WO2024193281A1 - 一种换档执行机构端点识别方法、系统及车辆 - Google Patents

一种换档执行机构端点识别方法、系统及车辆 Download PDF

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Publication number
WO2024193281A1
WO2024193281A1 PCT/CN2024/078031 CN2024078031W WO2024193281A1 WO 2024193281 A1 WO2024193281 A1 WO 2024193281A1 CN 2024078031 W CN2024078031 W CN 2024078031W WO 2024193281 A1 WO2024193281 A1 WO 2024193281A1
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WO
WIPO (PCT)
Prior art keywords
endpoint
shift actuator
length
preset
gear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2024/078031
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English (en)
French (fr)
Inventor
高阳
王瑞光
黄伟山
刘义强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yiwu Geely Automatic Transmission Co Ltd
Zhejiang Geely Holding Group Co Ltd
Ningbo Geely Royal Engine Components Co Ltd
Aurobay Technology Co Ltd
Original Assignee
Yiwu Geely Automatic Transmission Co Ltd
Zhejiang Geely Holding Group Co Ltd
Ningbo Geely Royal Engine Components Co Ltd
Aurobay Technology Co Ltd
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Filing date
Publication date
Application filed by Yiwu Geely Automatic Transmission Co Ltd, Zhejiang Geely Holding Group Co Ltd, Ningbo Geely Royal Engine Components Co Ltd, Aurobay Technology Co Ltd filed Critical Yiwu Geely Automatic Transmission Co Ltd
Priority to KR1020257021300A priority Critical patent/KR20250112879A/ko
Priority to EP24773849.5A priority patent/EP4617531A4/en
Publication of WO2024193281A1 publication Critical patent/WO2024193281A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
    • F16H63/42—Ratio indicator devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/26—Generation or transmission of movements for final actuating mechanisms
    • F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
    • F16H61/2807—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted using electric control signals for shift actuators, e.g. electro-hydraulic control therefor 
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe ; Circumventing or fixing failures
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed- or reversing-gearings for conveying rotary motion
    • F16H59/68—Inputs being a function of gearing status
    • F16H2059/6807—Status of gear-change operation, e.g. clutch fully engaged
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe ; Circumventing or fixing failures
    • F16H2061/1208—Detecting malfunction or potential malfunction, e.g. fail safe ; Circumventing or fixing failures with diagnostic check cycles; Monitoring of failures
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/26—Generation or transmission of movements for final actuating mechanisms
    • F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
    • F16H2061/283—Adjustment or calibration of actuator positions, e.g. neutral position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H2342/00—Calibrating
    • F16H2342/02—Calibrating shift or range movements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
    • F16H63/08—Multiple final output mechanisms being moved by a single common final actuating mechanism
    • F16H63/16—Multiple final output mechanisms being moved by a single common final actuating mechanism the final output mechanisms being successively actuated by progressive movement of the final actuating mechanism
    • F16H63/18—Multiple final output mechanisms being moved by a single common final actuating mechanism the final output mechanisms being successively actuated by progressive movement of the final actuating mechanism the final actuating mechanism comprising cams

Definitions

  • the present invention relates to the field of vehicle control technology, and in particular to a method and system for identifying an endpoint of a gear shift actuator, and a vehicle.
  • a position detector is usually installed in a vehicle automatic transmission to detect the actual gear execution position. Since the endpoint position of the gear shift actuator is crucial to determining the gear position, if the detected endpoint position does not match the actual position, it will affect the vehicle gear shifting.
  • the problem solved by the present invention is how to realize accurate detection of the end point position of a gear shift actuator.
  • the present invention provides a shift actuator endpoint identification method, system and vehicle.
  • the present invention provides a method for identifying an endpoint of a gear shift actuator, comprising:
  • the gear engagement confirmation is performed according to the initial endpoint, and when the preset gear position condition is met, the initial endpoint is determined as the gear shift actuator endpoint.
  • pushing the shift actuator along the first direction for multiple times to determine the first endpoint comprises:
  • Step 110 pushing the shift actuator along the first direction until the value of the position detector stops changing and is maintained for a preset time, and then pushing the shift actuator along the second direction for a preset distance;
  • Step 120 repeating step 110 at least once;
  • Step 130 pushing the shift actuator along the first direction until the value of the position detector stops changing and is maintained for the preset time, and taking the value of the position detector at this time as the position of the first endpoint.
