Methods and Tools for Robotization of Gear Shifting Mechanism for Highly Automated Vehicles

This paper describes models, methods, and tools to support the process of converting a vehicle's mechanical gearbox to robotize it in unmanned driving tasks. The described computer-aided design system (CAD) allows to determine the parameters of the gearbox shifting algorithm used in the control system of a highly automated vehicle (HAVs), depending on the vehicle load, road conditions and parameters of the vehicle itself. The methodology of modeling of the main processes occurring with HAVsduring driving is considered in detail. The developed models allow to determine the parameters of the algorithm of gear shifting for two driving profiles: with minimum fuel consumption and with maximum permissible speed of technological operation. The proposed methods and tools can be useful for designers of HAVscontrol systems, as well as for mechanizers in agriculture.