Hydraulic Automatic Transmission Clutch Self-Learning Control Method and Device

Abstract

The present application relates to a self-learning control method and device for a hydraulic automatic transmission clutch, the method including: a vehicle powered upshift self-learning control process, an unpowered downshift self-learning control process, and a static shift self-learning control process. The present application is based on the phenomenon that the clutch oil filling time and the clutch Kp pressure parameters affect the shifting quality, and adjusts the oil filling time and the Kp pressure parameters in real time to thereby improve the shifting quality.

Description

Technical Field

[0001] The present application relates to the field of transmission control technology, and in particular, to a self-learning control method and device for a hydraulic automatic transmission clutch. Background Art

[0002] The automatic transmission clutch self-learning control strategy is a core component of the automatic transmission control unit software. Its purpose is to ensure that a single version of the control software can account for performance variations caused by inconsistencies in transmission component manufacturing and assembly, as well as transmission performance degradation due to accumulated mileage. This ensures that all vehicles in production batches have excellent shift quality and drivability throughout the product lifecycle. However, existing research primarily focuses on adaptive adjustment of automatic transmission oil temperature, solenoid valve hysteresis characteristics, and feedback pressure tracking. Strictly speaking, this research focuses more on temperature compensation, hysteresis compensation, and pressure correction methods, with less attention paid to complex adjustment strategies for shift time and shift quality. Summary of the Invention

[0003] In order to overcome at least one deficiency in the prior art, an embodiment of the present application provides a self-learning control method and device for a hydraulic automatic transmission clutch.

[0004] In a first aspect, a self-learning control method for a hydraulic automatic transmission clutch is provided, comprising:

[0005] When the vehicle is power-shifting, it determines whether the clutch meets the power-shifting self-learning entry conditions, whether the clutch is filled with oil too late, or whether the clutch is filled with oil too much, and adjusts the oil filling time according to the judgment results;

[0006] When the vehicle is downshifting without power, determine whether the clutch meets the entry conditions for the self-learning of downshifting without power, and determine the slip start time and slip duration. Adjust the oil filling time and clutch Kp pressure based on the judgment result, slip start time and slip duration.

[0007] When the vehicle is in static shifting, it is determined whether the clutch meets the static shifting self-learning entry conditions, whether the clutch is overfilled with oil, or whether the clutch is filled with oil too late, and the oil filling time is adjusted according to the judgment results.

[0008] In one embodiment, when the vehicle is power-shifting, it is determined whether the clutch meets the power-shifting self-learning entry conditions, whether the clutch is filled with oil too late, or whether the clutch is filled with oil too much, and the filling time is adjusted according to the determination results, including:

[0009] If the clutch meets the power upshift self-learning entry conditions, determine whether the clutch is filled with oil too late;

[0010] If yes, increase the oil filling time;

[0011] If not, determine whether the clutch is overfilled with oil. If so, reduce the oil filling time.

[0012] In one embodiment, determining whether the clutch is filled too late includes:

[0013] During a power upshift, the vehicle obtains a calculated value by subtracting the product of the output shaft speed and the previous gear ratio from the input shaft speed.

[0014] If the calculated value is greater than the first set value for more than the first set number of times, it is determined that the clutch oil filling is too late.

[0015] In one embodiment, determining whether the clutch is overfilled with oil includes:

[0016] During a power upshift of the vehicle, if the input shaft speed drops by more than a second set value for more than a second set number of times, it is determined that the clutch is overfilled with oil.

[0017] In one embodiment, when the vehicle is downshifting without power, it is determined whether the clutch meets the entry conditions for the self-learning of downshifting without power, and the slip start time and slip duration are determined. The oil filling time and the clutch Kp pressure are adjusted according to the determination result, the slip start time and the slip duration, including:

[0018] If the clutch meets the no-power downshift self-learning entry conditions, determine whether the clutch is filled with oil too late;

[0019] If so, increase the filling time and clutch Kp pressure;

[0020] If not, determine the slip start time and the slip duration, and adjust the oil filling time and the clutch Kp pressure according to the slip start time and the slip duration.

