Vehicle control method, device, equipment and storage medium

Abstract

The present invention discloses a vehicle control method, device, equipment, and storage medium. The method comprises: applying to a vehicle equipped with a dual-clutch transmission, upon detecting a cradle-driving behavior, obtaining an output shaft speed; determining a vehicle creep-start mode based on the output shaft speed; and controlling vehicle travel based on the creep-start mode. Embodiments of the present invention can achieve rapid and smooth vehicle starts, reducing wear on vehicle components.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle control method, device, equipment and storage medium. Background Art

[0002] With the transformation and development of the automotive industry, vehicle performance has gradually improved, and vehicle control in cradle mode has also attracted widespread attention.

[0003] Current vehicle control methods mostly control clutch pressure, reducing clutch pressure or completely disengaging the clutch when the engine speed slows to prevent engine stall. However, this control method can lead to poor vehicle response and dynamics, slow reaction, low engine speed, and equipment wear. Therefore, how to ensure a quick and smooth vehicle start is an urgent problem that needs to be solved. Summary of the Invention

[0004] The present invention provides a vehicle control method, device, equipment and storage medium, which can achieve rapid and smooth vehicle starting and reduce wear on vehicle parts.

[0005] According to one aspect of the present invention, a vehicle control method is provided, which is applied to a vehicle with a dual-clutch transmission, comprising:

[0006] When the cradle driving behavior is detected, the output shaft speed is obtained;

[0007] determining a vehicle creep start mode according to the output shaft speed;

[0008] The vehicle is controlled to travel according to the vehicle creeping start mode.

[0009] In a second aspect, an embodiment of the present invention further provides a vehicle control device, which is applied to a vehicle with a dual-clutch transmission, comprising:

[0010] A speed acquisition module is used to obtain the output shaft speed when the cradle driving behavior is detected;

[0011] a starting mode determination module, configured to determine a vehicle creeping start mode according to the output shaft speed;

[0012] The driving control module is used to control the vehicle driving according to the vehicle creeping start mode.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising:

[0014] one or more processors;

[0015] a memory for storing one or more programs,

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle control method as described in any one of the first aspects.

[0017] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle control method as described in any one of the first aspects.

[0018] The technical solution of the present invention, applied to vehicles equipped with dual-clutch transmissions, detects the output shaft speed upon detecting a cradle-driving behavior; determines a crawl start mode based on the output shaft speed; and controls vehicle travel based on the crawl start mode. This solution addresses the existing issues of poor vehicle responsiveness and power, and low engine speed, enabling quick and smooth vehicle starts, improving passenger comfort, and preventing equipment wear.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of a vehicle control method provided according to embodiment 1 of the present invention;

[0022] Figure 2 is a flow chart of a vehicle control method provided according to a second embodiment of the present invention;

[0023] Figure 3 This is a schematic structural diagram of a vehicle control device provided according to a third embodiment of the present invention;

[0024] Figure 4 It is a structural diagram of an electronic device for implementing a vehicle control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Example 1

[0028] Figure 1 This is a flow chart of a vehicle control method provided by the first embodiment of the present invention. This embodiment is applicable to the control of a vehicle, and can be applied to vehicles with dual-clutch transmissions. The method can be executed by a vehicle control device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device. Figure 1 As shown, the method includes:

[0029] S101 : When a cradle driving behavior is detected, obtain an output shaft rotation speed.

[0030] Cradle mode is a form of vehicle abuse, where the driver changes their driving intention while the vehicle is moving and switches gears in the opposite direction of the current direction before the vehicle stops. Cradle driving behavior can include, but is not limited to, shifting into reverse gear while driving forward or shifting into forward gear while reversing. The output shaft speed can be the current speed of the output shaft in the vehicle's transmission. The output shaft can be a shaft in a vehicle transmission that outputs power, connected to the drive shaft, and outputs torque and speed.

[0031] Optionally, when cradle driving behavior is detected, one possible implementation method for obtaining the output shaft speed is: when it is detected that the driver has performed a gear shift operation opposite to the vehicle's direction of travel, the output shaft speed can be obtained using a speed sensor. Another possible implementation method is: when it is detected that the driver has performed a gear shift operation opposite to the vehicle's direction of travel, the input shaft speed and correction factor data of the transmission are obtained, the output shaft speed is calculated based on the input shaft speed, a correction value for the output shaft speed is determined based on a preset relationship table corresponding to the correction factor data, and the output shaft speed is corrected based on the correction value to obtain the corrected output shaft speed.

