Vehicle start-up control method, apparatus, device, medium, and product

Abstract

This application relates to a vehicle start-up control method, apparatus, computer equipment, storage medium, and computer program product. The method includes: first, receiving a vehicle start-up request carrying a start-up request torque; then, determining vehicle information based on the start-up request, including accelerator pedal position percentage, current gear, engine speed, engine torque, input shaft speed, output shaft speed, clutch position, road gradient, and vehicle weight; next, determining a first clutch output torque and engine output torque based on the start-up request torque and vehicle information; and finally, controlling vehicle start-up based on the first clutch output torque and engine output torque. The method provided by this application can control the clutch opening position based on the clutch output torque, avoiding jerking during vehicle start-up and enabling a smooth start.

Description

Technical Field

[0001] This application relates to the field of control technology for mechanical automatic transmissions in commercial vehicles, and in particular to a vehicle start-up control method, device, computer equipment, storage medium, and computer program product. Background Technology

[0002] With the continuous improvement of the automation level of commercial vehicles, mechanical automatic transmission controllers are gradually being used to control the clutch instead of manual clutch control by the driver. Using a transmission controller to control the clutch can significantly reduce the driver's labor intensity and has advantages such as high reliability and high transmission efficiency.

[0003] Existing transmission controllers primarily employ the following steps to control the clutch: First, the engine speed is adjusted to the target RPM, while the clutch quickly engages to the friction point. Then, a clutch slippage phase is initiated to synchronize the input shaft speed and engine speed. During this process, if the engine speed falls below the difference between the engine idle speed and a preset threshold, the clutch quickly and fully disengages. Finally, after the slippage phase, the clutch is quickly closed, and the engine torque is increased to the required torque. This method, where the clutch rapidly and fully disengages when the engine speed is below a certain value, can lead to uneven clutch and engine engagement during start-up, causing vehicle jerking. Summary of the Invention

[0004] Therefore, it is necessary to provide a vehicle start-up control method, device, computer equipment, computer-readable storage medium, and computer program product that can enable smooth vehicle start-up in response to the above-mentioned technical problems.

[0005] Firstly, this application provides a vehicle start-up control method. The method includes:

[0006] Receive a vehicle start request, the vehicle start request carrying a start request torque;

[0007] The vehicle information is determined based on the vehicle start request. The vehicle information includes accelerator pedal position percentage, current gear, engine speed, engine torque, input shaft speed, output shaft speed, clutch position, road gradient, and vehicle weight.

[0008] The first clutch output torque and the engine output torque are determined based on the starting request torque and the vehicle information;

[0009] The vehicle starts by controlling the output torque of the first clutch and the output torque of the engine.

[0010] In one embodiment, before determining the first clutch output torque and engine output torque based on the start-up request torque and the vehicle information, the method further includes:

[0011] The starting conditions are determined based on the starting request torque and the vehicle information. The starting conditions include the accelerator pedal position percentage being greater than the first preset pedal position percentage, the starting request torque being greater than the first preset torque, the current gear being in a preset gear and the preset gear not being neutral, and the clutch position sensor being fault-free.

[0012] Determine whether the starting conditions are met. If all the starting conditions are met, then execute the step of determining the first clutch output torque and the engine output torque based on the starting request torque and the vehicle information.

[0013] In one embodiment, the clutch output torque is determined periodically, and the first clutch output torque is determined in the current cycle; determining the first clutch output torque based on the start-up request torque and the vehicle information includes:

[0014] Obtain the output torque of the second clutch determined in the previous cycle of the current cycle;

[0015] The maximum value between the starting request torque and the output torque of the second clutch is determined as the target clutch torque;

[0016] If the engine speed is greater than or equal to the first preset speed, then the target clutch torque is determined as the output torque of the first clutch.

[0017] In one embodiment, the method further includes:

[0018] If the engine speed is less than the first preset speed, then the first compensation torque is determined based on the first speed difference between the engine speed and the first preset speed.

[0019] The sum of the target clutch torque and the first compensation torque is determined as the first clutch output torque.

[0020] In one embodiment, determining the first clutch output torque based on the start-up request torque and the vehicle information further includes:

[0021] The current gear speed is determined based on the output shaft speed and the current gear position;

[0022] Obtain a first preset condition, the first preset condition includes the accelerator pedal position percentage being greater than a second preset pedal position percentage, the engine speed being greater than a second preset speed, and the second speed difference between the engine speed and the current gear speed being less than a third preset speed within a preset time period;

[0023] If all of the first preset conditions are met, then the second compensation torque is determined based on the second speed difference.

[0024] The output torque of the first clutch is determined based on the output torque of the second clutch and the second compensation torque.

[0025] In one embodiment, determining the engine output torque based on the start-up request torque and the vehicle information includes:

[0026] The starting speed is set based on the accelerator pedal position percentage, the current gear, the road gradient, and the vehicle weight.

[0027] The maximum value between the starting set speed and the current gear speed is determined as the engine target speed;

[0028] The engine output torque is determined based on a third speed difference between the engine target speed and the engine speed.

[0029] In one embodiment, determining the engine output torque based on the start-up requested torque and the vehicle information further includes:

[0030] Obtain a second preset condition, the second preset condition includes a first torque difference between the first clutch output torque and the second preset torque, which is greater than the first torque difference between the engine speed and the current gear speed, and a fourth speed difference between the engine speed and the current gear speed, which is less than a fourth preset speed.

[0031] If all of the second preset conditions are met, the maximum permissible engine speed is determined as the engine target speed.

[0032] In one embodiment, determining the engine output torque based on the start-up requested torque and the vehicle information further includes:

[0033] If all the first preset conditions are met, the starting request torque is determined as the engine output torque.

