# US 12,007,021 B2 · Motor control method and device of bistable gear shifter and automobile > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,007,021 B2 - Document ID: US12007021B2 - Status: Granted - Kind: B2 - Application number: 17/756,559 - Filed: 2021-06-01 - Published: 2022-11-10 - Granted: 2024-06-11 - Earliest claimed: 2020-06-04 - Assignees: Guangzhou Automobile Group Co., Ltd. - Applicants: Guangzhou Automobile Group Co., Ltd. - Inventors: Hanmao Fan; Jiangang Liang; Zhenwen Chen; Ming Li; Huonan Tan - Web page: https://patentgrep.com/patent/US12007021B2 ## CPC - F16H 61/32: Electric motors {, actuators or related electrical control means} therefor - F16H 59/68: Inputs being a function of gearing status - F16H 63/48: Signals to a parking brake {or parking lock; Control of parking locks or brakes being part of the transmission} - F16H 2061/326: {Actuators for range selection, i.e. actuators for controlling the range selector or the manual range valve in the transmission} - F16H: GEARING ## Abstract A motor control method of a bistable gear shifter, comprising: determining a current required gear according to a position of a shift lever and a gear judgment strategy; determining whether the current required gear is a P gear, an R gear or an N gear; further determining whether the shift lever is in a second steady state position if it is determined that the current required gear is the P gear, the R gear or the N gear; determining whether a deviation of the position of the shift lever from the second steady state position is greater than or equal to a preset angle value, if it is determined that the shift lever is in the second steady state position; and determining a target angle of the motor as a target opening angle, if it is determined that the deviation is greater than or equal to a preset angle value. ## Claims ### Claim 1 A motor control method of a bistable gear shifter, comprising: step S11: determining a current required gear according to a position of a shift lever and a gear judgment strategy; step S12: determining whether the current required gear is a P gear, an R gear or an N gear; step S13: further determining whether the shift lever is in a second steady state position, if it is determined that the current required gear is the P gear, the R gear or the N gear; step S14: determining whether a deviation of the position of the shift lever from the second steady state position is greater than or equal to a preset angle value, if it is determined that the shift lever is in the second steady state position; and step S15: determining a target angle of the motor as a target opening angle, if it is determined that the deviation of the position of the shift lever from the second steady state position is greater than or equal to the preset angle value. ### Claim 2 (depends on 1) The method of claim 1, further comprising: determining the target angle of the motor as a reset angle, if it is determined in step S14 that the deviation of the position of the shift lever from the second steady state position is smaller than the preset angle value; and controlling the motor move to a position of the target angle. ### Claim 3 (depends on 1) The method of claim 1, further comprising: determining whether the current required gear is a D gear, if it is determined that the current required gear is not the P gear, the R gear and the N gear; determining whether to enable an automatic parking according to a Controller Area Network signal of a whole vehicle, if it is determined that the current required gear is D gear; determining the target angle of the motor as a reset angle, if it is determined to enable the automatic parking; and controlling the motor move to a position of the target angle. ### Claim 4 (depends on 3) The method of claim 3, further comprising: determining the target angle of the motor as the target opening angle, if it is determined that the current required gear is not the D gear; and controlling the motor move to the position of the target angle. ### Claim 5 (depends on 3) The method of claim 3, further comprising: determining the target angle of the motor as the target opening angle, if it is determined not to enable the automatic parking; and controlling the motor move to the position of the target angle. ### Claim 6 (depends on 3) The method of claim 3, wherein determining whether to enable the automatic parking according to the Controller Area Network signal network signal of the whole vehicle comprises: determining whether a request bit of the automatic parking is on according to the Controller Area Network signal of the whole vehicle; if yes, determining to enable the automatic parking; and if not, determining not to enable the automatic parking. ### Claim 7 (depends on 1) The method of claim 1, wherein the current required gear is determined based on a module of Hall angle sensor and Hall switch and a vehicle state. ### Claim 8 (depends on 1) The method of claim 1, wherein a Hall angle module is configured to detect the position of the shift lever in step S14. ### Claim 9 A motor control device of a bistable gear shifter, comprising: a processor; and a memory for storing instructions executable by the processor; wherein when the processor executes the computer-readable instructions, the following steps are implemented: determine a current required gear according to a position of a shift lever and a gear judgment strategy; determine whether the current required gear is a P gear, an R gear or an N gear; further determine whether the shift lever is in a second steady state position, if it is determined that the current required gear is the P gear, the R gear or the N gear; determine whether a deviation of the position of the shift lever from the second steady state position is greater than or equal to a preset angle value, if it is determined that the shift lever is in the second steady state