Method for controlling a vehicle equipped with a mechanical servo transmission

1) A method for controlling a vehicle (1), said vehicle (1) comprising:

• an internal-combustion engine (4) provided with a drive shaft (7);
• a mechanical servo gearchange (9), actuated by at least one first servo control (18, 19);
• a servo clutch (6), actuated by at least one second servo control (20) and set between the drive shaft (6) and a primary shaft (16) of the gearchange (9) for connecting and disconnecting the drive shaft (7) to/from the primary shaft (16) of the gearchange (9);
• at least one first position sensor (21, 22) for detecting the position of the gearchange (9);
• at least one second position sensor (23) for detecting the position of the clutch (6);
• a control unit (13) for controlling transmission, provided with a memory (24) of calibrations, designed to store a function of transmissibility of the clutch (6) and the effective positions of engagement and selection of the gears in the gearchange (9);
• the control method is characterized in that it comprises the steps of:
• verifying, at starting of the internal-combustion engine (4), whether the memory (24) of calibrations contains the function of transmissibility of the clutch (6) and/or the effective positions of engagement and selection of the gears in the gearchange (9);
• sending to the driver, if the memory (24) of calibrations does not contain the function of transmissibility of the clutch (6) and/or the effective positions of engagement and selection of the gears in the gearchange (9), a signal of start of a first self-calibration step, during which the driver must leave the internal-combustion engine (4) turned on and the vehicle (1) stationary;
• selecting and engaging a number of times, during the first self-calibration step, all the gears of the gearchange (9) using the first servo control (18, 19) and autonomously from the driver for determining the effective positions of engagement and selection of the gears in the gearchange (9);
• disengaging and engaging, during the first self-calibration step, the clutch (6) with the gearchange (9) in neutral using the second servo control (20) and autonomously from the driver for determining a point of start of engagement of the clutch (6);
• and
• sending to the driver, at the end of the first self-calibration step, a signal of end of the first self-calibration step.