[0034] In one embodiment, after controlling vehicle start-up based on the first clutch output torque and the engine output torque, the method further includes:

[0035] Obtain a third preset condition, the third preset condition including the fifth speed difference between the engine speed and the current gear speed being less than a fifth preset speed and the engine output torque being greater than or equal to the second torque difference between the starting request torque and the third preset torque;

[0036] If both the first preset condition and the third preset condition are met simultaneously, then the vehicle start control will end.

[0037] Secondly, this application also provides a vehicle start-up control device, the device comprising:

[0038] The receiving module is used to receive a vehicle start-up request, wherein the vehicle start-up request carries a start-up request torque;

[0039] The first determining module is used to determine vehicle information based on the vehicle start request. The vehicle information includes accelerator pedal position percentage, current gear, engine speed, engine torque, input shaft speed, output shaft speed, clutch position, road gradient, and vehicle weight.

[0040] The second determining module is used to determine the first clutch output torque and the engine output torque based on the starting request torque and the vehicle information;

[0041] The control module is used to control the vehicle to start based on the output torque of the first clutch and the output torque of the engine.

[0042] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the methods in any of the above embodiments.

[0043] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the methods in any of the above embodiments.

[0044] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the methods in any of the above embodiments.

[0045] The aforementioned vehicle start-up control method, device, computer equipment, storage medium, and computer program product first receive a vehicle start-up request, which carries a start-up request torque. Then, based on the start-up request, vehicle information is determined, including accelerator pedal position percentage, current gear, engine speed, engine torque, input shaft speed, output shaft speed, clutch position, road gradient, and vehicle weight. Next, based on the start-up request torque and vehicle information, the first clutch output torque and engine output torque are determined. Finally, the vehicle start-up is controlled based on the first clutch output torque and engine output torque. The method provided in this application determines the first clutch output torque based on the start-up request torque and vehicle information, thereby controlling the clutch opening position according to the clutch output torque, which can prevent vehicle jerking during start-up and enable a smooth start. Attached Figure Description

[0046] Figure 1 This is a diagram illustrating the application environment of a vehicle start-up control method in one embodiment.

[0047] Figure 2 This is a flowchart illustrating a vehicle start-up control method in one embodiment;

[0048] Figure 3 This is a flowchart illustrating the starting condition determination method in one embodiment;

[0049] Figure 4 This is a flowchart illustrating the vehicle start-up control method in another embodiment;

[0050] Figure 5 This is a structural block diagram of a vehicle start control device in one embodiment;

[0051] Figure 6 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0053] The vehicle start-up control method provided in this application embodiment can be applied to, for example, Figure 1 The application environment shown includes a transmission controller 102, a clutch 104, and an engine 106. The transmission controller 102 controls the clutch 104 to output clutch output torque based on the start-up request torque and vehicle information, and controls the engine 106 to output engine output torque based on the start-up request torque and vehicle information.

[0054] In one embodiment, such as Figure 2 As shown, a vehicle start-up control method is provided, which is applied to... Figure 1 Taking the transmission controller in the example, the following steps are included:

[0055] S202, Receive vehicle start request, the vehicle start request carries start request torque.

[0056] The vehicle start request is initiated by the driver by pressing the accelerator pedal, and the start request torque is the torque required by the driver determined based on the position of the accelerator pedal.

[0057] Specifically, the transmission controller receives the vehicle start request initiated by the driver and determines the start request torque based on the accelerator pedal position percentage.

[0058] S204. Determine vehicle information based on the vehicle start request. Vehicle information includes accelerator pedal position percentage, current gear, engine speed, engine torque, input shaft speed, output shaft speed, clutch position, road gradient, and vehicle weight.

[0059] Accelerator pedal position percentage is used to characterize the degree to which the driver presses the accelerator pedal. Input shaft refers to the shaft through which power enters the transmission via the engine. Output shaft refers to the shaft inside the transmission that receives power. Vehicle mass is used to characterize the weight of the entire vehicle.

[0060] Specifically, after receiving a vehicle start request, the transmission controller obtains relevant vehicle information and then determines whether to control the vehicle to start based on the vehicle start request and the relevant vehicle information.

[0061] S206. Determine the first clutch output torque and engine output torque based on the starting request torque and vehicle information.

[0062] Clutch output torque refers to the actual torque transmitted by the clutch, while engine output torque refers to the actual torque output by the engine.

[0063] During clutch engagement, the first clutch output torque can be determined based on the clutch output torque, clutch compensation torque, and start-up request torque at the same moment in the previous cycle.

[0064] Specifically, after confirming vehicle start-up, the transmission controller first sets the upper limit of the torque gradient based on the current gear and accelerator pedal position percentage. Simultaneously, it acquires the clutch output torque at the same moment in the previous cycle and uses the maximum value between the clutch output torque at the same moment in the previous cycle and the starting request torque as the target clutch torque. Then, the clutch engagement process begins. During clutch engagement, if the engine speed is lower than a first preset speed, the difference between the engine speed and the preset speed is input into the PID (Proportion Integral Differential) algorithm to calculate the clutch compensation torque. The sum of the target clutch torque and the clutch compensation torque is determined as the first clutch output torque. If the engine speed does not fall below the preset speed during clutch engagement, the target clutch torque is determined as the first clutch output torque. After determining the first clutch output torque, the transmission controller controls the clutch to disengage to the position corresponding to the first clutch output torque. The torque gradient cannot exceed the upper limit of the torque gradient. The torque gradient refers to the rate of change of the clutch output torque during clutch engagement. For example, if the preset cycle is 10ms, the same moment in the previous cycle refers to the moment 10ms before the current moment.