[0021] In one embodiment, determining whether the clutch is filled too late includes:

[0022] During the vehicle's unpowered downshifting process, if it is detected that the minimum speed is lower than the third set value for more than the third set number of times, it is determined that the clutch oil filling is too late.

[0023] In one embodiment, adjusting the oil filling time and the clutch Kp pressure according to the slip start time and the slip duration includes:

[0024] If the sliding friction starts late and lasts for a long time, increase the oil filling time;

[0025] If the slippage starts late and the slippage duration is short, increase the oil filling duration and the clutch Kp pressure;

[0026] If the sliding friction starts late and the sliding friction duration is normal, increase the oil filling time;

[0027] If the sliding friction starts earlier and the sliding friction duration is shorter, the oil filling duration should be shortened;

[0028] If the sliding friction starts early and lasts for a long time, reduce the oil filling time;

[0029] If the sliding friction starts early and the sliding friction duration is normal, reduce the oil filling time;

[0030] If the slip start time is normal and the slip duration is long, increase the clutch Kp pressure;

[0031] If the slip start time is normal and the slip duration is short, reduce the clutch Kp pressure.

[0032] In one embodiment, during a vehicle downshift without power, if the time t1 when the speed ratio change is detected is less than a fourth set value, the slip start time is determined to be early; if the time t1 when the speed ratio change is detected is greater than a fifth set value, the slip start time is determined to be too late; and if the fourth set value < the time t1 when the speed ratio change is detected < the fifth set value, the slip start time is determined to be normal.

[0033] In one embodiment, during a vehicle downshift without power, if the detected slip duration t2 is greater than a sixth set value, the slip duration is determined to be long; if the detected slip duration t2 is less than a seventh set value, the slip duration is determined to be short; and if the seventh set value < slip duration t2 < the sixth set value, the slip duration is determined to be normal.

[0034] In one embodiment, when the vehicle is in a static shift, determining whether the clutch meets the static shift self-learning entry conditions, whether the clutch is overfilled, or whether the clutch is filled with oil too late, and adjusting the filling time according to the determination results include:

[0035] If the clutch meets the static shift self-learning entry conditions, determine whether the clutch is overfilled with oil;

[0036] If so, reduce the oil filling time;

[0037] If not, determine whether the clutch is filled with oil too late. If so, increase the filling time.

[0038] In one embodiment, determining whether the clutch is overfilled with oil includes:

[0039] During a static shift of the vehicle, if the number of times that the clutch engagement point is detected to be less than the eighth set value reaches a fourth set number, it is determined that the clutch is overfilled with oil.

[0040] In one embodiment, determining whether the clutch is filled with oil too late includes:

[0041] During a static shift of the vehicle, if the clutch engagement point is detected to be greater than the eighth set value for a fifth set number of times, it is determined that the clutch is filled too late.

[0042] In a second aspect, a self-learning control device for a hydraulic automatic transmission clutch is provided, comprising:

[0043] The power upshift self-learning module is used to determine whether the clutch meets the power upshift self-learning entry conditions, whether the clutch is filled with oil too late, or whether the clutch is filled with oil too much when the vehicle is power upshifting, and adjust the oil filling time according to the judgment results;

[0044] The unpowered downshift self-learning module is used to determine whether the clutch meets the unpowered downshift self-learning entry conditions when the vehicle is downshifting, and to determine the slip start time and slip duration. The oil filling time and clutch Kp pressure are adjusted according to the judgment result, slip start time and slip duration;

[0045] The static shift self-learning module is used to determine whether the clutch meets the static shift self-learning entry conditions, whether the clutch is over-filled with oil, or whether the clutch is filled with oil too late when the vehicle is static shifting, and adjust the oil filling time according to the judgment results.

