CN112172823B - Electronic P-gear control method, device, equipment and storage medium - Google Patents
Electronic P-gear control method, device, equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention discloses a method, a device, equipment and a storage medium for controlling an electronic P gear. The method comprises the steps of obtaining position information and speed information of a P gear shaft; judging the state information of the P gear shaft according to the position information and the speed information; outputting different control mode signals according to the P gear shaft state information and the driver instruction; and outputting different execution forces to the P gear shaft according to the control mode signal and the execution force judgment information so as to enable the P gear shaft to rotate to different positions, wherein the execution force judgment information comprises speed information, preset time information or position information. According to the technical scheme, different execution forces are output according to different control mode signals and different execution force judgment information to control the processes of entering the P gear and exiting the P gear, the P gear control and the P gear control are realized, and larger impact and noise generated in the P control process and the P control process are reduced.
Description
Technical Field
The embodiment of the invention relates to the technology of automobile gear control, in particular to an electronic P gear control method, device, equipment and storage medium.
Background
The electronic P range is the most common range in automatic transmission type. The electronic P gear is a technology for realizing parking braking in an electronic control mode, and has the advantages of simplicity and convenience in operation, time and labor conservation, compact arrangement structure and the like, so that the electronic P gear gradually becomes a trend in the fields of automobile intellectualization and automatic driving.
In the prior art, after the electronic P gear responds to the power-on of the whole vehicle, the direct execution enters the P gear and goes out of the P gear, the careful control on each process of the entering of the P gear is not carried out, and the careful control on each process of the going out of the P gear is also not carried out, so that the great impact and noise are generated in the whole P entering and P going out control process, and the feeling of a driver is influenced.
Disclosure of Invention
The invention provides an electronic P gear control method, device, equipment and storage medium, which realize quick P gear entering and P gear exiting and simultaneously reduce impact and noise generated by P gear entering and P gear exiting.
In a first aspect, an embodiment of the present invention provides a method for controlling an electronic P range, where the method includes:
acquiring position information and speed information of a P gear shaft;
judging the state information of the P gear shaft according to the position information and the speed information; the state information comprises a P gear shaft outlet running state, a P gear shaft inlet running state, a P gear shaft locking state, an NP gear shaft locking state and a P gear shaft fault state;
outputting different control mode signals according to the P gear shaft state information and a driver instruction; wherein the control mode signal comprises: a waiting mode, a P-gear-in control mode, a P-gear-out control mode and a P-gear-out fault mode;
outputting different execution forces to the P gear shaft according to the control mode signal and the execution force judgment information so as to enable the P gear shaft to rotate to different positions; the execution force judgment information includes the speed information, preset time information, or the position information.
Optionally, outputting different execution forces to the P-shift shaft according to the control mode signal and the execution force determination information to rotate the P-shift shaft to different positions includes:
outputting different P-in gear shaft working execution mode information according to the P-in gear shaft control mode signal and the P-in execution force judgment information;
outputting different execution forces to the P gear shaft according to different P gear shaft working execution mode information so as to enable the P gear shaft to rotate to different positions;
outputting different P-out gear shaft working execution mode information according to the P-out gear shaft control mode signal and the P-out execution force judgment information;
and outputting different execution forces to the P gear shaft according to different P gear shaft work execution mode information so as to enable the P gear shaft to rotate to different positions.
Optionally, outputting different information of the P-in gear shaft working execution mode according to the P-in gear shaft control mode signal and the P-in execution force judgment information includes:
outputting a first P-entering gear shaft working execution mode according to the P-entering gear shaft control mode signal;
judging whether the speed of the P gear shaft is zero or not;
if the speed of the P gear shaft is not zero, outputting a second P gear shaft working execution mode;
or if the speed of the P gear shaft is zero and the time exceeds a first preset time, outputting a second P gear shaft working execution mode;
judging whether the position information of the P gear shaft exceeds first preset position information or not;
if the position information of the P gear shaft exceeds the first preset position information, outputting a third P gear shaft entering working execution mode;
or if the position information of the P gear shaft does not exceed the first preset position information and the time exceeds the second preset time, outputting a third P gear shaft working execution mode;
according to the different P-gear shaft working execution mode information, different execution forces are output to the P-gear shaft to enable the P-gear shaft to rotate to different positions, and the method comprises the following steps:
outputting a first execution force to the P gear shaft according to the first P-in gear shaft working execution mode;
outputting a second execution force to the P gear shaft according to the second P-in gear shaft working execution mode;
and controlling the position deviation of the target position and the actual position of the P gear shaft according to the third P gear shaft entering working execution mode so as to perform PID control on the P gear shaft.