[0065] During clutch engagement, the engine output torque can be determined based on the engine speed and the target engine speed, or the starting torque can be directly determined as the engine output torque. The target engine speed can be determined by a combination of factors including the output shaft speed, current gear, accelerator pedal position percentage, road gradient, and vehicle weight, or it can be directly determined as the engine's maximum permissible speed.

[0066] S208. Control vehicle start-up based on the output torque of the first clutch and the output torque of the engine.

[0067] Specifically, the transmission controller controls vehicle start-up based on the current stage of the vehicle, using the output torque of the first clutch and the engine output torque. The current stage includes a start-up activation stage, a start-up synchronization stage, and a power transmission stage. After the transmission controller determines vehicle start-up based on the start-up request and vehicle information, the vehicle enters the start-up activation stage. Then, when the clutch output torque is greater than the first torque difference between the start-up request torque and the second preset torque, and the fourth speed difference between the engine speed and the current gear speed is less than the fourth preset speed, the vehicle enters the start-up synchronization stage. Next, when the accelerator pedal position percentage is greater than the second preset pedal position percentage, the engine speed is greater than the second preset speed, and the second speed difference between the engine speed and the current gear speed within a preset time period is less than the third preset speed, the vehicle enters the power transmission stage. Finally, when the fifth speed difference between the engine speed and the current gear speed is less than the fifth preset speed, and the engine output torque is greater than or equal to the second torque difference between the start-up request torque and the third preset torque, the vehicle start-up process ends.

[0068] In the aforementioned vehicle start-up control method, a vehicle start-up request is first received, carrying a start-up request torque. Then, vehicle information is determined based on the start-up request, including accelerator pedal position percentage, current gear, engine speed, engine torque, input shaft speed, output shaft speed, clutch position, road gradient, and vehicle weight. Next, the first clutch output torque and engine output torque are determined based on the start-up request torque and vehicle information. Finally, the vehicle start-up is controlled based on the first clutch output torque and engine output torque. The method provided in this application determines the first clutch output torque based on the start-up request torque and vehicle information, thereby controlling the clutch opening position according to the clutch output torque, which can prevent jerking during vehicle start-up and enable a smooth start.

[0069] In some embodiments, such as Figure 3 As shown, a method for determining whether starting conditions are met is provided. Before determining the first clutch output torque and engine output torque based on the starting request torque and vehicle information, the method further includes: determining starting conditions based on the starting request torque and vehicle information, the starting conditions including an accelerator pedal position percentage greater than a first preset pedal position percentage, a starting request torque greater than a first preset torque, the current gear being in a preset gear and the preset gear not being neutral, and the clutch position sensor being fault-free; determining whether the starting conditions are met, and if all starting conditions are met, then executing the step of determining the first clutch output torque and engine output torque based on the starting request torque and vehicle information.

[0070] In this step, the position sensor is a mechanically operated switch mounted on the clutch pedal, used to control cruise control and adjust the ignition angle and fuel injection quantity during gear shifts.

[0071] Specifically, the transmission controller determines whether to start the vehicle by judging whether all starting conditions are met. If all starting conditions are met, it starts to control the clutch to output the first clutch output torque and the engine to output the engine output torque. If the starting conditions are not met, the transmission controller does not respond to the vehicle start request.

[0072] The method provided in this step ensures safety during the vehicle startup process by starting the vehicle only after all starting conditions are met.

[0073] In some embodiments, the clutch output torque is determined periodically, and the first clutch output torque is determined in the current cycle; determining the first clutch output torque based on the start-up request torque and vehicle information includes: obtaining the second clutch output torque determined in the previous cycle of the current cycle; determining the maximum value between the start-up request torque and the second clutch output torque as the target clutch torque; if the engine speed is greater than or equal to a first preset speed, then determining the target clutch torque as the first clutch output torque.

[0074] In this step, the first preset speed is the preset idle speed, where idle speed refers to the speed at which the engine runs in neutral.

[0075] Specifically, the transmission controller obtains the second clutch output torque of the clutch at a time before the current time and one cycle away from the current time. Then, it compares the starting request torque and the second clutch output torque, and determines the larger of the two as the target clutch torque. Next, it compares the engine speed and the first preset speed, and when the engine speed is not less than the first preset speed, it determines the target clutch torque as the first clutch output torque.

[0076] The method provided in this step determines the current clutch output torque by comparing the starting request torque with the clutch output torque of the previous cycle, making the output torque of the first clutch more accurate.

[0077] In some embodiments, the method further includes: if the engine speed is less than a first preset speed, determining a first compensation torque based on a first speed difference between the engine speed and the first preset speed; and determining the sum of the target clutch torque and the first compensation torque as the first clutch output torque.

[0078] In this step, when the engine speed is less than the first preset speed, the transmission controller inputs the difference between the engine speed and the first preset speed into the PID algorithm to obtain the first compensation torque, and then adds the first compensation torque and the target clutch torque to obtain the first clutch output torque.

[0079] The method provided in this step determines the output torque of the first clutch by using the first compensation torque and the target clutch torque, which enables more precise control over the degree of clutch engagement and disengagement.

[0080] In some embodiments, determining the first clutch output torque based on the start-up request torque and vehicle information further includes: determining the current gear speed based on the output shaft speed and the current gear; obtaining a first preset condition, the first preset condition including an accelerator pedal position percentage greater than a second preset pedal position percentage, an engine speed greater than a second preset speed, and a second speed difference between the engine speed and the current gear speed within a preset time period being less than a third preset speed; if all the first preset conditions are met, determining a second compensation torque based on the second speed difference; and determining the first clutch output torque based on the second clutch output torque and the second compensation torque.

[0081] In this step, the current gear speed is calculated by multiplying the output shaft speed by the current gear ratio.