  • pushing the shift actuator along the second direction for multiple times to determine the second endpoint comprises:
  • Step 210 pushing the shift actuator along the second direction until the value of the position detector stops changing and is maintained for a preset time, and then pushing the shift actuator along the first direction by a preset distance;
  • Step 220 repeating step 210 at least once
  • Step 230 pushing the shift actuator along the second direction until the value of the position detector stops changing and is maintained for the preset time, and taking the value of the position detector at this time as the position of the second endpoint.
  • determining the length of the shift actuator according to the position of the first endpoint and the position of the second endpoint comprises:
  • the length of the shift actuator is determined by subtracting the value of the position detector corresponding to the position of the first end point from the value of the position detector corresponding to the position of the second end point.
  • determining the second endpoint as the initial endpoint of the shift actuator comprises:
  • the length of the shift actuator is subtracted from the theoretical actuator length to determine a length difference, and when the length difference is less than or equal to a preset length difference threshold, the second endpoint is determined as the initial endpoint of the shift actuator.
  • the first The second endpoint is determined as the initial endpoint of the shift actuator and further includes:
  • determining the initial endpoint as the gear shift actuator endpoint comprises:
  • the initial endpoint is determined as the shift actuator endpoint, wherein the synchronizer is connected to the shift actuator.
  • determining the initial endpoint as the gear shift actuator endpoint further comprises:
  • the present invention also provides a shift actuator endpoint recognition system, comprising a computer-readable storage medium storing a computer program and a processor, wherein when the computer program is read and executed by the processor, the shift actuator endpoint recognition method as described above is implemented.
  • the present invention also provides a vehicle, comprising the above-mentioned gear shift actuator endpoint identification system.
  • the present invention determines the accurate limit position by pushing the shift actuator multiple times, effectively eliminating the interference error caused by the existence of the sticking point during the movement, and makes a reasonable judgment on the length of the shift actuator.
  • the second endpoint is determined as the initial endpoint of the shift actuator, and finally the initial endpoint is confirmed to be in gear, which can ensure that the shift actuator and the position detector are installed correctly, and also ensure that the shift actuator is not damaged, so that the endpoint position is more accurate.
  • FIG1 is a schematic flow chart of a method for identifying an endpoint of a gear shift actuator according to an embodiment of the present invention
  • FIG2 is a schematic diagram of a shift actuator driving mechanism according to an embodiment of the present invention.
  • FIG4 is a flowchart of a method for identifying an endpoint of a gear shift actuator according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a gear shift actuator according to an embodiment of the present invention.
  • an embodiment of the present invention provides a method for identifying an endpoint of a gear shift actuator, comprising:
  • the shift actuator is pushed multiple times in a first direction to determine a first endpoint.
  • the first endpoint 6 shown in FIG. 3 can be determined.
  • the shift actuator is pushed multiple times in a second direction to determine a second endpoint, wherein the second direction is opposite to the first direction.
  • the second endpoint 5 shown in FIG. 3 can be determined.
  • the shift actuator 1 is connected to the synchronizer; the limit pin 3 is connected to the gearbox housing and cannot be moved, and can only produce relative displacement with the limit slot 2, that is, the shift actuator 1 moves along the forward direction (i.e., the second direction) and the reverse direction (i.e., the first direction) through the cooperation of the limit slot 2 and the limit pin 3, that is, the first direction and the second direction are the two directions in which the shift actuator 1 can move when shifting, and the shift actuator 1 can move in the first direction or the second direction to achieve shifting.
  • Figure 2 is a schematic diagram of the principle of the shift actuator push, and the structure involved is only for illustration to illustrate the principle. The actual structure can be seen in Figure 5, as shown in Figure 5, which is a schematic diagram of the structure of the shift actuator, and the structure of the limit slot 2 is as shown in the figure.
  • the length of the shift actuator is determined according to the position of the first end point and the position of the second end point.
  • the length of the shift actuator can be determined by the position of the first end point 6 and the position of the second end point 5.
  • the second endpoint is determined as the initial endpoint of the shift actuator.
  • the second endpoint 5 is determined as the initial endpoint of the shift actuator 1. As shown in FIG3 , the second endpoint 5, the 1st gear position, the 2nd gear position, the 3rd gear position and the first endpoint 6 are sequentially, so the second endpoint 5 can usually be used as the initial endpoint to facilitate confirmation of shifting to the 1st gear.