Optionally, outputting different output P-gear shaft working execution mode information according to the output P-gear shaft control mode signal and the output P execution force judgment information includes:
outputting a first P-out gear shaft working execution mode according to the P-out gear shaft control mode signal;
judging whether the speed of the P gear shaft is zero or not;
if the speed of the P gear shaft is not zero, outputting a second P gear shaft output working execution mode;
or if the speed of the P gear shaft is zero and the time exceeds second preset time, outputting a second P gear shaft output working execution mode;
judging whether the position information of the P gear shaft exceeds second preset position information or not;
if the position information of the P gear shaft exceeds second preset position information, outputting a third P gear shaft working execution mode;
or, if the position information of the P-stop shaft does not exceed second preset position information and the time exceeds second preset time, outputting a third P-stop shaft working execution mode;
according to the different P-gear shaft work execution mode information, outputting different execution forces to the P-gear shaft to enable the P-gear shaft to move to different positions, and the method comprises the following steps:
outputting a third execution force to the P gear shaft according to the first P gear shaft output working execution mode;
outputting a fourth execution force to the P gear shaft according to the second P gear shaft output working execution mode;
and controlling the position deviation of the target position and the actual position of the P gear shaft according to the third P gear shaft working execution mode so as to perform PID control on the P gear shaft.
Optionally, the method further includes:
receiving a current signal acquired by a sampling resistor;
determining whether the current signal is greater than a first predetermined current value,
and if the current signal is greater than the first preset current value and the time exceeds a third preset time, not outputting the actuating force to the P gear shaft.
Optionally, the method further includes:
and controlling the whole vehicle to be in an awakening state.
Optionally, the method further includes:
acquiring a P gear shaft position increment within preset time;
receiving a current signal acquired by a sampling resistor;
judging whether the ratio of the current signal to the P-gear shaft position increment is larger than a preset value or not;
and if the ratio of the current signal to the position increment of the P gear shaft is greater than a preset value, not outputting the execution force to the P gear shaft.
In a second aspect, an embodiment of the present invention further provides a control device for an electronic P-range, where the device includes:
an information acquisition module: the system comprises a P gear shaft, a speed sensor and a control module, wherein the P gear shaft is used for acquiring position information and speed information of the P gear shaft;
a judging module: the state information comprises a P gear shaft running state, a P gear shaft entering running state, a P gear shaft locking state, an NP gear shaft locking state and a P gear shaft fault state;
the control mode signal output module is used for outputting different control mode signals according to the state information; the control mode information comprises a waiting mode, a P-gear-in control mode, a P-gear-out control mode and a P-gear-out fault mode;
the execution force output module is used for outputting different execution forces to the P gear shaft according to the control mode signal and the execution force judgment information so as to enable the P gear shaft to rotate to different positions; the execution force judgment information includes the speed information, preset time information, or the position information.
In a third aspect, an embodiment of the present invention further provides an electronic P-range control device, where the control device includes:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for controlling the electronic P range according to the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for controlling an electronic P-gear according to the first aspect.
The embodiment of the invention obtains the position information and the speed information of the P gear shaft; then judging the state information of the P gear shaft according to the position information and the speed information; outputting different control mode signals according to the state information; outputting different execution forces to the P gear shaft according to the control mode signal and the execution force judgment information so as to enable the P gear shaft to move to different positions; wherein the execution force calculation information includes speed information, preset time information, or position information. Therefore, different execution forces are output to control the processes of entering the P gear and exiting the P gear according to different control mode signals and different execution force judgment information, and on the basis of realizing the control of rapidly entering the P gear and exiting the P gear, larger impact and noise generated in the control processes of entering the P gear and exiting the P gear are reduced.