[0082] Specifically, when the vehicle meets the first preset condition, the second speed difference between the engine speed and the current gear speed is input into the PID algorithm to obtain the second compensation torque, and then the first clutch output torque is determined based on the second clutch output torque and the second compensation torque.

[0083] The method provided in this step determines the second compensation torque based on the difference between the engine speed and the current gear speed when the vehicle meets the first preset condition, making the calculation of the second compensation torque more accurate.

[0084] In some embodiments, determining the engine output torque based on the start-up request torque and vehicle information includes: setting a start-up setting speed based on the accelerator pedal position percentage, current gear, road gradient, and vehicle weight; determining the maximum value between the start-up setting speed and the current gear speed as the engine target speed; and determining the engine output torque based on a third speed difference between the engine target speed and the engine speed.

[0085] In this step, the transmission controller determines the upper and lower limits of the engine target speed gradient based on the current gear and the percentage of the accelerator pedal position. The speed gradient refers to the rate of change of the engine target speed. During clutch engagement, the engine target speed gradient cannot be greater than the upper limit of the engine target speed gradient or less than the lower limit of the engine target speed gradient.

[0086] Specifically, after determining the target engine speed, the difference between the target engine speed and the engine speed is input into the PID algorithm to obtain the engine output torque.

[0087] The method provided in this step uses a variety of vehicle information to ultimately determine the engine output torque, making the determined engine output torque more accurate.

[0088] In some embodiments, determining the engine output torque based on the starting request torque and vehicle information further includes: obtaining a second preset condition, the second preset condition including a first torque difference between the first clutch output torque and the starting request torque and the second preset torque, and a fourth speed difference between the engine speed and the current gear speed being less than a fourth preset speed; if all the second preset conditions are met, the maximum permissible engine speed is determined as the engine target speed.

[0089] In this step, the maximum permissible engine speed is the maximum permissible speed marked on the engine housing nameplate. The transmission controller calculates the upper and lower limits of the engine speed gradient based on the weighted average of the engine speed gradient and the input shaft speed gradient from the previous cycle. During clutch engagement, the engine speed gradient must not exceed the upper limit or fall below the lower limit.

[0090] The method provided in this step limits the rate of change of engine speed by setting upper and lower limits for the engine speed gradient, which can effectively ensure the smoothness and safety of the vehicle starting process.

[0091] In some embodiments, determining the engine output torque based on the starting request torque and vehicle information further includes: if all first preset conditions are met, then determining the starting request torque as the engine output torque.

[0092] In this step, when all the first preset conditions are met, the starting request torque is directly determined as the engine output torque. Thereafter, the engine output torque continuously increases based on the starting request torque until engine control is completed during the starting process.

[0093] The method provided in this step directly determines the starting torque as the engine output torque when all the first preset conditions are met, making the engine output torque more in line with the vehicle's current state.

[0094] In some embodiments, after controlling the vehicle to start based on the first clutch output torque and the engine output torque, the method further includes: obtaining a third preset condition, the third preset condition including a fifth speed difference between the engine speed and the current gear speed being less than a fifth preset speed and the engine output torque being greater than or equal to a second torque difference between the start request torque and the third preset torque; if the first preset condition and the third preset condition are satisfied simultaneously, then the vehicle start control is terminated.

[0095] In this step, if the vehicle meets the first preset condition and also meets the third preset condition, it signifies that both clutch control and engine control during the vehicle's start-up process have been completed, and the start-up process ends. Specifically, clutch control is completed when the difference between the engine speed and the current gear speed (the fifth preset speed) is less than the fifth preset speed; engine control is completed when the engine output torque is greater than or equal to the second torque difference between the start-up requested torque and the third preset torque. The vehicle only ends the start-up process when both clutch control and engine control are completed.

[0096] The method provided in this step only ends the vehicle starting process when both clutch control and engine control are complete, thus ensuring the safety of the vehicle starting process.

[0097] In one embodiment, such as Figure 4 As shown, a flowchart of another vehicle start-up control method is provided, which includes the following steps:

[0098] 1. Obtain vehicle-related information through the transmission controller.

[0099] The transmission controller obtains vehicle information such as accelerator pedal position percentage, engine torque demand, current gear, target gear, engine speed, engine torque, input shaft speed, output shaft speed, clutch position, road gradient, and vehicle weight.

[0100] 2. The transmission controller determines whether to initiate vehicle start-up.

[0101] The transmission controller determines whether the following conditions are met. When all conditions are met, the transmission controller responds to the driver’s start request: (1) The driver presses the accelerator pedal, i.e., the accelerator pedal position percentage is greater than 0; (2) The engine torque demand exceeds a certain threshold; (3) The current gear and the target gear are the same; (4) The target gear is not in neutral; (5) The clutch position sensor is fault-free.

[0102] If any of the above conditions are not met, the transmission controller will not respond to the driver's start request.

[0103] After the transmission controller responds to the driver's request, it coordinates clutch control and engine control to enable the vehicle to start.

[0104] 3. Initial Activation Phase

[0105] After responding to the driver's start-up request, the transmission controller enters the start-up activation phase. The engine's required torque is used as the final target torque for the start-up process. The output shaft speed is multiplied by the current gear ratio to calculate the current gear speed. The initial start-up setting speed is determined based on the accelerator pedal position, current gear, road gradient, and vehicle weight. The maximum value of the initial start-up setting speed and the current gear speed is used as the final start-up setting speed. The upper and lower limits of the engine target speed gradient are determined based on the current gear and accelerator pedal position. The engine target speed is determined based on the final start-up setting speed. The upper limit of the clutch initial target torque gradient is determined based on the current gear and accelerator pedal position. The maximum value of the clutch target torque at the previous moment and the final target torque of the start-up process is used as the clutch initial target torque. If the clutch engagement causes the engine speed to drop below idle speed by a certain value, the difference between the engine speed and idle speed is used as input to set the PID output clutch compensation torque. The initial clutch target torque and the clutch compensation torque are used as the clutch output target torque, at which point the clutch will disengage to the target torque position. The engine output target torque is the PID output torque set by the difference between the engine target speed and the engine speed.