[0046] In a third aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned hydraulic automatic transmission clutch self-learning control method is implemented.

[0047] In a fourth aspect, a computer program product is provided, comprising a computer program / instruction, which implements the above-mentioned hydraulic automatic transmission clutch self-learning control method when executed by a processor.

[0048] Compared with the existing technology, the present application has the following beneficial effects: based on the phenomenon that the clutch oil filling time and the clutch Kp pressure parameters will affect the shifting quality, the present application adjusts the oil filling time and the Kp pressure parameters in real time, thereby improving the shifting quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The present application may be better understood by referring to the following description in conjunction with the accompanying drawings, which together with the following detailed description are incorporated into and form a part of this specification. In the drawings:

[0050] Figure 1 A flowchart of a self-learning control method for a hydraulic automatic transmission clutch according to an embodiment of the present application is shown;

[0051] Figure 2 A flowchart of a self-learning control process during vehicle power upshifting according to an embodiment of the present application is shown;

[0052] Figure 3 A flow chart of a self-learning control process during vehicle downshifting without power according to an embodiment of the present application is shown;

[0053] Figure 4 A flowchart of a self-learning control process when a vehicle is in a static shift according to an embodiment of the present application is shown;

[0054] Figure 5 A structural block diagram of a hydraulic automatic transmission clutch self-learning control device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0055] Exemplary embodiments of the present application are described below with reference to the accompanying drawings. For the sake of clarity and conciseness, not all features of actual embodiments are described in this specification. However, it should be understood that in the process of developing any such actual embodiment, many implementation-specific decisions may be made to achieve the developer's specific goals, and these decisions may vary from one implementation to another.

[0056] It is also necessary to explain here that, in order to avoid obscuring the present application due to unnecessary details, the accompanying drawings only show the device structure closely related to the solution according to the present application, while other details that are not closely related to the present application are omitted.

[0057] It should be understood that the present application is not limited to the described embodiments due to the following description with reference to the accompanying drawings. In this document, where feasible, the embodiments may be combined with each other, features between different embodiments may be replaced or borrowed, and one or more features may be omitted in one embodiment.

[0058] The present invention provides a self-learning control method for a hydraulic automatic transmission clutch. Figure 1 A flow chart of a self-learning control method for a hydraulic automatic transmission clutch according to an embodiment of the present application is shown. Figure 1 , methods include:

[0059] Step S1, when the vehicle is power-shifting, determining whether the clutch meets the power-shifting self-learning entry conditions, whether the clutch is filled with oil too late, or whether the clutch is filled with oil too much, and adjusting the oil filling time according to the determination results;

[0060] Step S2: When the vehicle is in an unpowered downshift, determining whether the clutch meets the unpowered downshift self-learning entry conditions, and determining the slip start time and slip duration, and adjusting the oil filling time and clutch Kp pressure based on the determination result, the slip start time and the slip duration;

[0061] Step S3, when the vehicle is in static shifting, judge whether the clutch meets the static shifting self-learning entry conditions, whether the clutch is overfilled with oil, or whether the clutch is filled with oil too late, and adjust the oil filling time according to the judgment results.

[0062] In an embodiment of the present application, based on the phenomenon that the clutch oil filling time and the clutch Kp pressure parameters affect the shifting quality, the oil filling time and the Kp pressure parameters are adjusted in real time, thereby improving the shifting quality.

[0063] In one embodiment, Figure 2 A flowchart of the self-learning control process during vehicle power upshifting according to an embodiment of the present application is shown. Figure 2 , the self-learning control process during vehicle power upshift includes:

[0064] Step S11, determining whether the clutch meets the power upshift self-learning entry condition, if so, executing step S12, if not, returning to the end;

[0065] Step S12, determining whether the clutch is filled with oil too late, if so, executing step S13, if not, executing step S14;

[0066] Step S13, increasing the oil filling time;

[0067] Step S14, determining whether the clutch is overfilled with oil, if so, executing step S15, if not, returning to the end;

[0068] Step S15, reducing the oil filling time.

