CN111976701A - AMT control method, device and equipment for mining truck - Google Patents

AMT control method, device and equipment for mining truck Download PDF

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Publication number
CN111976701A
CN111976701A CN202010839625.2A CN202010839625A CN111976701A CN 111976701 A CN111976701 A CN 111976701A CN 202010839625 A CN202010839625 A CN 202010839625A CN 111976701 A CN111976701 A CN 111976701A
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China
Prior art keywords
vehicle
axle load
load value
displacement
amt
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CN202010839625.2A
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Chinese (zh)
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CN111976701B (en
Inventor
谭卫锋
张旭超
刘兰香
纪嘉伟
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Weichai Power Co Ltd
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Weichai Power Co Ltd
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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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/11—Stepped gearings
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Transmission Device (AREA)

Abstract

The embodiment of the invention provides an AMT control method, device and equipment for a mining truck, wherein the method comprises the following steps: when the difference value between the axle load value of the front axle and the axle load value of the rear axle is judged to be larger than or equal to a preset difference threshold value, if the displacement change rate of the accelerator pedal is larger than or equal to a preset displacement change rate threshold value, a gear-shifting stopping control signal is generated, and the mechanical automatic transmission AMT is controlled to stop gear shifting according to the gear-shifting stopping control signal, so that the risk of failure of automatic gear shifting of the AMT is reduced, and the running safety of the vehicle is improved.

Description

AMT control method, device and equipment for mining truck
Technical Field
The invention relates to the technical field of electricity, in particular to an AMT (automated mechanical transmission) control method, device and equipment for a mining truck.
Background
The mining wide-body dump truck is a heavy-duty dump truck special for transporting rock earthwork and ore in a mining area. The general mining wide-body dump truck adopts an engine-mounted manual gearbox, and at present, a parallel hybrid mining truck is newly developed, and has the advantages of high oil saving rate, automatic speed change, high operation efficiency and the like.
When the parallel hybrid mining truck is fully loaded on an uphill slope in a mining area, the acceleration of the whole truck is changed quickly due to the fact that the parallel hybrid mining truck is loaded with large bearing capacity of rocks and ores, so that an Automated Mechanical Transmission (AMT) has the risk of gear shifting failure, and the running safety of the parallel hybrid mining truck is affected. In the prior art, the slope information is determined by installing a slope position sensor on the parallel hybrid mining truck, and when the parallel hybrid mining truck is judged to be in a dangerous slope position, a VCU (Vehicle control unit) prohibits the gear shifting operation of the AMT in time, so that the failure fault of gear shifting of the AMT is avoided.
However, the existing ramp position sensor installed on the parallel hybrid mining truck is limited by cost, and a ramp position sensor with lower cost and poorer precision is generally adopted.
Disclosure of Invention
The embodiment of the invention provides an AMT control method, device and equipment for a mining truck, and reduces the risk of AMT gear shifting failure of a parallel hybrid mining truck by improving the accuracy of identifying road surface gradient information.
In a first aspect, an embodiment of the present invention provides an AMT control method for a mining truck, including:
obtaining a front axle load value and a rear axle load value of the vehicle;
if the difference value between the axle load value of the front axle and the axle load value of the rear axle is greater than or equal to a preset difference threshold value, obtaining the displacement change rate of the accelerator pedal;
if the displacement change rate is greater than or equal to a preset displacement change rate threshold value, generating a gear-shifting stopping control signal;
and controlling the AMT to stop gear shifting according to the gear shifting stop control signal.
In one possible design, the obtaining a front axle load value and a rear axle load value of the vehicle includes:
obtaining a front axle load value of the vehicle through a first axle load instrument;
and obtaining the axle load value of the rear axle of the vehicle through a second axle load meter.
In one possible design, the obtaining a displacement change rate of the accelerator pedal includes:
obtaining the displacement variable quantity of an accelerator pedal through a pedal displacement sensor;
and determining the displacement change rate of the accelerator pedal according to the displacement change quantity.
In one possible design, the predetermined rate of change of displacement threshold is 80%.
In one possible design, after the controlling the AMT to stop shifting according to the stop shift signal, the method further includes:
generating a prompt signal according to the gear shifting stopping signal;
and sending the prompt signal to a vehicle-mounted display device so that the vehicle-mounted display device prompts a driver that the current vehicle has a gear shifting failure risk according to the prompt signal.