[0106] 4. Start-up synchronization phase

[0107] When the clutch target torque exceeds (final target torque during start-up - 500) and (engine speed - current gear speed) < 100, the start-up activation phase exits and the start-up synchronization phase begins. The upper and lower limits of the engine speed gradient are determined by a weighted average of the engine speed gradient from the previous cycle and the input shaft speed gradient. The maximum engine speed is used as the engine target speed for the start-up synchronization phase. The upper limit of the clutch initial target torque gradient for the start-up synchronization phase is determined based on the accelerator pedal position percentage and the current gear. The maximum value of the clutch target torque from the previous cycle and the final target torque during start-up is used as the clutch initial target torque for the start-up synchronization phase. If the clutch engagement causes the engine speed to drop below idle speed by a certain value, the difference between the engine speed and idle speed is used as the input to set the PID output clutch compensation torque for the start-up synchronization phase. The initial target torque and the clutch compensation torque for the start-up synchronization phase are used as the clutch output target torque, at which point the clutch will disengage to the target torque position. The engine output target torque is the PID output torque set by the difference between the engine target speed and the engine speed.

[0108] 5. Power Transmission Stage

[0109] When the accelerator pedal position is greater than 0, the engine speed is greater than 600 rpm, and for more than 50 ms, the condition (engine speed - current gear speed) < 25 is met, the start-up synchronization phase ends, and the power transmission phase begins. At this point, the final start-up setting speed is used as the engine target speed, and the engine speed - current gear speed is used as the input to set the PID output clutch compensation torque. The sum of the clutch compensation torque and the clutch target torque from the previous cycle is used as the final target torque of the clutch. The final target torque of the start-up process is used as the target torque output by the engine. When engine speed - current gear speed < 25, clutch control is complete; when the engine output target torque ≥ (final target torque of the start-up process - 1), engine control is complete; when both clutch control and engine control are complete, the start-up process ends.

[0110] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0111] Based on the same inventive concept, this application also provides a vehicle start-up control device for implementing the vehicle start-up control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle start-up control device embodiments provided below can be found in the limitations of the vehicle start-up control method described above, and will not be repeated here.

[0112] In one embodiment, such as Figure 5 As shown, a vehicle starting control device 500 is provided, including: a receiving module 501, a first determining module 502, a second determining module 503, and a control module 504, wherein:

[0113] The receiving module 501 is used to receive a vehicle start request, which carries a start request torque.

[0114] The first determining module 502 is used to determine vehicle information based on the vehicle start request. The vehicle information includes accelerator pedal position percentage, current gear, engine speed, engine torque, input shaft speed, output shaft speed, clutch position, road gradient, and vehicle weight.

[0115] The second determining module 503 is used to determine the first clutch output torque and the engine output torque based on the starting request torque and vehicle information.

[0116] The control module 504 is used to control the vehicle to start based on the output torque of the first clutch and the output torque of the engine.

[0117] In some embodiments, the vehicle start control device 500 is specifically used to: determine start conditions based on the start request torque and vehicle information, the start conditions including an accelerator pedal position percentage greater than a first preset pedal position percentage, a start request torque greater than a first preset torque, the current gear being in a preset gear and the preset gear not being neutral, and the clutch position sensor being fault-free; determine whether the start conditions are met, and if all start conditions are met, then execute the step of determining the first clutch output torque and engine output torque based on the start request torque and vehicle information.

[0118] In some embodiments, the second determining module 503 is further configured to: obtain the second clutch output torque determined in the previous cycle of the current cycle; determine the maximum value between the starting request torque and the second clutch output torque as the target clutch torque; and if the engine speed is greater than or equal to the first preset speed, determine the target clutch torque as the first clutch output torque.

[0119] In some embodiments, the second determining module 503 is further configured to: if the engine speed is less than the first preset speed, determine the first compensation torque based on the first speed difference between the engine speed and the first preset speed; and determine the sum of the target clutch torque and the first compensation torque as the first clutch output torque.

[0120] In some embodiments, the second determining module 503 is further configured to: determine the current gear speed based on the output shaft speed and the current gear; obtain a first preset condition, the first preset condition including an accelerator pedal position percentage greater than a second preset pedal position percentage, an engine speed greater than a second preset speed, and a second speed difference between the engine speed and the current gear speed within a preset time period being less than a third preset speed; if all the first preset conditions are met, determine a second compensation torque based on the second speed difference; and determine a first clutch output torque based on the second clutch output torque and the second compensation torque.

[0121] In some embodiments, the second determining module 503 is further configured to: set a starting setting speed based on the accelerator pedal position percentage, the current gear, the road slope, and the vehicle weight; determine the maximum value between the starting setting speed and the current gear speed as the engine target speed; and determine the engine output torque based on a third speed difference between the engine target speed and the engine speed.

[0122] In some embodiments, the second determining module 503 is further configured to: obtain second preset conditions, the second preset conditions including a first torque difference between the first clutch output torque and the starting request torque and the second preset torque, and a fourth speed difference between the engine speed and the current gear speed being less than a fourth preset speed; if all the second preset conditions are met, the maximum permissible engine speed is determined as the engine target speed.

[0123] In some embodiments, the second determining module 503 is further configured to: if all the first preset conditions are met, determine the starting request torque as the engine output torque.