  • the gear engagement confirmation is performed according to the initial endpoint, and when the preset gear position condition is met, the initial endpoint is determined as the gear shift actuator endpoint.
  • the gear is engaged according to the initial endpoint.
  • the preset gear condition it means that the gear is correct at this time, and the initial endpoint can be determined as the gear shift actuator endpoint.
  • Step 110 pushing the shift actuator along the first direction until the value of the position detector no longer changes and is maintained for a preset time, and then pushing the shift actuator along the second direction for a preset distance; Step 120, repeating step 110 at least once.
  • the gear shift actuator 1 is first pushed in a first direction (direction B shown in Figure 2).
  • a preset time for example, 100 ms
  • a preset distance for example, 5% of the theoretical actuator length. This distance can avoid gear hitting.
  • the reverse movement can effectively reduce the probability of hitting the gear again, and at the same time avoid shifting to another gear), and the above steps are repeated at least once.
  • Step 130 pushing the shift actuator along the first direction until the value of the position detector stops changing and is maintained for the preset time, and taking the value of the position detector at this time as the position of the first endpoint.
  • the shift actuator 1 is moved along the first direction again. Push in the direction B shown in FIG. 2 until the value of the position detector 4 stops changing and is maintained for a preset time (eg, 100 ms), and the value of the position detector 4 at this time is used as the position of the first endpoint 6 .
  • a preset time eg, 100 ms
  • pushing the shift actuator along the second direction for multiple times to determine the second endpoint comprises:
  • Step 210 pushing the shift actuator along the second direction until the value of the position detector no longer changes and is maintained for a preset time, and then pushing the shift actuator along the first direction by a preset distance; Step 220, repeating step 210 at least once.
  • the shift actuator 1 is first pushed along the second direction (direction A shown in Figure 2).
  • a preset time for example, 100ms
  • a preset distance for example, 5% of the theoretical actuator length
  • Step 230 pushing the shift actuator along the second direction until the value of the position detector stops changing and is maintained for the preset time, and taking the value of the position detector at this time as the position of the second endpoint.
  • the shift actuator 1 is pushed again in the second direction (direction A shown in Figure 2) until the value of the position detector 4 no longer changes and is maintained for a preset time (for example, 100ms), and the value of the position detector 4 at this time is used as the position of the second endpoint 5.
  • a preset time for example, 100ms
  • determining the length of the shift actuator according to the position of the first endpoint and the position of the second endpoint comprises:
  • the length of the shift actuator is determined by subtracting the value of the position detector corresponding to the position of the first end point from the value of the position detector corresponding to the position of the second end point.
  • the value of the position detector 4 corresponding to the position of the first endpoint 6 is subtracted from the value of the position detector 4 corresponding to the position of the second endpoint 5, so as to determine the length of the shift actuator 1.
  • determining the second endpoint as the initial endpoint of the shift actuator comprises:
  • the length of the shift actuator is subtracted from the theoretical actuator length to determine a length difference, and when the length difference is less than or equal to a preset length difference threshold, the second endpoint is determined as the initial endpoint of the shift actuator.
  • the theoretical actuator length is expressed as Posn_LenTar
  • the length difference is less than or equal to a preset length difference threshold, that is, when Posn_LenDelta ⁇ Posn_LenDeltaAllwd is satisfied, the second endpoint 5 is determined as the initial endpoint of the shift actuator 1 .
  • determining the second endpoint as the initial endpoint of the shift actuator further comprises:
  • the failure flag is set to 1, and then a detection failure fault code is reported.
  • determining the initial endpoint as the gear shift actuator endpoint comprises:
  • the initial endpoint is determined as the shift actuator endpoint, wherein the synchronizer is connected to the shift actuator.
  • the initial endpoint is determined to be the actual shift actuator endpoint, wherein the synchronizer is connected to the shift actuator 1 .
