upper computer (7) to realize data transmission and type conversion; The upper computer (7) runs a Labview program, collects and analyzes the gear selection motor current, the gear shift motor current, the gear selection motor position, the gear shift motor position, the current gear position and the vehicle speed signal in real time, and displays the results in a graphical manner Display and save. 2. The development and testing platform of automatic mechanical transmission controller according to claim 1, is characterized in that: described accumulator (1) is vehicle-mounted 12V accumulator, is to-be-tested gearbox controller (2), whole vehicle The simulator (5) and the gear selection motor supply power; the battery (1) voltage is collected by the vehicle simulator (5), and the working state of the battery (1) can be monitored in real time. 3. the development and testing platform of automatic mechanical transmission controller according to claim 1, is characterized in that: accelerator pedal (4) is the real vehicle signal generating device of the development and testing platform of automatic mechanical transmission controller The position of the accelerator pedal (4) determines the power output of the engine and the execution of gear shifting by the TCU; the accelerator pedal (4) is provided with a displacement sensor, and the position signal of the accelerator pedal (4) is collected by a vehicle simulator (5). 4. the method for developing according to the development and test platform of automatic mechanical gearbox controller according to claim 1, is characterized in that comprising the steps: Step 1. When the power-on signal is detected, the TCU commands the AMT to return to neutral, and detects the parking brake and door switch signals at the same time. If the parking brake signal is 1, the indicator light will flash, and if the door switch signal is 1, it will indicate The light flashes and the start signal is invalid, the driver needs to close the door and put down the handbrake; Step 2. The engine torque can be obtained by two-dimensional table lookup according to the position of the accelerator pedal and the engine speed. If it is greater than the maximum torque of the engine, the effective torque of the engine is taken as the maximum torque; otherwise, the lookup table torque is taken; Step 3. If the current gear is 0 or the clutch is disengaged, the engine is idling and the vehicle speed is 0; if it is in gear and the clutch is engaged, the vehicle acceleration is calculated according to the ideal model of the transmission system, and then the vehicle speed is accumulated; Step 4. The TCU collects the vehicle speed, accelerator pedal position, and clutch status signals from the CAN network, and uses them as the conditions for deciding to shift gears. At the same time, the upper layer shift control strategy calculates the shifting speed. If the current speed is not equal to the shifting speed, Then continue to wait; if the current vehicle speed is equal to the gearshift speed, the TCU will give the target gear and send an overreach signal requesting to control the engine; Step 5. Command the clutch to disengage. The TCU underlying control program gives the desired gear selection position and shift position, and uses PWM to control the gear selection motor to move in sequence; the gear selection angle position sensor feeds back the current position of the gear selection to the TCU for real-time Correction; Step 6. The CAN signal interaction of the entire operation process is transmitted to the PC through the CAN data acquisition card (6), and the entire process is monitored through Labview. The gear control strategy and the underlying motor control program are changed; if the gear shift is completed, the current gear is transmitted to the CAN network, and the vehicle status is updated; Step 7. Change the position of the potentiometer to change the current road gradient, change the position of the accelerator pedal to change the operating point of the engine, and change the combination of buttons to determine whether the vehicle works in forward gear or reverse gear.