In a second aspect, an embodiment of the present invention provides an AMT control apparatus for a mining truck, including:
the obtaining module is used for obtaining a front axle load value and a rear axle load value of the vehicle;
the generating module is used for obtaining the displacement change rate of the accelerator pedal if the difference value between the axle load value of the front axle and the axle load value of the rear axle is greater than or equal to a preset difference threshold value; if the displacement change rate is larger than a preset displacement change rate threshold value, generating a gear-shifting stopping control signal;
and the control module is used for controlling the AMT to stop shifting according to the gear-shifting stop control signal.
In one possible design, the generating module is specifically configured to obtain a displacement variation of the accelerator pedal through a pedal displacement sensor, and determine a displacement change rate of the accelerator pedal according to the displacement variation.
In one possible design, the apparatus further includes:
the transmitting module is used for generating a prompt signal according to the gear shifting stopping signal; and sending the prompt signal to a vehicle-mounted display device so that the vehicle-mounted display device prompts a driver that the current vehicle has a gear shifting failure risk according to the prompt signal.
In a third aspect, an embodiment of the present invention provides an AMT control apparatus for a mining truck, including:
the first axle load instrument is used for obtaining the axle load value of a front axle of the vehicle;
the second axle load instrument is used for obtaining the axle load value of a rear axle of the vehicle;
the pedal displacement sensor is used for acquiring the displacement variation of the accelerator pedal;
the VCU comprises at least one processor, a memory and a controller, wherein the memory stores computer execution instructions;
the at least one processor executing the memory-stored computer-executable instructions cause the at least one processor to perform the mining truck AMT control method of any of the first aspect and the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores computer-executable instructions, and when a processor executes the computer-executable instructions, the AMT control method for a mining truck according to any one of the first aspect and the first aspect is implemented.
According to the AMT control method, the AMT control device and the AMT control equipment for the mining truck, when the difference value between the current axle load value and the rear axle load value is larger than or equal to the preset difference value threshold value, if the displacement change rate of the accelerator pedal is larger than or equal to the preset displacement change rate threshold value, a gear-shifting stopping control signal is generated, and the AMT of the mechanical automatic gearbox is controlled to stop gear shifting according to the gear-shifting stopping control signal.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic structural diagram of a VCU control system of a mining truck according to an embodiment of the present invention;
fig. 2 is a first flowchart of an AMT control method for a mining truck according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a second method for controlling an AMT of a mining truck according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an AMT control device of a mining truck according to an embodiment of the present invention;
fig. 5 is a schematic hardware structure diagram of an AMT control device of a mining truck according to an embodiment of the present invention.
Detailed Description
With the above figures, certain embodiments of the invention have been illustrated and described in more detail below. The drawings and the description are not intended to limit the scope of the inventive concept in any way, but rather to illustrate it by those skilled in the art with reference to specific embodiments.
The conventional ramp position sensor installed on the parallel hybrid mining truck is limited by cost, a ramp position sensor with lower cost and poorer precision is usually adopted, and the accuracy of identifying the gradient information of a road surface by the position sensor is lower, so that the AMT of the parallel hybrid mining truck still has the risk of gear shifting failure.
In order to solve the technical problem, an embodiment of the invention provides an AMT control method for a mining truck, the position of a ramp can be preliminarily judged by analyzing a front axle load value and a rear axle load value, if the position of the ramp meets the requirement, the gradient condition of the current running ramp position of a front vehicle is accurately judged through the displacement change rate of an accelerator pedal, the AMT of the mining truck is controlled to stop gear shifting according to the gradient condition of the ramp position, and the risk of gear shifting failure of the AMT of the mining truck is reduced.
Fig. 1 is a schematic structural diagram of a VCU control system of a mining truck according to an embodiment of the present invention. As shown in fig. 1, the VCU control system 10 includes a VCU vehicle control unit 101, an automatic transmission AMT102, an engine ECU103, a motor ECU104, a battery management system 105, and other devices 106. The VCU vehicle controller 101 is connected to the automatic transmission AMT102, the engine ECU103, the motor ECU104, the battery management system 105, and other devices 106 through the CAN bus. Specifically, the VCU vehicle controller 101VCU judges the driving intention of the driver by collecting signals of an accelerator pedal, a gear, a brake pedal, and the like, generates a control instruction by a set calculation method according to information fed back by the engine ECU103, the motor ECU104, the battery management system 105, the automatic transmission AMT102, and the like, and sends the control instruction to a corresponding subsystem, thereby realizing the control of the VCU on the vehicle. The vehicle controller controls the engine to drive the vehicle by combining the motor ECU104 and the battery management system 105 under different working conditions, so that the running efficiency of the whole vehicle is optimal.