  • determining the initial endpoint as the gear shift actuator endpoint further comprises:
  • Another embodiment of the present invention provides a shift actuator endpoint recognition system, including a computer-readable storage medium storing a computer program and a processor, wherein the computer program is read and executed by the processor to implement the above-mentioned shift actuator endpoint recognition method.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Transmission Device (AREA)

Abstract

一种换档执行机构端点识别方法、系统及车辆，涉及车辆控制技术领域。换档执行机构端点识别方法，包括：将换档执行机构（1）沿第一方向推动多次，以确定第一端点（6）；将换档执行机构（1）沿第二方向推动多次，以确定第二端点（5），第二方向与第一方向反向；根据第一端点（6）的位置和第二端点（5）的位置确定换档执行机构（1）的长度；当换档执行机构（1）的长度满足预设长度条件时，将第二端点（5）确定为换档执行机构（1）的初始端点；根据初始端点进行挂档确认，当满足预设档位条件时，将初始端点确定为换档执行机构（1）的端点。该结构能够有效消除移动过程中由于卡滞点存在造成的干扰误差，从而使得端点位置更加准确。

Description

一种换档执行机构端点识别方法、系统及车辆 技术领域
本发明涉及车辆控制技术领域，具体而言，涉及一种换档执行机构端点识别方法、系统及车辆。
背景技术
在车辆自动变速器中通常配备有位置检测器，用来检测实际的档位执行位置，由于换档执行机构的端点位置对于判断档位的位置至关重要，如果检测的端点位置与实际位置不符，会影响到车辆换档。
现有检测方法通常先将换档执行机构推到端点所在位置的一侧，当换档执行机构不能继续移动后，检测此时位置检测器的值，确定为换档执行机构的端点位置，但是如果换档执行机构移动过程中遇到卡滞点，会将卡滞点误识别为换档执行机构端点，导致检测的端点位置与实际位置不符。
发明内容
本发明解决的问题是如何实现准确的换档执行机构端点位置检测。
为解决上述问题，本发明提供一种换档执行机构端点识别方法、系统及车辆。
第一方面，本发明提供一种换档执行机构端点识别方法，包括：
将换档执行机构沿第一方向推动多次，以确定第一端点；
将所述换档执行机构沿第二方向推动多次，以确定第二端点，其中，所述第二方向与所述第一方向反向；
根据所述第一端点的位置和所述第二端点的位置确定所述换档执行机构的长度；
当所述换档执行机构的长度满足预设长度条件时，将所述第二端点确定为所述换档执行机构的初始端点；
根据所述初始端点进行挂档确认，当满足预设档位条件时，将所述初始端点确定为换档执行机构端点。
可选地，所述将换档执行机构沿第一方向推动多次，以确定第一端点包括：
步骤110，将所述换档执行机构沿所述第一方向推动，直至位置检测器的数值不再变动且维持预设时长时，将所述换档执行机构沿所述第二方向推动预设距离；
步骤120，重复至少一次所述步骤110；
步骤130，将所述换档执行机构沿所述第一方向推动，直至所述位置检测器的数值不再变动且维持所述预设时长时，将此时所述位置检测器的数值作为所述第一端点的位置。
可选地，所述将所述换档执行机构沿第二方向推动多次，以确定第二端点包括：
步骤210，将所述换档执行机构沿所述第二方向推动，直至位置检测器的数值不再变动且维持预设时长时，将所述换档执行机构沿所述第一方向推动预设距离；
步骤220，重复至少一次所述步骤210；
步骤230，将所述换档执行机构沿所述第二方向推动，直至所述位置检测器的数值不再变动且维持所述预设时长时，将此时所述位置检测器的数值作为所述第二端点的位置。
可选地，所述根据所述第一端点的位置和所述第二端点的位置确定所述换档执行机构的长度包括：
将所述第一端点的位置所对应的位置检测器的数值与所述第二端点的位置所对应的位置检测器的数值作差，以确定所述换档执行机构的长度。