Drawings
Fig. 1 is a flowchart of a control method for an electronic P-range according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for controlling an electronic P range according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control device of an electronic P-range in a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for controlling an electronic P-gear according to an embodiment of the present invention, where the embodiment is applicable to a case where the electronic P-gear enters the P-gear and exits the P-gear, and the method can be executed by a control device of the electronic P-gear, and specifically includes the following steps:
and S110, acquiring position information and speed information of the P gear shaft.
The P-gear shaft mechanical device is mainly composed of a first-stage transmission gear and a first-stage self-locking worm and gear mechanism. The position sensor can acquire the position voltage information of the P baffle shaft, and the speed information of the P baffle shaft is calculated according to the position voltage information of the P baffle shaft acquired by the position sensor at different moments. The P gear shaft is arranged at the limit positions of two ends of the gear, namely the P gear shaft is arranged at the P gear position and the NP gear position; the position sensor collects position voltage information of the P gear shaft at the P gear position; collecting position voltage information of a P gear shaft at an NP gear position; then converting the position voltage information of the P gear position and the position voltage information of the NP gear position into position information in percentage; exemplarily, the position voltage information collected by the position sensor at the P-gear position is 4.5V, and the position voltage information is converted into 100% by percentage; the position voltage information of the position sensor at the NP gear position is 0V, and the position voltage information is converted into 0% by percentage; therefore, the position voltage information of the P gear position and the position voltage information of the NP gear position are converted into the position information in percentage, and the inconsistency of acquisition of subsequent speed information and the deviation of judgment of the subsequent state information of the P gear shaft caused by the difference of the position voltage information of the P gear position and the position voltage information of the NP gear position acquired by different position sensors are effectively avoided. And then filtering the position information and the speed information after percentage conversion to prevent the position information and the speed signal from jittering.
And S120, judging the state information of the P gear shaft according to the position information and the speed information.
The state information of the P gear shaft comprises P gear shaft outlet operation state information, P gear shaft inlet operation state information, P gear shaft locking state information, NP gear shaft locking state information and P gear shaft fault information. For example, if the position information of the P-gear shaft is greater than 98%, the state information of the P-gear shaft is determined to be P-gear shaft locking state information; if the position information of the P gear shaft is less than 2%, judging that the state information of the P gear shaft is NP gear shaft locking state information; if the position information of the P gear shaft is any position information between 2% and 98% and the speed information is a positive value, judging that the state information of the P gear shaft is the P gear shaft entering running state information; if the position information of the P gear shaft is any position information between 2% and 98% and the speed information is a negative value, the state information of the P gear shaft is judged to be a P gear shaft entering running state signal. If the condition is not met, the state information of the P gear shaft is judged to be P gear shaft fault information.
And S130, outputting different control mode signals according to the state information and the driver instruction.
The control mode signal comprises a waiting mode, a P-gear-in control mode, a P-gear-out control mode and a P-gear-shaft fault mode. The driver command comprises a P gear command and an NP gear command; if the state information is P-gear-in operation state information and the driver instruction is a P-gear command, outputting and inputting a P-gear-control mode signal; if the state information is P gear shaft running state information, the driver instruction is an NP gear command, and a P gear shaft control mode signal is output; if the state information is P gear shaft locking state information or NP gear shaft locking state information, outputting a waiting mode signal; and if the state information is P gear shaft fault information, outputting a P gear shaft fault control mode signal.
And S140, outputting different execution forces to the P gear shaft according to the control mode signal and the execution force judgment information so as to enable the P gear shaft to rotate to different positions.
The execution force judgment information includes speed information, preset time information or position information. And outputting different execution forces to control the processes of entering the P gear and exiting the P gear according to different control mode signals and different execution force judgment information, and finally realizing the rapid entering of the P gear and the rapid exiting of the P gear. The duration and impact force of the P gear entering and the P gear exiting are controlled according to different output execution forces, so that larger impact and noise generated in the P gear entering and P gear exiting control processes are reduced.
Optionally, on the basis of the foregoing embodiment, further optimization is performed, and fig. 2 is a flowchart of another electronic P-range control method provided in an embodiment of the present invention; as shown in fig. 2: the method comprises the following steps:
and S210, controlling the whole vehicle to be in an awakening state.
