阅读说明：本技术 一种双稳态换挡器电机控制方法、装置及汽车 (Motor control method and device for bistable gear shifter and automobile ) 是由 范汉茂 梁建刚 陈振文 李明 谭火南 于 2020-06-04 设计创作，主要内容包括：本发明提供一种双稳态换挡器电机控制方法、装置及汽车,所述方法包括根据换挡杆位置和档位判断策略确定当前需求档位；判断当前需求档位是否为P档、R档或者N档；当判定当前需求档位是P档、R档或者N档时,进一步判断拨杆是否在第二稳态位置；当判定拨杆在第二稳态位置时,判断拨杆位置偏离第二稳态位置是否大于或者等于预设角度值；当判定拨杆位置偏离所述第二稳态位置大于或者等于预设角度值,确定电机的目标角度为目标打开角度。通过本发明,解决了现有D档切换到R档或者N档时,由于换挡杆快速拨到M+或者M-位置,导致电机复位机构卡死的问题,以及M/S档位时,自动泊车功能介入且需求档位D档,而换挡杆仍然在第二稳态的问题。(The invention provides a method and a device for controlling a motor of a bistable shifter and an automobile, wherein the method comprises the steps of determining a current required gear according to the position of a shift lever and a gear judgment strategy; judging whether the current required gear is a P gear, an R gear or an N gear; when the current required gear is judged to be the P gear, the R gear or the N gear, whether the shift lever is in a second stable position is further judged; when the deflector rod is judged to be at the second stable position, judging whether the position of the deflector rod deviates from the second stable position and is larger than or equal to a preset angle value; and when the position of the shift lever deviates from the second stable position and is larger than or equal to the preset angle value, determining the target angle of the motor as a target opening angle. The invention solves the problems that when the existing D gear is switched to the R gear or the N gear, the motor resetting mechanism is blocked because the gear shifting rod is quickly shifted to the M + or M-position, and when the gear is shifted to the M/S gear, the automatic parking function is involved, the gear D gear is required, and the gear shifting rod is still in the second stable state.)

1. A method of controlling a motor of a bi-stable shifter, the method comprising:

s11, determining the current required gear according to the gear shift lever position and the gear judgment strategy;

s12, judging whether the current required gear is a P gear, an R gear or an N gear;

s13, when the current required gear is the P gear, the R gear or the N gear, further judging whether the shift lever is in a second stable position;

s14, when the deflector rod is judged to be at the second stable position, judging whether the position of the deflector rod deviates from the second stable position and is larger than or equal to a preset angle value;

and S15, when the shift lever position deviates from the second stable state position and is larger than or equal to a preset angle value, determining the target angle of the motor as a target opening angle.

2. The method of claim 1, wherein the method further comprises:

if the shift lever position is judged to deviate from the second stable state position and is smaller than a preset angle value in the step S14, determining that the target angle of the motor is a reset angle;

controlling the motor to the position of the target angle.

3. The method of claim 1, wherein the method further comprises:

when the current required gear is judged to be not the P gear, the R gear and the N gear, judging whether the current required gear is the D gear;

if the current required gear is judged to be the D gear, judging whether to start automatic parking according to a finished automobile CAN network signal;

if the automatic parking is judged to be started, determining the target angle of the motor as a reset angle;

controlling the motor to the position of the target angle.

4. The method of claim 3, wherein the method further comprises:

if the current required gear is not the D gear, determining that the target angle of the motor is a target opening angle;

controlling the motor to the position of the target angle.

5. The method of claim 3, wherein the method further comprises:

if the automatic parking is judged not to be started, determining the target angle of the motor as a target opening angle;

controlling the motor to the position of the target angle.

6. The method of claim 3, wherein determining whether automatic parking is enabled based on the vehicle CAN network signal comprises:

judging whether to set a position according to the automatic parking gear request position of the whole vehicle CAN network;

if the position is set, starting parking is judged to be started;

if not, the automatic parking is judged not to be started.

7. A bi-stable shifter motor control apparatus, the apparatus comprising:

the positioning unit is used for determining the current required gear according to the gear shifting lever position and the gear judgment strategy;

the first judgment unit is used for judging whether the current required gear is a P gear, an R gear or an N gear;

the second judging unit is used for further judging whether the shift lever is in a second stable position or not when the current required gear is judged to be the P gear, the R gear or the N gear;

the third judging unit is used for judging whether the position of the deflector rod deviates from the second stable position and is larger than or equal to a preset angle value or not when the deflector rod is judged to be at the second stable position;

and the first judging unit is used for determining that the target angle of the motor is the target opening angle when the position of the deflector rod deviates from the second stable position and is greater than or equal to a preset angle value.