[0032] S102: Determine a vehicle creep start mode according to the output shaft speed.

[0033] Among them, the creeping start mode can be a starting mode in which the driver does not step on the accelerator.

[0034] Specifically, the output shaft speed can be input into a pre-trained crawl start classification model to output the corresponding vehicle crawl start mode. Alternatively, the crawl start mode can be determined based on whether the output shaft speed falls within a calibration range derived from extensive real-world data analysis.

[0035] S103: Control the vehicle's travel according to the vehicle's creep start mode.

[0036] Specifically, based on the correspondence between the vehicle creep start mode and the vehicle control mode determined through training, a corresponding vehicle control mode may be determined according to the vehicle creep start mode, and the vehicle driving may be controlled according to the vehicle control mode.

[0037] The technical solution of the embodiment of the present invention obtains the output shaft speed when the cradle driving behavior is detected; determines the vehicle creep start mode according to the output shaft speed; and controls the vehicle driving according to the vehicle creep start mode. In the cradle detection mode, the output shaft speed can be added as a factor of consideration to prevent the vehicle speed from being too low, resulting in erroneous cradle detection results, and to prevent the vehicle speed from being too high, resulting in excessive clutch speed difference, which may result in overheating or wear if not handled in time. The detection accuracy of the cradle driving behavior can be improved, and at the same time, the vehicle can be started quickly and smoothly, thereby improving riding comfort and reducing wear on vehicle components.

[0038] Optionally, the cradle driving behavior is detected in the vehicle control method, including: detecting the driving direction and gear position of the vehicle; and detecting the cradle driving behavior when the driving direction is opposite to the gear position.

[0039] The driving direction can be the vehicle's current direction, for example, forward or reverse. The gear position can be understood as the vehicle's transmission, changing gears to change vehicle speed. Based on vehicle type, it can be divided into automatic and manual transmissions. Based on performance, it can be divided into parking (P), neutral (N), reverse (R), drive (D), sport (S), and manual (M).

[0040] Specifically, the vehicle's current driving direction and gear information are detected by sensors. If the detection information is that the driving direction of the vehicle in front is forward and the current vehicle gear is R gear, or the current driving direction of the vehicle is backward and the current vehicle gear is D / S / M gear, it is detected that the driver is currently performing cradle driving behavior.

[0041] The vehicle's driving direction and gear position are detected in real time through sensors. When it is detected that the driving direction is opposite to the gear position, it indicates that the cradle mode has been entered, which improves the detection accuracy of the cradle, allowing the vehicle to brake in time, ensuring driving smoothness and reducing impact or vibration during vehicle driving.

[0042] Example 2

[0043] Figure 2 This is a flow chart of a vehicle control method provided according to the second embodiment of the present invention. This embodiment is based on the previous embodiment and determines the vehicle creep start mode according to the output shaft speed. It is further optimized as follows: when the output shaft speed is within a preset speed range, the vehicle creep start mode is determined to be an increased idle start mode; wherein the speed range is determined according to vehicle attribute information; when the output shaft speed is outside the speed range, the vehicle creep start mode is determined to be a standard creep start mode. Figure 2 As shown, the method includes:

[0044] S201: When a cradle driving behavior is detected, obtain an output shaft speed.

[0045] S202: When the output shaft speed is within a preset speed range, determine that the vehicle creep start mode is an added idle start mode; wherein the speed range is determined according to vehicle attribute information.

[0046] The preset speed range can be a preset output shaft speed range, which can be determined through multiple experiments. For example, the output shaft speed for which the driving direction judgment accuracy is lower than a preset accuracy threshold is determined as the minimum value of the preset speed range. In another example, the output shaft speed for which the clutch speed difference is greater than a preset speed difference threshold is determined as the maximum value of the preset speed range, thereby defining the range defined by the minimum and maximum values ​​as endpoints as the preset output shaft speed range. In practice, the specific values ​​of the maximum and minimum values ​​are related to the vehicle's attribute information. Vehicle attribute information can include at least one of the following: vehicle type and tire type. In practice, different vehicles may have different maximum and minimum values ​​due to differences in structure and power system, resulting in different preset speed ranges. Therefore, different preset speed ranges can be set based on different vehicle attribute information, and the corresponding preset speed range can be queried based on the vehicle attribute information.