When the whole vehicle is detected to be in a power-on state, namely the whole vehicle is in an awakening state, the process of controlling the P gear entering and the P gear exiting is started. It can be understood that, when the whole vehicle state is detected to be a normal working state without electrical fault, the working voltage is in a preset range, the vehicle speed reaches a preset value and the like, the process of entering the P gear and the process of exiting the P gear are controlled.
And S220, acquiring the position information and the speed information of the P gear shaft.
And S230, judging the state information of the P gear shaft according to the position information and the speed information.
And S240, outputting different control mode signals according to the state information and the instruction of the driver.
And S250, outputting different P-in gear shaft working execution mode information according to the P-in gear shaft control mode signal and the P-in execution force judgment information mode.
And S260, outputting different execution forces to the P gear shaft according to different P gear shaft entering work execution mode information so as to enable the P gear shaft to move to different positions.
The P-entry execution force judgment information comprises speed information, preset time information or position information. According to the P-entering gear shaft control mode signal and the P-entering execution force judgment information mode, different P-entering gear shaft work execution mode information is output, and the method specifically comprises the following steps: outputting a first P-entering gear shaft working execution mode according to the P-entering gear shaft control mode signal; outputting a first execution force to the P gear shaft according to the first P gear shaft entering working execution mode; illustratively, the first actuation force is 20% to reduce the impact into P-notch.
Judging whether the speed of the P gear shaft is zero or not; if the speed of the P gear shaft is not zero, outputting a second P gear shaft working execution mode; or if the speed of the P gear shaft is zero and the time exceeds the first preset time, outputting a second P gear shaft working execution mode; illustratively, the first preset time is 5 ms; outputting a second execution force to the P gear shaft according to a second P gear shaft entering working execution mode; illustratively, the second actuation force is 70%, and the second actuation force is output to the P-range shaft during the second control phase. To quickly rush in and shorten the P-in time.
Judging whether the position information of the P gear shaft exceeds first preset position information or not; if the position information of the P gear shaft exceeds the first preset position information, outputting a third P gear shaft entering working execution mode; or if the position information of the P-gear shaft does not exceed the first preset position information and the time exceeds the second preset time, outputting a third P-gear shaft working execution mode; illustratively, the first preset position information is 70%; the second preset time is 20 ms; and controlling the position deviation of the target position and the actual position of the P gear shaft according to the third P gear shaft entering working execution mode so as to perform PID control on the P gear shaft. It should be noted that PID control is performed on the P-range shaft in the third control stage of the P-range shift, and the position deviation between the target position and the actual position of the P-range shaft is controlled to adaptively output different execution forces, so as to finally realize the P-range shift, thereby effectively reducing the operation noise and the impact. Wherein, the PID control stage can control the target position by adjusting the target time and the target speed curve.
Optionally, output different output P stop shaft work execution mode information according to the output P stop shaft control mode signal and the output P execution force judgment information is specifically: outputting a first P gear output shaft working execution mode according to the P gear output shaft control mode; outputting a third execution force to the P gear shaft according to the first P gear shaft output working execution mode; illustratively, the third actuation force is 80% to overcome the resistance to the P-range.
Judging whether the speed of the P gear shaft is zero or not; if the speed of the P gear shaft is not zero, outputting a second P gear shaft output working execution mode; or if the speed of the P gear shaft is zero and the time exceeds a third preset time, outputting a second P gear shaft output working execution mode; illustratively, the third predetermined time is 8 ms; outputting a fourth execution force to the P gear shaft according to the second P gear shaft output working execution mode; illustratively, the fourth execution force is 60%, and the fourth execution force is output to the P-gear shaft in the second control stage to quickly complete P output and simultaneously relieve P output impact caused by release of force in the P output controlled system.
Judging whether the position information of the P gear shaft exceeds second preset position information or not; if the position information of the P gear shaft exceeds the second preset position information, outputting a third P gear shaft working execution mode; or if the position information of the P gear shaft does not exceed the second preset position information and the time exceeds the second preset time, outputting a third P gear shaft working execution mode; illustratively, the second preset position information is 30%, and the second preset time is 20 ms. And controlling the position deviation of the target position and the actual position of the P gear shaft according to the third P gear shaft working execution mode so as to perform PID control on the P gear shaft. And in the third P gear output control stage, PID control is carried out on the P gear shaft, and the position deviation of the target position and the actual position of the P gear shaft is controlled to adaptively output different execution forces so as to accurately control the P gear output, thereby effectively reducing action noise and impact.