[0069] In this embodiment, the self-learning process during a power-upshift also includes a limited oil filling time range to ensure that the learned value remains within a safe range. The power-upshift self-learning entry conditions here refer to specific settings such as the automatic transmission oil temperature range for learning being 60°C to 85°C, positive engine torque, and a throttle opening rate of less than 10%. When the clutch meets the power-upshift self-learning entry conditions, the transmission is ensured to perform self-learning within a common temperature range and steady-state operating conditions.

[0070] Specifically, in the above embodiment, determining whether the clutch is filled with oil too late includes:

[0071] During a power upshift, the calculated value is obtained by subtracting the product of the output shaft speed and the previous gear ratio from the input shaft speed; that is, calculated value = input shaft speed - (output shaft speed * previous gear ratio)

[0072] If the calculated value is greater than the first set value for more than the first set number of times, it is determined that the clutch oil filling is too late. Here, the first set value can be 200 rpm and the first set number of times can be 3 times.

[0073] Specifically, in the above embodiment, determining whether the clutch is overfilled with oil includes:

[0074] During a power upshift, if the input shaft speed drops by more than a second set value more than a second set number of times, the clutch is judged to be overfilled. Here, the second set value may be 250 rpm and the second set number of times may be 3.

[0075] In one embodiment, Figure 3 A flowchart of the self-learning control process when the vehicle is downshifting without power according to an embodiment of the present application is shown. Figure 3 , the self-learning control process when the vehicle downshifts without power includes:

[0076] Step S21, determining whether the clutch meets the no-power downshift self-learning entry condition, if so, executing step S22, if not, returning to the end;

[0077] Step S22, determining whether the clutch is filled with oil too late, if so, executing step S23, if not, executing step S24;

[0078] Step S23, increasing the oil filling time and the clutch Kp pressure;

[0079] Step S24 , determining the slip start time and the slip duration, and adjusting the oil filling duration and the clutch Kp pressure according to the slip start time and the slip duration.

[0080] In this embodiment, the self-learning process during a non-powered downshift also includes limits on the oil filling time and clutch Kp pressure to ensure that the learned value remains within a safe range. The non-powered downshift self-learning entry conditions here refer to restrictions such as the automatic transmission oil temperature range permitted for learning being 60° to 85°C, vehicle deceleration less than 60 rpm / loop, and negative engine torque. A loop represents the minimum program execution time, which can be 10ms. When the clutch meets the non-powered downshift self-learning entry conditions, the transmission is ensured to perform self-learning within a common temperature range and steady-state operating conditions.

[0081] Specifically, in the above embodiment, determining whether the clutch is filled with oil too late includes:

[0082] During a downshift without power, if the minimum speed is detected to be lower than a third set value for more than a third set number of times, it is determined that the clutch filling is too late. Here, the third set value may be 200 rpm and the third set number of times may be 3.

[0083] In the above embodiment, the oil filling time and the clutch Kp pressure are adjusted according to the slip start time and the slip duration, including:

[0084] If the sliding friction starts late and lasts for a long time, increase the oil filling time;

[0085] If the slippage starts late and the slippage duration is short, increase the oil filling duration and the clutch Kp pressure;

[0086] If the sliding friction starts late and the sliding friction duration is normal, increase the oil filling time;

[0087] If the sliding friction starts earlier and the sliding friction duration is shorter, the oil filling duration should be shortened;

[0088] If the sliding friction starts early and lasts for a long time, reduce the oil filling time;

[0089] If the sliding friction starts early and the sliding friction duration is normal, reduce the oil filling time;

[0090] If the slip start time is normal and the slip duration is long, increase the clutch Kp pressure;

[0091] If the slip start time is normal and the slip duration is short, reduce the clutch Kp pressure.