Fig. 2 is a flowchart of an AMT control method for a mining truck according to an embodiment of the present invention, where an implementation subject of this embodiment may be the VCU in the embodiment shown in fig. 1. As shown in fig. 2, the method includes:
s201: and obtaining the axle load value of the front axle and the axle load value of the rear axle of the vehicle.
Specifically, a front axle load value of the vehicle is obtained through the first axle load meter, and a rear axle load value of the vehicle is obtained through the second axle load meter.
The method comprises the following steps that a first axle load instrument is installed on a front axle of a vehicle and used for obtaining a front axle load value of the vehicle; and a second axle load meter is arranged on the rear axle of the vehicle and used for obtaining the axle load value of the rear axle of the vehicle. The axle load value refers to the maximum total vehicle weight allowed to be distributed by each axle, and when the vehicle-mounted weight is larger, the distributed weight of the front axle and the rear axle is larger. Also, the ratio of the weight shared by the front and rear axles is correlated to the gradient of the road on which the vehicle is traveling. When the gradient of the vehicle running slope position is relatively large, namely the current gradient is relatively steep, the weight borne by the front axle is greater than the weight borne by the rear axle, and if the AMT of the vehicle automatically shifts gears at the moment, the risk coefficient of gear shifting failure is relatively large.
S202: and if the difference value between the axle load value of the front axle and the axle load value of the rear axle is greater than or equal to a preset difference threshold value, obtaining the displacement change rate of the accelerator pedal.
In the embodiment of the invention, the position of the ramp can be preliminarily judged by analyzing the axle load value of the front axle and the axle load value of the rear axle. On the premise that the axle load value of the front axle and the axle load value of the rear axle of the vehicle are obtained, the difference value of the axle load value of the front axle and the axle load value of the rear axle of the vehicle can be obtained through calculation and used for predicting the gradient of the ramp position. The larger the difference between the axle load value of the front axle and the axle load value of the rear axle of the vehicle is, the larger the gradient of the ramp position is; conversely, the smaller the difference between the front axle load value and the rear axle load value of the vehicle, the smaller the gradient of the hill position.
When the difference between the axle load value of the front axle and the axle load value of the rear axle is greater than or equal to a preset difference threshold value, one possibility is that the gradient of the current running ramp position of the vehicle is steeper; another possibility is that the load ratio of the vehicle itself is large, and the load borne by the front axle and the load borne by the rear axle are also large, so that the difference between the axle load value of the front axle and the axle load value of the rear axle is greater than or equal to the preset difference threshold value.
Specifically, the displacement variation of the accelerator pedal can be obtained through a pedal displacement sensor, and the displacement change rate of the accelerator pedal is determined according to the displacement variation.
The displacement sensor is arranged inside the accelerator pedal and monitors the position of the accelerator pedal at any time. When the height position of the accelerator pedal is monitored to be changed, the information is instantly sent to the engine ECU, the engine ECU carries out operation processing on the information and data information sent by other systems to calculate a control signal, the control signal is sent to a servo motor relay through a circuit, and the servo motor drives a throttle valve executing mechanism. The displacement change rate of the accelerator pedal is related to the control signal of the current vehicle running condition. The greater the torque of the vehicle engine, the greater the opening degree of the throttle valve driven by the control signal, as the rate of change in displacement of the accelerator pedal is greater, that is, the greater the amount of change in the height position of the accelerator pedal. Conversely, when the rate of change in displacement of the accelerator pedal is smaller, the torque of the vehicle engine is smaller, and the opening degree of the throttle valve driven by the control signal is smaller. In the same traveling vehicle situation, the rate of change in displacement of the accelerator pedal is larger as the gradient of the road on which the vehicle travels is steeper, and conversely, the rate of change in displacement of the accelerator pedal is smaller as the gradient of the road on which the vehicle travels is flatter.
S203: and if the displacement change rate is greater than or equal to a preset displacement change rate threshold value, generating a gear-shifting stopping control signal.
In the embodiment of the invention, on the premise that the difference value between the axle load value of the front axle and the axle load value of the rear axle is judged to be greater than or equal to the preset difference threshold value, the gradient condition of the current running slope position of the front vehicle can be further determined by obtaining the displacement change rate. When the difference between the axle load value of the front axle and the axle load value of the rear axle is greater than or equal to a preset difference threshold value, and the displacement change rate is greater than or equal to a preset displacement change rate threshold value, the slope of the current running slope position of the front vehicle can be accurately judged to be larger, and if the AMT of the vehicle automatically shifts gears at the moment, the risk coefficient of gear shifting failure is larger. By generating the gear-shifting stopping control signal, the AMT is controlled to perform automatic gear shifting, and the risk of failure of automatic gear shifting of the AMT is reduced. Illustratively, the preset displacement change rate threshold is set to 80%. That is, when the displacement change rate is greater than or equal to 80%, the stop shift control signal is generated.