[0124] In some embodiments, the vehicle start control device 500 is further configured to: acquire a third preset condition, the third preset condition including a fifth speed difference between the engine speed and the current gear speed being less than a fifth preset speed and an engine output torque being greater than or equal to a second torque difference between the start request torque and the third preset torque; if the first preset condition and the third preset condition are satisfied simultaneously, then the vehicle start control is terminated.

[0125] Each module in the aforementioned vehicle starting control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0126] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 6 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores vehicle control data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When executed by the processor, the computer program implements a vehicle start-up control method.

[0127] Those skilled in the art will understand that Figure 6The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0128] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor, when executing the computer program, performs the following steps: receiving a vehicle start-up request, the vehicle start-up request carrying a start-up request torque; determining vehicle information based on the vehicle start-up request, the vehicle information including accelerator pedal position percentage, current gear, engine speed, engine torque, input shaft speed, output shaft speed, clutch position, road gradient, and vehicle weight; determining a first clutch output torque and an engine output torque based on the start-up request torque and the vehicle information; and controlling vehicle start-up based on the first clutch output torque and the engine output torque.

[0129] In one embodiment, before the processor executes the computer program to determine the first clutch output torque and engine output torque based on the start-up request torque and vehicle information, the method further includes: determining start-up conditions based on the start-up request torque and vehicle information, the start-up conditions including an accelerator pedal position percentage greater than a first preset pedal position percentage, a start-up request torque greater than a first preset torque, the current gear being in a preset gear and the preset gear not being neutral, and the clutch position sensor being fault-free; determining whether the start-up conditions are met, and if all start-up conditions are met, then executing the step of determining the first clutch output torque and engine output torque based on the start-up request torque and vehicle information.

[0130] In one embodiment, the determination of the first clutch output torque based on the start-up request torque and vehicle information implemented by the processor when executing the computer program includes: obtaining the second clutch output torque determined in the previous cycle of the current cycle; determining the maximum value between the start-up request torque and the second clutch output torque as the target clutch torque; and determining the target clutch torque as the first clutch output torque if the engine speed is greater than or equal to a first preset speed.

[0131] In one embodiment, the method implemented by the processor when executing the computer program further includes: if the engine speed is less than a first preset speed, determining a first compensation torque based on a first speed difference between the engine speed and the first preset speed; and determining the sum of the target clutch torque and the first compensation torque as the first clutch output torque.

[0132] In one embodiment, the determination of the first clutch output torque based on the start-up request torque and vehicle information implemented by the processor when executing the computer program further includes: determining the current gear speed based on the output shaft speed and the current gear; obtaining a first preset condition, the first preset condition including an accelerator pedal position percentage greater than a second preset pedal position percentage, an engine speed greater than a second preset speed, and a second speed difference between the engine speed and the current gear speed within a preset time period being less than a third preset speed; if all the first preset conditions are met, determining a second compensation torque based on the second speed difference; and determining the first clutch output torque based on the second clutch output torque and the second compensation torque.

[0133] In one embodiment, the determination of engine output torque based on start-up request torque and vehicle information implemented by the processor when executing the computer program includes: setting a start-up setting speed based on accelerator pedal position percentage, current gear, road gradient, and vehicle weight; determining the maximum value between the start-up setting speed and the current gear speed as the engine target speed; and determining the engine output torque based on a third speed difference between the engine target speed and the engine speed.

[0134] In one embodiment, the determination of engine output torque based on start-up request torque and vehicle information implemented by the processor when executing the computer program further includes: obtaining a second preset condition, the second preset condition including a first torque difference between the first clutch output torque and the second preset torque and a fourth speed difference between the engine speed and the current gear speed being less than a fourth preset speed; if all the second preset conditions are met, the maximum permissible engine speed is determined as the engine target speed.

[0135] In one embodiment, the determination of engine output torque based on start-up request torque and vehicle information implemented by the processor when executing the computer program further includes: if all first preset conditions are met, then determining the start-up request torque as the engine output torque.

[0136] In one embodiment, after the processor executes the computer program to control the vehicle to start based on the output torque of the first clutch and the output torque of the engine, the method further includes: obtaining a third preset condition, the third preset condition including a fifth speed difference between the engine speed and the current gear speed being less than a fifth preset speed and the engine output torque being greater than or equal to a second torque difference between the starting request torque and the third preset torque; if the first preset condition and the third preset condition are satisfied simultaneously, then the vehicle starting control is terminated.

[0137] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon. When executed by a processor, the computer program performs the following steps: receiving a vehicle start-up request, the vehicle start-up request carrying a start-up request torque; determining vehicle information based on the vehicle start-up request, the vehicle information including accelerator pedal position percentage, current gear, engine speed, engine torque, input shaft speed, output shaft speed, clutch position, road gradient, and vehicle weight; determining a first clutch output torque and an engine output torque based on the start-up request torque and the vehicle information; and controlling vehicle start-up based on the first clutch output torque and the engine output torque.

[0138] In one embodiment, before the computer program is executed by the processor to determine the first clutch output torque and engine output torque based on the start-up request torque and vehicle information, the method further includes: determining start-up conditions based on the start-up request torque and vehicle information, the start-up conditions including an accelerator pedal position percentage greater than a first preset pedal position percentage, a start-up request torque greater than a first preset torque, the current gear being in a preset gear and the preset gear not being neutral, and the clutch position sensor being fault-free; determining whether the start-up conditions are met, and if all start-up conditions are met, then executing the step of determining the first clutch output torque and engine output torque based on the start-up request torque and vehicle information.