Optionally, the method further includes: receiving a current signal acquired by a sampling resistor; and judging whether the current signal is greater than a first preset current value or not, and if the current signal is greater than the first preset current value and the time exceeds a third preset time, not outputting the actuating force to the P-gear shaft.
Wherein, according to the different P of going into fender axle work execution mode, output different execution power and keep off the axle so that P keeps off the axle and rotate to different positions, specifically, output different execution power and keep off the axle so that P keeps off the axle and rotate to different positions to driving motor, motor drive P. The sampling resistor detects the current signal of the motor in real time. In the control process of the P gear entering and the P gear exiting, current signals of the sampling resistor are received in real time, if the current signals are larger than a first preset current value and time exceeds third preset time, fault current at a certain P gear shaft position in the control process of the P gear entering and the P gear exiting is judged, no execution force is output to the P gear shaft, and therefore fault detection of the current is achieved in the control process of the P gear entering and the P gear exiting. It should be noted that, in order to prevent the current signal from shaking to cause frequent transition of the overcurrent state, the first preset current value may also be set within a certain current hysteresis interval.
Optionally, the method further includes: acquiring a P gear shaft position increment within preset time; receiving a current signal acquired by a sampling resistor; judging whether the ratio of the current signal to the P-gear shaft position increment is greater than a preset value or not; and if the ratio of the current signal to the P-gear shaft position increment is larger than a preset value, not outputting the execution force to the P-gear shaft.
The method comprises the following steps that in the P gear entering and P gear exiting control processes, P gear shaft position increment and current signals are obtained in real time; if the ratio of the current signal to the P-stop position increment is greater than a preset value, illustratively, the preset value is 200; and judging that locked-rotor fault current occurs at a certain P gear shaft position in the P gear entering and P gear exiting control processes, and not outputting the execution force to the P gear shaft. Therefore, in the control process of entering the P gear and exiting the P gear, the locked rotor fault detection of the current is realized.
Example two
The control device for the electronic P-gear provided by the second embodiment of the invention can execute the control method for the electronic P-gear provided by the first embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. The device includes:
an information acquisition module: the system comprises a P gear shaft, a speed sensor and a control module, wherein the P gear shaft is used for acquiring position information and speed information of the P gear shaft;
a judging module: the state information of the P gear shaft is judged according to the position information and the speed information; the state information comprises a P gear shaft outlet running state, a P gear shaft inlet running state, a P gear shaft locking state, an NP gear shaft locking state and a P gear shaft fault;
the control mode signal output module is used for outputting different control mode signals according to the state information and the instruction of the driver; the control mode information comprises a waiting mode, a P-gear-in control mode, a P-gear-out control mode and a P-gear-out fault mode;
the execution force output module is used for outputting different execution forces to the P gear shaft according to the control mode signal and the execution force judgment information so as to enable the P gear shaft to rotate to different positions; the execution force judgment information includes the speed information, preset time information, or the position information.
Optionally, the execution force output module includes a P-in gear shaft execution force output submodule, configured to output different P-in gear shaft working execution mode information according to the P-in gear shaft control mode signal and the P-in execution force judgment information formula;
outputting different execution forces to the P gear shaft according to different P gear shaft working execution mode information so as to enable the P gear shaft to rotate to different positions;
optionally, the execution force output module further includes a P-out gear shaft execution force output submodule, configured to output different P-out gear shaft working execution mode information according to the P-out gear shaft control mode signal and the P-out execution force judgment information;
and outputting different execution forces to the P gear shaft according to different P gear shaft work execution mode information so as to enable the P gear shaft to move to different positions.
EXAMPLE III
Fig. 3 is a schematic structural diagram of an electronic P-range control device according to a third embodiment of the present invention, where the electronic P-range control device is disposed in an automobile, and it can be understood that the automobile further includes other power systems. As shown in fig. 3, the apparatus comprises a processor 70, a memory 71, an input device 72 and an output device 73; the number of processors 70 in the device may be one or more, and one processor 70 is taken as an example in fig. 3; the processor 70, the memory 71, the input device 72 and the output device 73 of the apparatus may be connected by a bus or other means, as exemplified by the bus connection in fig. 3.