S204: and controlling the AMT to stop gear shifting according to the gear shifting stop control signal.
As can be seen from the description of the above embodiment, when the difference between the current axle load value and the rear axle load value is greater than or equal to the preset difference threshold value, if the displacement change rate of the accelerator pedal is greater than or equal to the preset displacement change rate threshold value, a gear-shifting stopping control signal is generated, and the mechanical automatic transmission AMT is controlled to stop gear shifting according to the gear-shifting stopping control signal. According to the AMT control method for the mining truck, provided by the embodiment of the invention, the grade climbing condition of the current driving position of the mining truck is judged by utilizing the difference value of the axle load value of the front axle and the axle load value of the rear axle and the displacement change rate of the accelerator pedal, the AMT is controlled to stop gear shifting in time, the risk of gear shifting failure of the AMT of the mining truck is reduced, and the driving safety of the vehicle is improved.
Fig. 3 is a flowchart illustrating a second method for controlling an AMT of a mining truck according to an embodiment of the present invention, where in this embodiment, based on the embodiment of fig. 2, a detailed description is given to the method for controlling an AMT of a mining truck after controlling an AMT of a mechanical automatic transmission to stop shifting according to the stop-shift control signal at S204. As shown in fig. 3, the method includes:
s301: and generating a prompt signal according to the gear shifting stopping signal.
In the embodiment of the invention, when the VCU judges that the AMT has the risk of gear shifting failure according to the difference value between the axle load value of the current vehicle and the axle load value of the rear axle and the displacement change rate, a prompt signal is generated according to the gear shifting stopping signal, wherein the prompt signal is used for prompting a driver that the risk of AMT gear shifting failure exists in the current driving condition of the current vehicle, so that the driver can timely troubleshoot the abnormal condition of the vehicle according to the prompt information, and the driving safety is improved.
S302: and sending the prompt signal to a vehicle-mounted display device so that the vehicle-mounted display device prompts a driver that the current vehicle has a gear shifting failure risk according to the prompt signal.
In the embodiment of the invention, in order to prompt the current running risk of the vehicle, specifically, a prompt signal is sent to the vehicle-mounted display device. The vehicle-mounted display device is used for prompting a driver that the current vehicle has the risk of gear shifting failure according to the prompt signal. For example, the vehicle-mounted display device can be a vehicle-mounted display, and the vehicle-mounted display generates a prompt phrase according to the prompt signal to remind a driver that the current vehicle has the risk of gear shifting failure.
It can be known from the description of the above embodiment that the vehicle-mounted display device prompts a driver that the current vehicle has a risk of gear shift failure according to the prompt signal by generating the prompt signal according to the gear shift stop signal and sending the prompt signal to the vehicle-mounted display device, so that the driving safety of the vehicle is improved.
Fig. 4 is a schematic structural diagram of an AMT control device for a mining truck according to an embodiment of the present invention. As shown in fig. 4, the mining truck AMT control apparatus 40 includes: an obtaining module 401, a generating module 402 and a control module 403.
An obtaining module 401 is configured to obtain a front axle load value and a rear axle load value of the vehicle.
A generating module 402, configured to obtain a displacement change rate of an accelerator pedal if a difference between the front axle load value and the rear axle load value is greater than or equal to a preset difference threshold; and if the displacement change rate is greater than a preset displacement change rate threshold value, generating a gear-shifting stopping control signal.
And a control module 403, configured to control the AMT to stop shifting according to the shift stop control signal.
The apparatus provided in this embodiment may be used to implement the technical solutions of the above method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.
In a possible implementation manner, the obtaining module 401 is further configured to obtain a front axle load value of the vehicle through the first axle load meter, and obtain a rear axle load value of the vehicle through the second axle load meter.
In a possible implementation manner, the generating module 402 is further configured to obtain a displacement variation of the accelerator pedal through a pedal displacement sensor, and determine a displacement change rate of the accelerator pedal according to the displacement variation.
In a possible implementation manner, the AMT control apparatus for the mining truck further includes a sending module, configured to generate a prompt signal according to the gear shift stop signal; and sending the prompt signal to a vehicle-mounted display device so that the vehicle-mounted display device prompts a driver that the current vehicle has a gear shifting failure risk according to the prompt signal.