[0047] The output shaft speed range is considered in the control conditions to prevent the vehicle speed from being too low, which may lead to erroneous cradle detection results, and to prevent the vehicle speed from being too high, which may cause the clutch speed difference to be too large, and may cause overheating or wear if not handled in time.

[0048] The increased idle start method may be a restart method that increases the engine idle speed. Idle speed may be a vehicle operating state, where the vehicle is in neutral or the engine is idling. Idle speed may be the engine speed at idle, and the idle speed may be adjusted by adjusting the air damper, etc.

[0049] When the driving direction and the gear direction are opposite, the friction coefficient of the clutch is unstable, and the transmission torque is prone to multiple changes, which leads to a decrease in engine speed. Increasing the idle speed can improve the engine's anti-interference ability in the idle state, thereby achieving a smooth increase in engine speed and improving the stability of the vehicle's start.

[0050] S203: When the output shaft speed is outside the speed range, determine that the vehicle crawl start mode is the standard crawl start mode.

[0051] Among them, the standard crawl start mode may be a standard mode for a vehicle to crawl start, and the clutch and the accelerator cooperate to turn the vehicle from a stationary state into motion.

[0052] S204: Control the vehicle's travel according to the vehicle's creep start mode.

[0053] Optionally, the vehicle crawling start mode is to add an idle start mode; according to the vehicle crawling start mode, the vehicle driving is controlled, including: obtaining the clutch torque; determining the engine idle speed according to the output shaft speed and the clutch torque in the pre-stored correspondence between the output shaft speed, the clutch torque and the engine idle speed; increasing the engine idle speed according to the engine idle speed; and controlling the vehicle driving according to the standard crawling start mode.

[0054] The clutch torque may be the torque actually transmitted and output by the clutch, and the engine idle speed may be a target engine idle speed corresponding to the engine performance and enabling the vehicle to start smoothly.

[0055] Specifically, the clutch torque can be obtained through a pressure sensor, and the clutch torque can also be calculated based on the physical model of the engine and clutch. The correspondence between the output shaft speed, clutch torque and engine idle speed can be based on the relationship between the output shaft speed, clutch torque and engine idle speed obtained in advance through experiments. For example, in a vehicle test model, different values ​​of the vehicle output shaft speed and clutch torque are assigned to simulate vehicle driving, and the engine idle speed is determined based on the simulation results. The correspondence between the output shaft speed, clutch torque and engine idle speed is obtained based on a large number of simulation experiments. For example, after obtaining the current clutch torque of the vehicle, the engine idle speed is determined based on the correspondence between the output shaft speed, clutch torque and engine idle speed pre-stored in the vehicle terminal system. With the engine idle speed as the target, the current engine idle speed is increased. After the engine idle speed is increased, the vehicle is controlled to drive according to the standard crawl start method.

[0056] The engine idle speed is determined by the output shaft speed and the clutch torque. The engine idle speed can be detected based on parameters related to the cradle driving behavior, thereby improving the speed detection accuracy of the engine idle speed.

[0057] Optionally, the engine idle speed is increased according to the engine idle speed, including: obtaining the parallel idle speed corresponding to the parallel idle speed adjustment method; and selecting the idle speed with the largest speed between the parallel idle speed and the engine idle speed to determine it as the idle speed.

[0058] The parallel idle adjustment method refers to a method that requires engine idle speed adjustment, excluding cradle driving. The parallel idle adjustment method may be related to the throttle opening and engine fuel supply. The parallel idle speed may be calculated using a preset formula using the throttle opening and fuel supply as variables.

[0059] Specifically, a vehicle can adjust its engine idle speed in various ways. Therefore, the parallel idle speed and engine idle speed are obtained, and the idle speed with the highest idle speed is determined as the idle speed. Selecting the idle speed with the highest idle speed allows the vehicle to complete a crawl start quickly and steadily, thus saving energy and reducing emissions.

[0060] Optionally, there are many ways to control the vehicle's travel according to the standard crawling start method, which is not limited in this embodiment.