The memory 71 is a computer readable storage medium, which can be used for storing software programs, computer executable programs, and modules, and the program instruction processor 70 corresponding to the control of the electronic P-gear in the embodiment of the present invention executes various functional applications and data processing of the device/terminal/server by executing the software programs, instructions, and modules stored in the memory 71, that is, implements the control method of the electronic P-gear.
The memory 71 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 71 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 71 may further include memory located remotely from the processor 70, which may be connected to the device/terminal/server via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Example four
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a method for controlling an electronic P-range, and the method includes:
acquiring position information and speed information of a P gear shaft;
judging the state information of the P gear shaft according to the position information and the speed information;
outputting different control mode signals according to the state information and the driver instruction;
and outputting different execution forces to the P gear shaft according to the control mode signal and the execution force judgment information so as to enable the P gear shaft to rotate to different positions.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the method for controlling an electronic P-gear provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A control method of an electronic P gear is characterized by comprising the following steps:
acquiring position information of a P gear shaft and speed information of the P gear shaft;
judging the state information of the P gear shaft according to the position information and the speed information; the state information comprises a P gear shaft outlet running state, a P gear shaft inlet running state, a P gear shaft locking state, an NP gear shaft locking state and a P gear shaft fault state;
outputting different control mode signals according to the P gear shaft state information and a driver instruction; wherein the control mode signal comprises: a waiting mode, a P-gear-in control mode, a P-gear-out control mode and a P-gear-out fault mode;
outputting different execution forces to the P gear shaft according to the control mode signal and the execution force judgment information so as to enable the P gear shaft to rotate to different positions; the execution force judgment information includes the speed information, preset time information, or the position information.
2. The control method according to claim 1, wherein outputting different actuation forces to the P range shaft according to the control mode signal and the actuation force determination information to rotate the P range shaft to different positions includes:
outputting different P-in gear shaft working execution mode information according to the P-in gear shaft control mode signal and the P-in execution force judgment information;
outputting different execution forces to the P gear shaft according to different P gear shaft working execution mode information so as to enable the P gear shaft to rotate to different positions;
outputting different P-out gear shaft working execution mode information according to the P-out gear shaft control mode signal and the P-out execution force judgment information;
and outputting different execution forces to the P gear shaft according to different P gear shaft work execution mode information so as to enable the P gear shaft to rotate to different positions.
3. The control method according to claim 2, wherein outputting different in-P-range operation execution mode information according to the in-P-range control mode signal and the in-P execution force determination information includes:
outputting a first P-entering gear shaft working execution mode according to the P-entering gear shaft control mode signal;
judging whether the speed of the P gear shaft is zero or not;
if the speed of the P gear shaft is not zero, outputting a second P gear shaft working execution mode;
or if the speed of the P gear shaft is zero and the time exceeds a first preset time, outputting a second P gear shaft working execution mode;
judging whether the position information of the P gear shaft exceeds first preset position information or not;
if the position information of the P gear shaft exceeds the first preset position information, outputting a third P gear shaft entering working execution mode;
or if the position information of the P gear shaft does not exceed the first preset position information and the time exceeds the second preset time, outputting a third P gear shaft working execution mode;
according to the different P-gear shaft working execution mode information, different execution forces are output to the P-gear shaft to enable the P-gear shaft to rotate to different positions, and the method comprises the following steps:
outputting a first execution force to the P gear shaft according to the first P-in gear shaft working execution mode;
outputting a second execution force to the P gear shaft according to the second P-in gear shaft working execution mode;
and controlling the position deviation of the target position and the actual position of the P gear shaft according to the third P gear shaft entering working execution mode so as to perform PID control on the P gear shaft.