[0139] In one embodiment, the clutch output torque implemented when the computer program is executed by the processor is periodically determined, and the first clutch output torque is determined in the current cycle; determining the first clutch output torque based on the start-up request torque and vehicle information includes: obtaining the second clutch output torque determined in the previous cycle of the current cycle; determining the maximum value between the start-up request torque and the second clutch output torque as the target clutch torque; and if the engine speed is greater than or equal to a first preset speed, determining the target clutch torque as the first clutch output torque.

[0140] In one embodiment, the method implemented when the computer program is executed by the processor further includes: if the engine speed is less than a first preset speed, determining a first compensation torque based on a first speed difference between the engine speed and the first preset speed; and determining the sum of the target clutch torque and the first compensation torque as the first clutch output torque.

[0141] In one embodiment, the process of determining the first clutch output torque based on the start-up request torque and vehicle information when the computer program is executed by the processor further includes: determining the current gear speed based on the output shaft speed and the current gear; obtaining a first preset condition, the first preset condition including an accelerator pedal position percentage greater than a second preset pedal position percentage, an engine speed greater than a second preset speed, and a second speed difference between the engine speed and the current gear speed within a preset time period being less than a third preset speed; if all the first preset conditions are met, determining a second compensation torque based on the second speed difference; and determining the first clutch output torque based on the second clutch output torque and the second compensation torque.

[0142] In one embodiment, the computer program, when executed by a processor, determines the engine output torque based on the start-up request torque and vehicle information, including: setting a start-up setting speed based on the accelerator pedal position percentage, the current gear, the road gradient, and the vehicle weight; determining the maximum value between the start-up setting speed and the current gear speed as the engine target speed; and determining the engine output torque based on a third speed difference between the engine target speed and the engine speed.

[0143] In one embodiment, the determination of engine output torque based on start-up request torque and vehicle information when the computer program is executed by the processor further includes: obtaining a second preset condition, the second preset condition including a first torque difference between the first clutch output torque and the second preset torque and a fourth speed difference between the engine speed and the current gear speed being less than a fourth preset speed; if all the second preset conditions are met, the maximum permissible engine speed is determined as the engine target speed.

[0144] In one embodiment, the determination of engine output torque based on start-up request torque and vehicle information when the computer program is executed by the processor further includes: if all first preset conditions are met, then determining the start-up request torque as the engine output torque.

[0145] In one embodiment, after the computer program is executed by the processor to control the vehicle to start based on the output torque of the first clutch and the output torque of the engine, the method further includes: obtaining a third preset condition, the third preset condition including a fifth speed difference between the engine speed and the current gear speed being less than a fifth preset speed and the engine output torque being greater than or equal to a second torque difference between the start request torque and the third preset torque; if the first preset condition and the third preset condition are satisfied simultaneously, then the vehicle start control is terminated.

[0146] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: receiving a vehicle start-up request, the vehicle start-up request carrying a start-up request torque; determining vehicle information based on the vehicle start-up request, the vehicle information including accelerator pedal position percentage, current gear, engine speed, engine torque, input shaft speed, output shaft speed, clutch position, road gradient, and vehicle weight; determining a first clutch output torque and an engine output torque based on the start-up request torque and the vehicle information; and controlling vehicle start-up based on the first clutch output torque and the engine output torque.

[0147] In one embodiment, before the computer program is executed by the processor to determine the first clutch output torque and engine output torque based on the start-up request torque and vehicle information, the method further includes: determining start-up conditions based on the start-up request torque and vehicle information, the start-up conditions including an accelerator pedal position percentage greater than a first preset pedal position percentage, a start-up request torque greater than a first preset torque, the current gear being in a preset gear and the preset gear not being neutral, and the clutch position sensor being fault-free; determining whether the start-up conditions are met, and if all start-up conditions are met, then executing the step of determining the first clutch output torque and engine output torque based on the start-up request torque and vehicle information.

[0148] In one embodiment, the clutch output torque implemented when the computer program is executed by the processor is periodically determined, and the first clutch output torque is determined in the current cycle; determining the first clutch output torque based on the start-up request torque and vehicle information includes: obtaining the second clutch output torque determined in the previous cycle of the current cycle; determining the maximum value between the start-up request torque and the second clutch output torque as the target clutch torque; and if the engine speed is greater than or equal to a first preset speed, determining the target clutch torque as the first clutch output torque.

[0149] In one embodiment, the method implemented when the computer program is executed by the processor further includes: if the engine speed is less than a first preset speed, determining a first compensation torque based on a first speed difference between the engine speed and the first preset speed; and determining the sum of the target clutch torque and the first compensation torque as the first clutch output torque.

[0150] In one embodiment, the process of determining the first clutch output torque based on the start-up request torque and vehicle information when the computer program is executed by the processor further includes: determining the current gear speed based on the output shaft speed and the current gear; obtaining a first preset condition, the first preset condition including an accelerator pedal position percentage greater than a second preset pedal position percentage, an engine speed greater than a second preset speed, and a second speed difference between the engine speed and the current gear speed within a preset time period being less than a third preset speed; if all the first preset conditions are met, determining a second compensation torque based on the second speed difference; and determining the first clutch output torque based on the second clutch output torque and the second compensation torque.

[0151] In one embodiment, the computer program, when executed by a processor, determines the engine output torque based on the start-up request torque and vehicle information, including: setting a start-up setting speed based on the accelerator pedal position percentage, the current gear, the road gradient, and the vehicle weight; determining the maximum value between the start-up setting speed and the current gear speed as the engine target speed; and determining the engine output torque based on a third speed difference between the engine target speed and the engine speed.

[0152] In one embodiment, the determination of engine output torque based on start-up request torque and vehicle information when the computer program is executed by the processor further includes: obtaining a second preset condition, the second preset condition including a first torque difference between the first clutch output torque and the second preset torque and a fourth speed difference between the engine speed and the current gear speed being less than a fourth preset speed; if all the second preset conditions are met, the maximum permissible engine speed is determined as the engine target speed.