[0061] One possible implementation method is to control the clutch to be filled with oil to a semi-engaged point; control the clutch pressure to rise to a specified pressure value; calculate the clutch speed adjustment amount; and control the clutch torque according to the speed adjustment amount to increase the clutch speed.

[0062] The clutch is a device that transmits the vehicle's engine power to the axle in a switchable manner. Located in the flywheel housing between the engine and transmission, it is the component that disconnects and transmits power between the engine and the vehicle's transmission system. Clutch oil filling is used to limit torque disturbances on the transmission output shaft based on oil pressure changes, allowing for smooth vehicle speed transitions. In a dual-clutch transmission, the clutch is opened and closed by oil pressure. The half-engagement point can be pre-set, either a torque-based half-engagement point or a volume-based half-engagement point, used to adjust the clutch pressure value. The specified pressure value can be a preset clutch pressure value determined through testing. The speed adjustment amount can be the speed difference between the preset target speed of the clutch and the current speed, determined according to a set formula, i.e., the speed adjustment amount.

[0063] Specifically, the clutch is filled to the semi-engaged point, and open-loop control is used to raise the clutch pressure to a predetermined value. A speed adjustment is calculated based on a set formula, and a control algorithm (PI, Proportion Integral) is used to control clutch torque based on the speed adjustment, ensuring a steady increase in clutch speed. This dual control system, combined with open-loop control and the algorithm, ensures a steady increase in speed and reduces vehicle vibration.

[0064] By controlling the clutch oil filling, pressure and speed, the vehicle's crawl start can be controlled step by step, thereby improving the stability of the vehicle's crawl start.

[0065] Another possible implementation method is to receive a car start signal, open the gate of the elastic energy storage element, release the elastic potential energy in the elastic energy storage element, and drive the car to start according to the elastic potential energy.

[0066] Optionally, calculating the speed adjustment amount of the clutch includes: obtaining the current speed of the clutch; obtaining the preset creep speed and preset creep duration of the clutch; calculating the target speed of the clutch based on the current speed, creep speed and creep duration; calculating the difference between the target speed and the current speed to determine the speed adjustment amount of the clutch.

[0067] For example, the target speed of the clutch can be calculated as:

[0068] Vc=(t / C)*(B-V0)

[0069] Among them, t is the current crawling time, C is the preset crawling time, B is the preset crawling speed, and V0 is the current speed of the clutch. Among them, the preset crawling speed and the preset crawling time can be determined based on experiments. Developers can determine the most appropriate values ​​based on experiments and record them. The preset crawling speed refers to the speed of the clutch corresponding to the forward speed that the vehicle can reach when the accelerator is not pressed and the clutch is released. The preset crawling time refers to the time it takes for the clutch to reach the preset crawling speed when the accelerator is not pressed and the clutch is released. The current crawling time refers to the time from the beginning of the clutch release to the current moment.

[0070] The target speed is determined based on the current information and preset information of the clutch. The speed adjustment amount can be customized according to needs, which improves the flexibility of the speed adjustment amount, enriches the application scenarios, and adapts to different application scenarios. At the same time, the target speed is calculated based on the current speed of the clutch and the preset value, so as to achieve precise adjustment of the clutch speed and improve the control accuracy of the crawl start.

[0071] The technical solution of the embodiment of the present invention is to obtain the output shaft speed when the cradle driving behavior is detected, determine the vehicle crawl start mode according to whether the output shaft speed is within a preset speed range, and increase the idle start mode by increasing the engine idle speed before entering the standard crawl start mode; control the vehicle driving according to the vehicle crawl start mode, improve the engine stability by increasing the idle speed, and improve the anti-interference ability of the engine in the idle state, so as to achieve a steady increase in the engine speed; accurately adjust the clutch speed according to specific values ​​to avoid excessive clutch speed difference, which may cause overheating or wear problems; the vehicle can start quickly and smoothly, and can effectively solve the problem of excessive torque transmitted by the clutch in the cradle mode causing the engine speed to be dragged down.

[0072] Example 3

[0073] Figure 3 This is a schematic diagram of the structure of a vehicle control device provided according to the third embodiment of the present invention. This embodiment is applicable to the control of vehicles and can be applied to vehicles with dual clutch transmissions. The device can be implemented in software and / or hardware and can be integrated into any device that provides vehicle control, such as Figure 3 As shown, the vehicle control device may specifically include:

[0074] The speed acquisition module 301 is used to acquire the output shaft speed when the cradle driving behavior is detected;

[0075] A starting mode determination module 302 is used to determine a vehicle creeping start mode according to the output shaft speed;

[0076] The driving control module 303 is used to control the vehicle driving according to the vehicle creep start mode.