可选地，所述当所述换档执行机构的长度满足预设长度条件时，将所述第二端点确定为所述换档执行机构的初始端点包括：
将所述换档执行机构的长度与理论执行机构长度作差确定长度差，当所述长度差小于或等于预设长度差阈值时，将所述第二端点确定为所述换档执行机构的初始端点。
可选地，所述当所述换档执行机构的长度满足预设长度条件时，将所述第 二端点确定为所述换档执行机构的初始端点还包括：
当所述长度差大于所述预设长度差阈值时，判断端点检测失败并发出对应的检测失败故障码。
可选地，所述当满足预设档位条件时，将所述初始端点确定为换档执行机构端点包括：
当同步器滑差满足预设滑差条件时，将所述初始端点确定为所述换档执行机构端点，其中，所述同步器与所述换档执行机构连接。
可选地，所述当满足预设档位条件时，将所述初始端点确定为换档执行机构端点还包括：
当所述同步器滑差不满足所述预设滑差条件时，判断端点检测失败并发出对应的检测失败故障码。
本发明还提供一种换档执行机构端点识别系统，包括存储有计算机程序的计算机可读存储介质和处理器，所述计算机程序被所述处理器读取并运行时，实现如上换档执行机构端点识别方法。
本发明还提供一种车辆，包括上述换档执行机构端点识别系统。
本发明通过多次推动换档执行机构来确定准确的极限位置，有效消除了移动过程中由于卡滞点存在造成的干扰误差，并对换档执行机构的长度进行合理性判断，当换档执行机构的长度在合理范围内时，将第二端点确定为换档执行机构的初始端点，最后对初始端点进行挂档确认，可以确保换档执行机构和位置检测器安装正确，同时也能保证换档执行机构不存在损坏，从而使得端点位置更加准确。
附图说明
图1为本发明实施例的换档执行机构端点识别方法的流程示意图；
图2为本发明实施例的换档执行机构推动示意图；
图3为本发明实施例的端点位置示意图；
图4为本发明实施例的换档执行机构端点识别方法的流程框图；
图5为本发明实施例的换档执行机构的结构示意图。
附图标记说明：
1-换档执行机构，2-限位槽，3-限位销，4-位置检测器，5-第二端点，6-
第一端点；A-第二方向，B-第一方向。
具体实施方式
为使本发明的上述目的、特征和优点能够更为明显易懂，下面结合附图对本发明的具体实施例做详细的说明。
如图1所示，本发明实施例提供一种换档执行机构端点识别方法，包括：
将换档执行机构沿第一方向推动多次，以确定第一端点。
具体地，结合图2所示，将换档执行机构1沿第一方向(图2所示B方向)推动多次，可以确定如图3所示的第一端点6。
将所述换档执行机构沿第二方向推动多次，以确定第二端点，其中，所述第二方向与所述第一方向反向。
具体地，结合图2所示，将换档执行机构1沿第二方向(图2所示A方向)推动多次，可以确定如图3所示的第二端点5。
其中，换档执行机构1与同步器相连接；限位销3与变速箱箱体相连，不可移动，只能与限位槽2产生相对位移，即换档执行机构1通过限位槽2和限位销3的配合，沿着正向(即第二方向)和反向(即第一方向)移动，即第一方向和第二方向是换档执行机构1在换档时可以移动的两个方向，换档执行机构1可以向第一方向或第二方向移动来实现换档。图2为换档执行机构推动的原理示意图，其中涉及的结构仅作为示意，用以说明原理，实际的结构可以参见图5，如图5所示，为换档执行机构的结构示意图，限位槽2的结构,如图中所示位置。
根据所述第一端点的位置和所述第二端点的位置确定所述换档执行机构的长度。
具体地，由于第一端点6的位置和第二端点5的位置均为极限位置，因此可以通过第一端点6的位置和第二端点5的位置来确定换档执行机构的长 度。
当所述换档执行机构的长度满足预设长度条件时，将所述第二端点确定为所述换档执行机构的初始端点。
具体地，通过对换档执行机构1的长度进行合理性判断，当换档执行机构1的长度满足预设长度条件，即处于合理范围内时，将第二端点5确定为换档执行机构1的初始端点。结合图3所示，依次为第二端点5、1档位置、2档位置、3档位置和第一端点6，因此通常可以将第二端点5作为初始端点，以方便挂1档进行确认。
根据所述初始端点进行挂档确认，当满足预设档位条件时，将所述初始端点确定为换档执行机构端点。
具体地，按照初始端点进行挂档，当满足预设档位条件时，说明此时档位正确，可以将初始端点确定为换档执行机构端点。通过挂档可以确认换档执行机构1和位置检测器4安装正确，同时也能保证换档执行机构1不存在损坏，从而使得端点位置更加准确。