position; and determine a target angle of the motor as a target opening angle, if it is determined that the deviation of the position of the shift lever from the second steady state position is greater than or equal to the preset angle value. ### Claim 10 (depends on 9) The device of claim 9, wherein when the processor executes the computer-readable instructions, the following steps are further implemented: determine the target angle of the motor as a reset angle, if it is determined in step S14 that the deviation of the position of the shift lever from the second steady state position is smaller than the preset angle value; and control the motor move to a position of the target angle. ### Claim 11 (depends on 9) The device of claim 9, wherein when the processor executes the computer-readable instructions, the following steps are further implemented: determine whether the current required gear is a D gear, if it is determined that the current required gear is not the P gear, the R gear and the N gear; determine whether to enable an automatic parking according to a Controller Area Network signal of a whole vehicle; determine that the target angle of the motor as a reset angle, if it is determined to enable the automatic parking; and control the motor move to a position of the target angle. ### Claim 12 (depends on 11) The device of claim 11, wherein when the processor executes the computer-readable instructions, the following steps are further implemented: determining the target angle of the motor as the target opening angle, if it is determined that the current required gear is not the D gear; and controlling the motor move to the position of the target angle. ### Claim 13 (depends on 11) The device of claim 11, wherein when the processor executes the computer-readable instructions, the following steps are further implemented: determining the target angle of the motor as the target opening angle, if it is determined not to enable the automatic parking; and controlling the motor move to the position of the target angle. ### Claim 14 (depends on 11) The device of claim 11, wherein determining whether to enable the automatic parking according to the Controller Area Network signal network signal of the whole vehicle comprises: determining whether a request bit of the automatic parking is on according to the Controller Area Network signal of the whole vehicle; if yes, determining to enable the automatic parking; and if not, determining not to enable the automatic parking. ### Claim 15 An automobile, comprising a motor control device of a bistable gear shifter, comprising: a processor; and a memory for storing instructions executable by the processor; wherein when the processor executes the computer-readable instructions, the following steps are implemented: determine a current required gear according to a position of a shift lever and a gear judgment strategy; determine whether the current required gear is a P gear, an R gear or an N gear; determine whether the shift lever is in a second steady state position, if it is determined that the current required gear is the P gear, the R gear or the N gear; determine whether a deviation of the position of the shift lever from the second steady state position is greater than or equal to a preset angle value, if it is determined that the shift lever is in the second steady state position; and determine a target angle of the motor as a target opening angle, if it is determined that the deviation of the position of the shift lever from the second steady state position is greater than or equal to the preset angle value. ### Claim 16 (depends on 15) The automobile of claim 15, wherein when the processor executes the computer-readable instructions, the following steps are further implemented: determine the target angle of the motor as a reset angle, when a third determining unit is configured to determine that the deviation of the position of the shift lever from the second steady state position is smaller than the preset angle value; and control the motor move to a position of the target angle. ### Claim 17 (depends on 15) The automobile of claim 15, wherein when the processor executes the computer-readable instructions, the following steps are further implemented: determine whether the current required gear is a D gear, if it is determined that the current required gear is not the P gear, the R gear and the N gear; determine whether to enable an automatic parking according to a Controller Area Network signal of a whole vehicle; determine the target angle of the motor as a reset angle, if it is determined to enable the automatic parking; and control the motor move to a position of the target angle. ### Claim 18 (depends on 17) The automobile of claim 17, wherein when the processor executes the computer-readable instructions, the following steps are further implemented: determining the target angle of the motor as the target opening angle, if it is determined that the current required gear is not the D gear; and controlling the motor move to the position of the target angle. ### Claim 19 (depends on 17) The automobile of claim 17, wherein when the processor executes the computer-readable instructions, the following steps are further implemented: determining the target angle of the motor as the target opening angle, if it is determined not to enable the automatic parking; and controlling the motor move to the position of the target angle. ### Claim 20 (depends on 17) The automobile of claim 17, wherein determining whether to enable the automatic parking according to the Controller Area Network signal network signal of the whole vehicle comprises: determining whether a request bit of the automatic parking is on according to the Controller Area Network signal of the whole vehicle; if yes, determining to enable the automatic parking; and if not, determining not to enable the automatic parking.