8. The apparatus of claim 7, wherein the apparatus further comprises a control unit,

when the third judging unit judges that the position of the deflector rod deviates from the second stable position and is smaller than a preset angle value, determining that the target angle of the motor is a reset angle;

and the control unit is used for controlling the motor to reach the position of the target angle.

9. The apparatus according to claim 7, further comprising a fourth judging unit, a second judging unit, and a control unit, and judging whether the currently required gear is the D gear when the first judging unit judges that the current gear is not the P gear, the R gear, and the N gear;

the fourth judging unit is used for judging whether to start automatic parking according to a finished automobile CAN network signal if the current required gear is judged to be the D gear;

the second judging unit is used for determining that the target angle of the motor is a reset angle when the automatic parking is judged to be started;

the control unit is used for controlling the motor to reach the position of the target angle.

10. A vehicle, characterized in that it comprises a device according to claims 7 to 9.

Technical Field

The invention relates to the technical field of automobile control, in particular to a method and a device for controlling a motor of a bistable shifter and an automobile.

Background

Referring to fig. 1, the automobile electric control system includes a bistable shift controller 1, a motor 2, a worm whole 3, a hall angle hall switch module 4, and an entire vehicle CAN network 5, and based on the bistable position shown in fig. 2 formed by the above devices in fig. 1, the hall angle hall switch module 4 is used for detecting a first stable state 6, an F1 position 7, an F2 position 8, a B1 position 9, a B2 position 10, a second stable state 12, a position M +12, and a position M-13, and the hall angle hall switch module 4 is also used for detecting a rotation angle of the worm whole 3; the first stable state 6 and the second stable state 12 are distinguished through the Hall switch, and when the Hall switch is in the first stable state 6, the Hall switch is in a conducting state; in the second stable state 12, the hall switch is in an open state.

As shown in figure 3, when the deflector rod is in a second stable state, the 1 bistable shift controller controls the motor 2 to rotate, the worm integral 3 is driven to rotate by the worm gear and the worm, the deflector rod is pushed to return to a first stable state position by the worm limiting end (cam mechanism) 3.1, after the deflector rod is pushed to return to the first stable state, namely the motor is at a reset angle value position, and if the motor is not rotated to a target opening angle value position again, the deflector rod cannot be manually moved to the second stable state.

Based on the existing design, when the shifter is in a D gear, the shifter is quickly shifted to an R gear or an N gear, and because a certain time is needed for the motor to control to a target angle, the motor does not reach the target angle for blocking the movement in the second stable state direction in the movement, the shift lever can still be quickly shifted to an M +/M-position, so that the self-reset mechanism of the small motor is blocked, and the system cannot be normal, which is the first problem; the second problem is that in the M/S gear, the automatic parking function intervenes and requires the D gear, while the gear shift lever is still in the second steady state problem.

Disclosure of Invention

The invention aims to solve the technical problems that when the existing D gear is switched to an R gear or an N gear, a small motor resetting mechanism is blocked due to the fact that a gear shifting rod is quickly shifted to an M + position or an M-position, and when the existing M/S gear is switched, an automatic parking function is involved, a D gear is required, and the gear shifting rod is still in a second stable state.

The invention provides a motor control method of a bistable shifter, which comprises the following steps:

s11, determining the current required gear according to the gear shift lever position and the gear judgment strategy;

s12, judging whether the current required gear is a P gear, an R gear or an N gear;

s13, when the current required gear is the P gear, the R gear or the N gear, further judging whether the shift lever is in a second stable position;

s14, when the deflector rod is judged to be at the second stable position, judging whether the position of the deflector rod deviates from the second stable position and is larger than or equal to a preset angle value;

and S15, when the shift lever position deviates from the second stable state position and is larger than or equal to a preset angle value, determining the target angle of the motor as a target opening angle.

Further, the method further comprises:

if the shift lever position is judged to deviate from the second stable state position and is smaller than a preset angle value in the step S14, determining that the target angle of the motor is a reset angle;

controlling the motor to the position of the target angle.