可选地，所述将换档执行机构沿第一方向推动多次，以确定第一端点包括：
步骤110，将所述换档执行机构沿所述第一方向推动，直至位置检测器的数值不再变动且维持预设时长时，将所述换档执行机构沿所述第二方向推动预设距离；步骤120，重复至少一次所述步骤110。
具体地，结合图2和图4所示，首先将换档执行机构1沿第一方向(图2所示B方向)推动，当位置检测器4的数值不再变动且维持预设时长(例如100ms)时，再沿第二方向(图2所示A方向)推动预设距离(例如为理论执行机构长度的5％，这个距离可以避免档位顶齿，顶齿后通过反向移动的动作，能够有效降低再次顶齿的概率，同时能够避免挂到另外一个档位上)，并重复至少一次上述步骤。
步骤130，将所述换档执行机构沿所述第一方向推动，直至所述位置检测器的数值不再变动且维持所述预设时长时，将此时所述位置检测器的数值作为所述第一端点的位置。
具体地，上述步骤执行两次及以上后，再次将换档执行机构1沿第一方 向(图2所示B方向)推动，直至位置检测器4的数值不再变动且维持预设时长(例如100ms)时，将此时位置检测器4的数值作为第一端点6的位置。
可选地，所述将所述换档执行机构沿第二方向推动多次，以确定第二端点包括：
步骤210，将所述换档执行机构沿所述第二方向推动，直至位置检测器的数值不再变动且维持预设时长时，将所述换档执行机构沿所述第一方向推动预设距离；步骤220，重复至少一次所述步骤210。
具体地，结合图2和图4所示，首先将换档执行机构1沿第二方向(图2所示A方向)推动，当位置检测器4的数值不再变动且维持预设时长(例如100ms)时，再沿第一方向(图2所示B方向)推动预设距离，(例如为理论执行机构长度的5％)，并重复至少一次上述步骤。
步骤230，将所述换档执行机构沿所述第二方向推动，直至所述位置检测器的数值不再变动且维持所述预设时长时，将此时所述位置检测器的数值作为所述第二端点的位置。
具体地，上述步骤执行两次及以上后，再次将换档执行机构1沿第二方向(图2所示A方向)推动，直至位置检测器4的数值不再变动且维持预设时长(例如100ms)时，将此时位置检测器4的数值作为第二端点5的位置。
可选地，所述根据所述第一端点的位置和所述第二端点的位置确定所述换档执行机构的长度包括：
将所述第一端点的位置所对应的位置检测器的数值与所述第二端点的位置所对应的位置检测器的数值作差，以确定所述换档执行机构的长度。
具体地，结合图4所示，将第一端点6的位置所对应的位置检测器4的数值与第二端点5的位置所对应的位置检测器4的数值作差，从而可以确定换档执行机构1的长度。例如第一端点6的位置所对应的位置检测器4的数值为Posn_6，第二端点5的位置所对应的位置检测器4的数值为Posn_5，则换档执行机构1的长度可表示为Posn_LenAct＝Posn_6-Posn_5
可选地，所述当所述换档执行机构的长度满足预设长度条件时，将所述第二端点确定为所述换档执行机构的初始端点包括：
将所述换档执行机构的长度与理论执行机构长度作差确定长度差，当所述长度差小于或等于预设长度差阈值时，将所述第二端点确定为所述换档执行机构的初始端点。
具体地，结合图4所示，例如理论执行机构长度表示为Posn_LenTar，则长度差可表示为Posn_LenDelta＝Posn_LenAct–Posn_LenTar，当长度差小于或等于预设长度差阈值，即满足Posn_LenDelta≤Posn_LenDeltaAllwd时，将第二端点5确定为换档执行机构1的初始端点。
可选地，所述当所述换档执行机构的长度满足预设长度条件时，将所述第二端点确定为所述换档执行机构的初始端点还包括：
当所述长度差大于所述预设长度差阈值时，判断端点检测失败并发出对应的检测失败故障码。
具体地，结合图4所示，若长度差大于预设长度差阈值，即满足Posn_LenDelta＞Posn_LenDeltaAllwd时，判断端点检测失败，将失败标志位置为1，然后报出检测失败故障码。
可选地，所述当满足预设档位条件时，将所述初始端点确定为换档执行机构端点包括：
当同步器滑差满足预设滑差条件时，将所述初始端点确定为所述换档执行机构端点，其中，所述同步器与所述换档执行机构连接。
具体地，结合图4所示，挂变速器一档，当实际档位的同步器滑差为0时，确定初始端点为真实的换档执行机构端点，其中，同步器与换档执行机构1连接。
可选地，所述当满足预设档位条件时，将所述初始端点确定为换档执行机构端点还包括：
当所述同步器滑差不满足所述预设滑差条件时，判断端点检测失败并发出对应的检测失败故障码。