Fig. 5 is a schematic hardware structure diagram of an AMT control device of a mining truck according to an embodiment of the present invention. As shown in fig. 5, the mining truck AMT control apparatus 50 of the present embodiment includes: a first axle load instrument 501, a second axle load instrument 502, a pedal displacement sensor 503 and a vehicle control unit VCU 504.
The first axle load meter 501 is used for obtaining a front axle load value of a vehicle, the second axle load meter 502 is used for obtaining a rear axle load value of the vehicle, and the pedal displacement sensor 503 is used for obtaining a displacement variation of an accelerator pedal.
The VCU504 includes a processor 5041 and a memory 5042; wherein the content of the first and second substances,
memory 5042 for storing computer execution instructions.
The processor 5041 is configured to execute the computer executable instructions stored in the memory to implement the steps performed by the VCU in the above embodiments. Reference may be made in particular to the description relating to the method embodiments described above.
Alternatively, the memory 5042 may be separate or integrated with the processor 5041.
When memory 5042 is provided separately, the mining truck AMT control device further includes a bus 5043 for connecting memory 5042 and processor 5041.
The embodiment of the invention also provides a computer-readable storage medium, wherein a computer executing instruction is stored in the computer-readable storage medium, and when a processor executes the computer executing instruction, the AMT control method for the mining truck is realized.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.
The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application.
It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. An AMT control method for a mining truck is characterized by comprising the following steps:
obtaining a front axle load value and a rear axle load value of the vehicle;
if the difference value between the axle load value of the front axle and the axle load value of the rear axle is greater than or equal to a preset difference threshold value, obtaining the displacement change rate of the accelerator pedal;
if the displacement change rate is greater than or equal to a preset displacement change rate threshold value, generating a gear-shifting stopping control signal;
and controlling the AMT to stop gear shifting according to the gear shifting stop control signal.
2. The method of claim 1, wherein said obtaining a front axle load value and a rear axle load value for a vehicle comprises:
and obtaining the axle load value of the front axle of the vehicle through the first axle load meter, and obtaining the axle load value of the rear axle of the vehicle through the second axle load meter.
3. The method of claim 1, wherein the obtaining a rate of change of displacement of an accelerator pedal comprises:
obtaining the displacement variable quantity of an accelerator pedal through a pedal displacement sensor;
and determining the displacement change rate of the accelerator pedal according to the displacement change quantity.
4. The method of claim 1, wherein the preset rate of change of displacement threshold is 80%.
5. The method according to any of claims 1-4, after said controlling an AMT to stop shifting according to said stop shift signal, further comprising:
generating a prompt signal according to the gear shifting stopping signal;
and sending the prompt signal to a vehicle-mounted display device so that the vehicle-mounted display device prompts a driver that the current vehicle has a gear shifting failure risk according to the prompt signal.
6. An AMT control device for a mining truck, comprising:
the obtaining module is used for obtaining a front axle load value and a rear axle load value of the vehicle;
the generating module is used for obtaining the displacement change rate of the accelerator pedal if the difference value between the axle load value of the front axle and the axle load value of the rear axle is greater than or equal to a preset difference threshold value; if the displacement change rate is larger than a preset displacement change rate threshold value, generating a gear-shifting stopping control signal;
and the control module is used for controlling the AMT to stop shifting according to the gear-shifting stop control signal.
7. The device according to claim 6, wherein the generating module is specifically configured to obtain a displacement variation of the accelerator pedal through a pedal displacement sensor, and determine a displacement change rate of the accelerator pedal according to the displacement variation.
8. The apparatus of claim 6, further comprising:
the transmitting module is used for generating a prompt signal according to the gear shifting stopping signal; and sending the prompt signal to a vehicle-mounted display device so that the vehicle-mounted display device prompts a driver that the current vehicle has a gear shifting failure risk according to the prompt signal.
9. A mining truck AMT control apparatus, comprising:
the first axle load instrument is used for obtaining the axle load value of a front axle of the vehicle;
the second axle load instrument is used for obtaining the axle load value of a rear axle of the vehicle;
the pedal displacement sensor is used for acquiring the displacement variation of the accelerator pedal;
the VCU comprises at least one processor, a memory and a controller, wherein the memory stores computer execution instructions; the at least one processor executing the memory-stored computer-executable instructions cause the at least one processor to perform the mining truck AMT control method of any of claims 1 to 5.
10. A computer readable storage medium having computer executable instructions stored thereon which, when executed by a processor, implement the AMT control method for a mining truck according to any one of claims 1 to 5.
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