[0153] In one embodiment, the determination of engine output torque based on start-up request torque and vehicle information when the computer program is executed by the processor further includes: if all first preset conditions are met, then determining the start-up request torque as the engine output torque.

[0154] In one embodiment, after the computer program is executed by the processor to control the vehicle to start based on the output torque of the first clutch and the output torque of the engine, the method further includes: obtaining a third preset condition, the third preset condition including a fifth speed difference between the engine speed and the current gear speed being less than a fifth preset speed and the engine output torque being greater than or equal to a second torque difference between the start request torque and the third preset torque; if the first preset condition and the third preset condition are satisfied simultaneously, then the vehicle start control is terminated.

[0155] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0156] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0157] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0158] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle starting control method, characterized in that, The method includes: Receive a vehicle start request, the vehicle start request carrying a start request torque; The vehicle information is determined based on the vehicle start request. The vehicle information includes accelerator pedal position percentage, current gear, engine speed, engine torque, input shaft speed, output shaft speed, clutch position, and vehicle weight. The first clutch output torque and the engine output torque are determined based on the starting request torque and the vehicle information; The clutch output torque is determined periodically, and the first clutch output torque is determined in the current cycle. Determining the first clutch output torque based on the start-up request torque and the vehicle information includes: obtaining the second clutch output torque determined in the previous cycle of the current cycle; determining the maximum value between the start-up request torque and the second clutch output torque as the target clutch torque; if the engine speed is greater than or equal to a first preset speed, then determining the target clutch torque as the first clutch output torque. The vehicle starts by controlling the output torque of the first clutch and the output torque of the engine.

2. The method according to claim 1, characterized in that, Before determining the first clutch output torque and engine output torque based on the start-up request torque and the vehicle information, the method further includes: The starting conditions are determined based on the starting request torque and the vehicle information. The starting conditions include the accelerator pedal position percentage being greater than the first preset pedal position percentage, the starting request torque being greater than the first preset torque, the current gear being in a preset gear and the preset gear not being neutral, and the clutch position sensor being fault-free. Determine whether the starting conditions are met. If all the starting conditions are met, then execute the step of determining the first clutch output torque and the engine output torque based on the starting request torque and the vehicle information.

3. The method according to claim 1, characterized in that, The method further includes: If the engine speed is less than the first preset speed, then the first compensation torque is determined based on the first speed difference between the engine speed and the first preset speed. The sum of the target clutch torque and the first compensation torque is determined as the first clutch output torque.

4. The method according to claim 1, characterized in that, The step of determining the first clutch output torque based on the starting request torque and the vehicle information further includes: The current gear speed is determined based on the output shaft speed and the current gear position; Obtain a first preset condition, the first preset condition includes the accelerator pedal position percentage being greater than a second preset pedal position percentage, the engine speed being greater than a second preset speed, and the second speed difference between the engine speed and the current gear speed being less than a third preset speed within a preset time period; If all of the first preset conditions are met, then the second compensation torque is determined based on the second speed difference. The output torque of the first clutch is determined based on the output torque of the second clutch and the second compensation torque.

5. The method according to claim 4, characterized in that, Determining the engine output torque based on the starting request torque and the vehicle information includes: Determine the road gradient based on the vehicle's start request; The starting speed is set based on the accelerator pedal position percentage, the current gear, the road gradient, and the vehicle weight. The maximum value between the starting set speed and the current gear speed is determined as the engine target speed; The engine output torque is determined based on a third speed difference between the engine target speed and the engine speed.

6. The method according to claim 5, characterized in that, The step of determining the engine output torque based on the starting request torque and the vehicle information further includes: Obtain a second preset condition, the second preset condition includes a first torque difference between the first clutch output torque and the second preset torque, which is greater than the first torque difference between the engine speed and the current gear speed, and a fourth speed difference between the engine speed and the current gear speed, which is less than a fourth preset speed. If all of the second preset conditions are met, the maximum permissible engine speed is determined as the engine target speed.

7. The method according to claim 4, characterized in that, The step of determining the engine output torque based on the starting request torque and the vehicle information further includes: If all the first preset conditions are met, the starting request torque is determined as the engine output torque.

8. The method according to claim 4, characterized in that, After controlling the vehicle to start based on the output torque of the first clutch and the output torque of the engine, the method further includes: Obtain a third preset condition, the third preset condition including the fifth speed difference between the engine speed and the current gear speed being less than a fifth preset speed and the engine output torque being greater than or equal to the second torque difference between the starting request torque and the third preset torque; If both the first preset condition and the third preset condition are met simultaneously, then the vehicle start control will end.

9. A vehicle starting control device, characterized in that, The device includes: The receiving module is used to receive a vehicle start-up request, wherein the vehicle start-up request carries a start-up request torque; The first determining module is used to determine vehicle information based on the vehicle start request. The vehicle information includes accelerator pedal position percentage, current gear, engine speed, engine torque, input shaft speed, output shaft speed, clutch position, and vehicle mass. The second determining module is used to determine the first clutch output torque and the engine output torque based on the starting request torque and the vehicle information; The clutch output torque is determined periodically, and the first clutch output torque is determined in the current cycle; the second determining module is also used to obtain the second clutch output torque determined in the previous cycle of the current cycle; the maximum value between the starting request torque and the second clutch output torque is determined as the target clutch torque; if the engine speed is greater than or equal to the first preset speed, the target clutch torque is determined as the first clutch output torque; The control module is used to control the vehicle to start based on the output torque of the first clutch and the output torque of the engine.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

12. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

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