4. The control method according to claim 2, wherein outputting different output P-shift shaft operation execution mode information according to the output P-shift shaft control mode signal and the output P execution force determination information includes:
outputting a first P-out gear shaft working execution mode according to the P-out gear shaft control mode signal;
judging whether the speed of the P gear shaft is zero or not;
if the speed of the P gear shaft is not zero, outputting a second P gear shaft output working execution mode;
or if the speed of the P gear shaft is zero and the time exceeds second preset time, outputting a second P gear shaft output working execution mode;
judging whether the position information of the P gear shaft exceeds second preset position information or not;
if the position information of the P gear shaft exceeds second preset position information, outputting a third P gear shaft working execution mode;
or, if the position information of the P-stop shaft does not exceed second preset position information and the time exceeds second preset time, outputting a third P-stop shaft working execution mode;
according to the different P-gear shaft work execution mode information, outputting different execution forces to the P-gear shaft to enable the P-gear shaft to move to different positions, and the method comprises the following steps:
outputting a third execution force to the P gear shaft according to the first P gear shaft output working execution mode;
outputting a fourth execution force to the P gear shaft according to the second P gear shaft output working execution mode;
and controlling the position deviation of the target position and the actual position of the P gear shaft according to the third P gear shaft working execution mode so as to perform PID control on the P gear shaft.
5. The control method according to claim 1, characterized by further comprising:
receiving a current signal of motor work acquired by a sampling resistor on a motor driving circuit;
determining whether the current signal is greater than a first predetermined current value,
and if the current signal is greater than the first preset current value and the time exceeds a third preset time, not outputting the actuating force to the P gear shaft.
6. The control method according to claim 1, characterized by further comprising:
and controlling the whole vehicle to be in an awakening state.
7. The control method according to claim 1, characterized by further comprising:
acquiring a P gear shaft position increment within preset time;
receiving a current signal of motor work acquired by a sampling resistor on a motor driving circuit;
judging whether the ratio of the current signal to the P-gear shaft position increment is larger than a preset value or not;
and if the ratio of the current signal to the position increment of the P gear shaft is greater than a preset value, not outputting the execution force to the P gear shaft.
8. An electronic P-gear control device, comprising:
an information acquisition module: the system comprises a P gear shaft, a speed sensor and a control module, wherein the P gear shaft is used for acquiring position information of the P gear shaft and speed information of the P gear shaft;
a judging module: the state information of the P gear shaft is judged according to the position information and the speed information; the state information comprises a P gear shaft outlet running state, a P gear shaft inlet running state, a P gear shaft locking state, an NP gear shaft locking state and a P gear shaft fault state;
the control mode signal output module is used for outputting different control mode signals according to the state information; the control mode signal comprises a waiting mode, a P-gear-in control mode, a P-gear-out control mode and a P-gear-shaft fault mode;
the execution force output module is used for outputting different execution forces to the P gear shaft according to the control mode signal and the execution force judgment information so as to enable the P gear shaft to rotate to different positions; the execution force judgment information includes the speed information, preset time information, or the position information.
9. An electronic P-range control device, characterized in that the control device comprises:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of controlling electronic P-range as recited in any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of controlling an electronic P range according to any one of claims 1 to 7.
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| KR101533131B1 (en) * | 2007-10-24 | 2015-07-01 | 콘티넨탈 테베스 아게 운트 코. 오하게 | Parking brake and method for operating the same |
| JP4985448B2 (en) * | 2008-02-13 | 2012-07-25 | 株式会社アドヴィックス | Parking brake control device |
| US10183674B2 (en) * | 2015-04-23 | 2019-01-22 | Ford Global Technologies, Llc | Hybrid/electric vehicle motor control during step-ratio transmission engagement |
| CN105059282B (en) * | 2015-08-10 | 2016-08-31 | 苏州萨克汽车科技有限公司 | Electronic hand braking system and control method thereof |
| US20190184949A1 (en) * | 2017-12-15 | 2019-06-20 | Continental Automotive Systems, Inc. | Manual control over electronic parking brake motor on caliper parking brake actuations |
| CN108583577A (en) * | 2018-04-25 | 2018-09-28 | 吉利汽车研究院（宁波）有限公司 | A kind of hybrid vehicle static state shifting control system and method |
| CN110281890B (en) * | 2019-06-26 | 2020-12-01 | 浙江吉利控股集团有限公司 | Parking control method, device and system |
| CN111231919B (en) * | 2019-12-27 | 2021-10-08 | 中国第一汽车股份有限公司 | Automatic parking method and system and vehicle |
| CN111391852A (en) * | 2020-02-29 | 2020-07-10 | 宁波吉利汽车研究开发有限公司 | Gear switching control method and device, electronic equipment and storage medium |
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