具体地，结合图4所示，当同步器滑差不为0时，判断端点检测失败，然后报出检测失败故障码。
本发明另一实施例提供一种换档执行机构端点识别系统，包括存储有计算机程序的计算机可读存储介质和处理器，所述计算机程序被所述处理器读取并运行时，实现如上换档执行机构端点识别方法。
本发明另一实施例提供一种车辆，包括上述换档执行机构端点识别系统。
虽然本发明公开披露如上，但本发明公开的保护范围并非仅限于此。本领域技术人员在不脱离本发明公开的精神和范围的前提下，可进行各种变更与修改，这些变更与修改均将落入本发明的保护范围。

Claims (10)

  1. 一种换档执行机构端点识别方法，其特征在于，包括：
    将换档执行机构沿第一方向推动多次，以确定第一端点；
    将所述换档执行机构沿第二方向推动多次，以确定第二端点，其中，所述第二方向与所述第一方向反向；
    根据所述第一端点的位置和所述第二端点的位置确定所述换档执行机构的长度；
    当所述换档执行机构的长度满足预设长度条件时，将所述第二端点确定为所述换档执行机构的初始端点；
    根据所述初始端点进行挂档确认，当满足预设档位条件时，将所述初始端点确定为换档执行机构端点。
  2. 根据权利要求1所述的换档执行机构端点识别方法，其特征在于，所述将换档执行机构沿第一方向推动多次，以确定第一端点包括：
    步骤110，将所述换档执行机构沿所述第一方向推动，直至位置检测器的数值不再变动且维持预设时长时，将所述换档执行机构沿所述第二方向推动预设距离；
    步骤120，重复至少一次所述步骤110；
    步骤130，将所述换档执行机构沿所述第一方向推动，直至所述位置检测器的数值不再变动且维持所述预设时长时，将此时所述位置检测器的数值作为所述第一端点的位置。
  3. 根据权利要求1所述的换档执行机构端点识别方法，其特征在于，所述将所述换档执行机构沿第二方向推动多次，以确定第二端点包括：
    步骤210，将所述换档执行机构沿所述第二方向推动，直至位置检测器的数值不再变动且维持预设时长时，将所述换档执行机构沿所述第一方向推动预设距离；
    步骤220，重复至少一次所述步骤210；
    步骤230，将所述换档执行机构沿所述第二方向推动，直至所述位置检测器的数值不再变动且维持所述预设时长时，将此时所述位置检测器的数值作为所述第二端点的位置。
  4. 根据权利要求1所述的换档执行机构端点识别方法，其特征在于，所述根据所述第一端点的位置和所述第二端点的位置确定所述换档执行机构的长度包括：
    将所述第一端点的位置所对应的位置检测器的数值与所述第二端点的位置所对应的位置检测器的数值作差，以确定所述换档执行机构的长度。
  5. 根据权利要求1所述的换档执行机构端点识别方法，其特征在于，所述当所述换档执行机构的长度满足预设长度条件时，将所述第二端点确定为所述换档执行机构的初始端点包括：
    将所述换档执行机构的长度与理论执行机构长度作差确定长度差，当所述长度差小于或等于预设长度差阈值时，将所述第二端点确定为所述换档执行机构的初始端点。
  6. 根据权利要求5所述的换档执行机构端点识别方法，其特征在于，所述当所述换档执行机构的长度满足预设长度条件时，将所述第二端点确定为所述换档执行机构的初始端点还包括：
    当所述长度差大于所述预设长度差阈值时，判断端点检测失败并发出对应的检测失败故障码。
  7. 根据权利要求1所述的换档执行机构端点识别方法，其特征在于，所述当满足预设档位条件时，将所述初始端点确定为换档执行机构端点包括：
    当同步器滑差满足预设滑差条件时，将所述初始端点确定为所述换档执行机构端点，其中，所述同步器与所述换档执行机构连接。
  8. 根据权利要求7所述的换档执行机构端点识别方法，其特征在于，所述当满足预设档位条件时，将所述初始端点确定为换档执行机构端点还包括：
    当所述同步器滑差不满足所述预设滑差条件时，判断端点检测失败并发出对应的检测失败故障码。
  9. 一种换档执行机构端点识别系统，其特征在于，包括存储有计算机程序的计算机可读存储介质和处理器，所述计算机程序被所述处理器读取并运行时，实现如权利要求1至8任一项所述的换档执行机构端点识别方法。
  10. 一种车辆，其特征在于，包括权利要求9所述的换档执行机构端点识别系统。
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