[0077] In this embodiment of the present invention, when cradle driving behavior is detected, the output shaft speed is obtained; based on the output shaft speed, the vehicle's creep start mode is determined; and vehicle travel is controlled based on the creep start mode. This solution can achieve a quick and smooth vehicle start, improve ride comfort, and reduce wear on vehicle components.

[0078] Optionally, the starting mode determination module 302 includes:

[0079] an idle start determination unit, configured to determine that the vehicle creep start mode is an increased idle start mode when the output shaft speed is within a preset speed range; wherein the speed range is determined based on vehicle attribute information;

[0080] The creep start determination unit is used to determine that the vehicle creep start mode is the standard creep start mode when the output shaft speed is outside the speed range.

[0081] Optionally, the driving control module 303 includes:

[0082] Idle running control unit, used for adding idle start mode to the vehicle's creep start mode; controls vehicle running according to the vehicle's creep start mode;

[0083] Optionally, the idling control unit includes:

[0084] a torque acquisition subunit, for acquiring clutch torque;

[0085] an engine idle speed determination subunit, configured to determine the engine idle speed according to the output shaft speed and the clutch torque in a pre-stored correspondence between the output shaft speed, the clutch torque and the engine idle speed;

[0086] An idle speed increasing subunit, used for increasing the idle speed of the engine according to the engine idle speed;

[0087] The idling control subunit is used to control the vehicle's travel according to the standard creep start method.

[0088] Optionally, the driving control module 303 includes:

[0089] A creeping driving control unit is used to control the vehicle's movement according to a standard creeping start method;

[0090] Optionally, the creeping driving control unit includes:

[0091] The oil filling control subunit is used to control the clutch oil filling to the half-engagement point;

[0092] A pressure control subunit is used to control the pressure of the clutch to rise to a specified pressure value;

[0093] An adjustment amount calculation subunit, used for calculating the speed adjustment amount of the clutch;

[0094] The clutch speed increasing subunit is used to control the clutch torque according to the speed adjustment amount to increase the speed of the clutch.

[0095] Optionally, the adjustment amount calculation subunit is specifically used to:

[0096] Get the current speed of the clutch;

[0097] Obtain the preset crawl speed and preset crawl time of the clutch;

[0098] Calculate the target speed of the clutch based on the current speed, creep speed and creep time;

[0099] The difference between the target speed and the current speed is calculated to determine the speed adjustment amount of the clutch.

[0100] The optional idle speed increase subunit is specifically used to:

[0101] Get the parallel idle speed corresponding to the parallel idle speed adjustment mode;

[0102] Between parallel idle and engine idle, select the idle speed with the highest speed and determine it as the idle speed.

[0103] Optionally, the vehicle control device further includes a cradle driving behavior detection module, including:

[0104] A detection unit, used to detect the driving direction and gear position of the vehicle;

[0105] The cradle driving behavior detection unit detects the cradle driving behavior when the driving direction is opposite to the gear position.

[0106] The vehicle control device provided in the embodiment of the present invention can execute the vehicle control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0107] Example 4

[0108] Figure 4A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0109] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12 and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0110] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0111] The processor 11 can be various general-purpose and / or specialized processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors that run machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the vehicle control method.

[0112] In some embodiments, the vehicle control method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle control method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to execute the vehicle control method in any other suitable manner (e.g., via firmware).

[0113] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard parts (ASSPs), system on chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0114] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0115] In the context of the present invention, computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage medium can include but is not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage medium can be a machine-readable signal medium. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM, Compact Disc Read-Only Memory), an optical storage device, a magnetic storage device or any suitable combination of the foregoing.

[0116] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (Cathode Ray Tube) or LCD (Liquid Crystal Display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0117] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0118] A computing system may include clients and servers. The clients and servers are generally remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within a cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS (Virtual Private Server) services.