Further, the method further comprises:

when the current required gear is judged to be not the P gear, the R gear and the N gear, judging whether the current required gear is the D gear;

if the current required gear is judged to be the D gear, judging whether to start automatic parking according to a finished automobile CAN network signal;

if the automatic parking is judged to be started, determining the target angle of the motor as a reset angle;

controlling the motor to the position of the target angle.

Further, the method further comprises:

if the current required gear is not the D gear, determining that the target angle of the motor is a target opening angle;

controlling the motor to the position of the target angle.

Further, judging whether to start automatic parking according to the CAN network signal of the whole vehicle comprises the following steps:

judging whether to set a position according to the automatic parking gear request position of the whole vehicle CAN network;

if the position is set, starting parking is judged to be started;

if not, the automatic parking is judged not to be started.

The invention provides a motor control device of a bistable gear shifter, which comprises:

the positioning unit is used for determining the current required gear according to the gear shifting lever position and the gear judgment strategy;

the first judgment unit is used for judging whether the current required gear is a P gear, an R gear or an N gear;

the second judging unit is used for further judging whether the shift lever is in a second stable position or not when the current required gear is judged to be the P gear, the R gear or the N gear;

the third judging unit is used for judging whether the position of the deflector rod deviates from the second stable position and is larger than or equal to a preset angle value or not when the deflector rod is judged to be at the second stable position;

and the first judging unit is used for determining that the target angle of the motor is the target opening angle when the position of the deflector rod deviates from the second stable position and is greater than or equal to a preset angle value.

Further, the device also comprises a control unit,

when the third judging unit judges that the position of the deflector rod deviates from the second stable position and is smaller than a preset angle value, determining that the target angle of the motor is a reset angle;

and the control unit is used for controlling the motor to reach the position of the target angle.

Further, the device also comprises a fourth judging unit, a second judging unit and a control unit, wherein when the first judging unit judges that the current gear is not the P gear, the R gear and the N gear, whether the current required gear is the D gear is judged;

the fourth judging unit is used for judging whether to start automatic parking according to a finished automobile CAN network signal if the current required gear is judged to be the D gear;

the second judging unit is used for determining that the target angle of the motor is a reset angle when the automatic parking is judged to be started;

the control unit is used for controlling the motor to reach the position of the target angle.

The invention provides an automobile which comprises the bistable gear shifter motor control device.

The implementation of the invention has the following beneficial effects:

according to the invention, the required gear is judged firstly, the position of the shift lever is further judged, the target angle of the motor is determined to be the target opening angle or the reset angle, and the problems that when the existing D gear is switched to the R gear or the N gear, the motor reset mechanism is blocked due to the fact that the shift lever is quickly shifted to the M + or the M-position, and when the M/S gear is adopted, the automatic parking function is involved, the D gear is required, and the shift lever is still in the second stable state are solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a block diagram of an electric control system provided in the background art.

Fig. 2 is a schematic diagram of a bistable position provided by the background art.

Fig. 3 is a component connection diagram provided in the background art.

Fig. 4 is a flowchart of a motor control method of a bistable gear shifter provided by an embodiment of the invention.

Fig. 5 is a flowchart of a motor reset control according to an embodiment of the present invention.

Fig. 6 is a structural diagram of a motor control device of a bistable gear shifter provided by an embodiment of the invention.

Detailed Description

In this patent, the following description will be given with reference to the accompanying drawings and examples.

As shown in fig. 4, an embodiment of the present invention provides a method for controlling a motor of a bistable shifter, the method including:

and S11, determining the current required gear according to the gear shift lever position and the gear judgment strategy.

It should be noted that the first detection cycle requires a power-up initialization before the current required gear is determined.

And S12, judging whether the current required gear is a P gear, an R gear or an N gear.

And S13, when the current required gear is the P gear, the R gear or the N gear, further judging whether the shift lever is in the second steady state position.

It should be noted that the current required gear is judged according to the states of the hall angle sensor, the hall switch module and the whole vehicle.

And S14, when the deflector rod is judged to be at the second stable position, judging whether the position of the deflector rod deviates from the second stable position and is larger than or equal to a preset angle value.

It should be noted that, in this step, the hall angle module is used to detect the position of the shift lever.

And S15, when the shift lever position deviates from the second stable state position and is larger than or equal to a preset angle value, determining the target angle of the motor as a target opening angle.

In the embodiment, if the position of the shift lever deviates from the second stable position and is greater than or equal to the preset angle value, the shift lever reaches M + or M-, and only the target angle of the motor can be determined as the target opening angle; and only when the position of the shifting lever deviates from the second stable position and is smaller than the preset angle value, namely the shifting lever returns to the second stable position, the target angle of the motor can be determined to be the reset angle, so that the motor can be automatically reset to the first stable position, and the mechanism is prevented from being blocked due to forced reset at the M + or M-position.

Further, the method further comprises:

if the shift lever position is judged to deviate from the second stable state position and is smaller than a preset angle value in the step S14, determining that the target angle of the motor is a reset angle;

controlling the motor to the position of the target angle.

It should be noted that, if the position of the shift lever deviates from the second stable position and is smaller than the preset angle value, the target angle of the motor is determined to be the reset angle, and the shift lever can automatically return to the first stable position without the risk of mechanism jamming.

With reference to fig. 5, further, the method further includes:

when the current required gear is judged to be not the P gear, the R gear and the N gear, judging whether the current required gear is the D gear;

if the current required gear is judged to be the D gear, judging whether to start automatic parking according to a finished automobile CAN network signal;

if the automatic parking is judged to be started, determining the target angle of the motor as a reset angle;

controlling the motor to the position of the target angle.

It should be noted that, the current required gear is determined to be the D gear, and the automatic parking function is enabled, so that the motor is controlled to automatically reset to the first steady-state position.

Further, the method further comprises:

if the current required gear is not the D gear, determining that the target angle of the motor is a target opening angle;

controlling the motor to the position of the target angle.

It should be noted that the target angle is an opening angle, so that the driver can dial the shift lever to the second stable position.

Further, the method further comprises:

if the automatic parking is judged not to be started, determining the target angle of the motor as a target opening angle;

controlling the motor to the position of the target angle.

Further, judging whether to start automatic parking according to the CAN network signal of the whole vehicle comprises the following steps:

judging whether to set a position according to the automatic parking gear request position of the whole vehicle CAN network;

if the position is set, starting parking is judged to be started;

if not, the automatic parking is judged not to be started.

As shown in fig. 6, an embodiment of the present invention provides a bistable shifter motor control apparatus, comprising:

the positioning unit 61 is used for determining the current required gear according to the position of the gear shifting lever and a gear judgment strategy;

a first judging unit 62, configured to judge whether the currently required gear is a P gear, an R gear, or an N gear;

a second determination unit 63, configured to further determine whether the shift lever is in a second stable position when it is determined that the current required gear is the P gear, the R gear, or the N gear;

a third determining unit 64, configured to determine whether the position of the shift lever deviates from the second stable position by more than or equal to a preset angle value when the shift lever is determined to be at the second stable position;

and the first judging unit 65 is used for determining that the target angle of the motor is the target opening angle when the deflector rod position deviates from the second stable state position and is greater than or equal to the preset angle value.

Further, the device also comprises a control unit,

when the third judging unit 64 judges that the position of the shift lever deviates from the second stable position and is smaller than a preset angle value, determining that the target angle of the motor is a reset angle;

and the control unit is used for controlling the motor to reach the position of the target angle.

Further, the apparatus further includes a fourth judging unit, a second judging unit and a control unit, and when the first judging unit 62 judges that the current gear is not the P gear, the R gear and the N gear, whether the current required gear is the D gear is judged;

the fourth judging unit is used for judging whether to start automatic parking according to a finished automobile CAN network signal if the current required gear is judged to be the D gear;

the second judging unit is used for determining that the target angle of the motor is a reset angle when the automatic parking is judged to be started;

the control unit is used for controlling the motor to reach the position of the target angle.

The embodiment of the invention provides an automobile which comprises the bistable gear shifter motor control device.

The implementation of the invention has the following beneficial effects:

according to the invention, the required gear is judged firstly, the position of the shift lever is further judged, the target angle of the motor is determined to be the target opening angle or the reset angle, and the problems that when the existing D gear is switched to the R gear or the N gear, the motor reset mechanism is blocked due to the fact that the shift lever is quickly shifted to the M + or the M-position, and when the M/S gear is adopted, the automatic parking function is involved, the D gear is required, and the shift lever is still in the second stable state are solved.

The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.