[0119] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0120] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that: Applicable to vehicles with dual-clutch transmissions, including: When the cradle driving behavior is detected, the output shaft speed is obtained; determining a vehicle creep start mode according to the output shaft speed; Controlling the vehicle's movement according to the vehicle's creep start mode; Determining the vehicle creep start mode according to the output shaft speed includes: When the output shaft speed is within a preset speed range, determining that the vehicle creep start mode is an idle start mode; wherein the speed range is determined according to vehicle attribute information; When the output shaft speed is outside the speed range, determining the vehicle crawl start mode to be a standard crawl start mode; The preset speed range is a preset output shaft speed range, including: determining the output shaft speed for which the driving direction determination accuracy is lower than a preset accuracy threshold as the minimum value of the preset speed range; determining the output shaft speed for which the clutch speed difference is greater than the preset speed difference threshold as the maximum value of the preset speed range; and determining a range defined by the minimum and maximum values ​​as endpoints as the preset output shaft speed range; The vehicle creep start mode is to add an idle start mode; The controlling the vehicle to travel according to the vehicle creep start mode includes: Get clutch torque; In a pre-stored correspondence between the output shaft speed, the clutch torque, and the engine idle speed, determining the engine idle speed according to the output shaft speed and the clutch torque; increasing the idle speed of the engine according to the idle speed of the engine; Control the vehicle's movement according to the standard creep start method.

2. The method according to claim 1, characterized in that Controlling the vehicle's movement according to the standard creep start method includes: Controlling the clutch to be filled with oil to a semi-engagement point; controlling the pressure of the clutch to rise to a specified pressure value; calculating a speed adjustment of the clutch; The clutch torque is controlled according to the speed adjustment amount to increase the speed of the clutch.

3. The method according to claim 2, characterized in that Calculating the speed adjustment amount of the clutch includes: Obtaining the current speed of the clutch; Obtaining a preset crawl speed and a preset crawl duration of the clutch; calculating a target speed of the clutch according to the current speed, the creep speed, and the creep duration; The difference between the target speed and the current speed is calculated to determine the speed adjustment amount of the clutch.

4. The method according to claim 1, wherein Increasing the idle speed of the engine according to the engine idle speed includes: Get the parallel idle speed corresponding to the parallel idle speed adjustment mode; The idle speed with the highest rotational speed between the parallel idle speed and the engine idle speed is selected and determined as the idle rotational speed.

5. The method according to claim 1, wherein Cradle driving behaviors detected, including: Detect the vehicle's direction of travel and gear position; Cradle driving behavior is detected when the driving direction is opposite to the gear position.

6. A vehicle control device, characterized in that: Applicable to vehicles with dual-clutch transmissions, including: A speed acquisition module is used to obtain the output shaft speed when the cradle driving behavior is detected; a starting mode determination module, configured to determine a vehicle creeping start mode according to the output shaft speed; A driving control module, configured to control the vehicle's driving according to the vehicle's creep start mode; The starting mode determination module includes: an idle start determining unit, configured to determine that the vehicle creep start mode is an increased idle start mode when the output shaft speed is within a preset speed range; wherein the speed range is determined based on vehicle attribute information; a creep start determining unit, configured to determine that the vehicle creep start mode is a standard creep start mode when the output shaft speed is outside the speed range; The preset speed range is a preset output shaft speed range, including: determining the output shaft speed for which the driving direction determination accuracy is lower than a preset accuracy threshold as the minimum value of the preset speed range; determining the output shaft speed for which the clutch speed difference is greater than the preset speed difference threshold as the maximum value of the preset speed range; and determining a range defined by the minimum and maximum values ​​as endpoints as the preset output shaft speed range; The driving control module includes: An idling control unit, used for adding an idling start mode to the vehicle's crawl start mode; Controlling the vehicle's movement according to the vehicle's creep start mode; The idling control unit includes: a torque acquisition subunit, for acquiring clutch torque; an engine idle speed determination subunit, configured to determine the engine idle speed according to the output shaft speed and the clutch torque in a pre-stored correspondence between the output shaft speed, the clutch torque and the engine idle speed; an idle speed increasing subunit, configured to increase the idle speed of the engine according to the idle speed of the engine; The idling control subunit is used to control the vehicle's travel according to the standard creep start method.

7. An electronic device, characterized in that: include: one or more processors; a memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle control method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the vehicle control method according to any one of claims 1 to 5 is implemented.

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