[0092] Specifically, during a vehicle downshift without power, if the time t1 when the speed ratio change is detected is less than a fourth set value, the slippage start time is determined to be early. If the time t1 when the speed ratio change is detected is greater than a fifth set value, the slippage start time is determined to be too late. If the fourth set value < the time t1 when the speed ratio change is detected < the fifth set value, the slippage start time is determined to be normal. Here, the fourth set value can be 70 loops, and the fifth set value can be 100 loops.

[0093] During a downshift without power, if the detected slip duration t2 is greater than a sixth set value, the slip duration is determined to be long. If the detected slip duration t2 is less than a seventh set value, the slip duration is determined to be short. If the seventh set value < slip duration t2 < the sixth set value, the slip duration is determined to be normal. Here, the sixth set value may be 60 loops, and the seventh set value may be 40 loops.

[0094] In one embodiment, Figure 4A flowchart of the self-learning control process when the vehicle is in static shifting according to an embodiment of the present application is shown. Figure 4 , the self-learning control process when the vehicle is in static gear shifting includes:

[0095] Step S31, determining whether the clutch meets the static shift self-learning entry condition, if so, executing step S32, if not, returning to the end;

[0096] Step S32, determining whether the clutch is overfilled with oil, if so, executing step S33, if not, executing step S34;

[0097] Step S33, reducing the oil filling time;

[0098] Step S34, determine whether the clutch is filled with oil too late, if so, execute step S35, if not, return and end.

[0099] Step S35, increasing the oil filling time.

[0100] In this embodiment, the self-learning process during a static shift also includes limiting the oil filling time range to ensure that the learned value remains within a safe range. Here, the static shift self-learning entry conditions refer to specific settings such as the automatic transmission oil temperature range within which learning is permitted, such as 60°C to 85°C. When the clutch meets the static shift self-learning entry conditions, the transmission is ensured to perform self-learning within a common temperature range and steady-state operating conditions.

[0101] Specifically, in the above embodiment, determining whether the clutch is overfilled with oil includes:

[0102] During a static shift of the vehicle, if the clutch engagement point is detected to be less than the eighth set value for a fourth set number of times, the clutch is judged to be overfilled with oil. Here, the eighth set value may be 80 loops and the fourth set number of times may be 3 times.

[0103] Specifically, in the above embodiment, determining whether the clutch is filled with oil too late includes:

[0104] During a static shift of the vehicle, if the clutch engagement point is detected to be greater than the eighth set value three times for a fifth set number of times, the clutch filling is determined to be too late. Here, the eighth set value may be 120 loops and the fifth set number of times may be 3 times.

[0105] In a second aspect, the present invention also provides a self-learning control device for a hydraulic automatic transmission clutch. Figure 5 The structure diagram of the self-learning control device for the hydraulic automatic transmission clutch according to the embodiment of the present application is shown in FIG. Figure 5 , the device comprises:

[0106] The power upshift self-learning module 51 is used to determine whether the clutch meets the power upshift self-learning entry conditions, whether the clutch is filled with oil too late, or whether the clutch is filled with oil too much, when the vehicle is power upshifting, and adjust the oil filling time according to the judgment results;

[0107] The unpowered downshift self-learning module 52 is used to determine whether the clutch meets the unpowered downshift self-learning entry conditions when the vehicle is downshifting, and to determine the slip start time and slip duration. The oil filling time and clutch Kp pressure are adjusted according to the determination result, the slip start time and the slip duration.

[0108] The static shift self-learning module 53 is used to determine whether the clutch meets the static shift self-learning entry conditions, whether the clutch is over-filled with oil, or whether the clutch is filled with oil too late when the vehicle is static shifting, and adjust the oil filling time according to the judgment results.

[0109] The specific implementation functions of each module in the hydraulic automatic transmission clutch self-learning device provided in the embodiment of the present application are consistent with the specific implementation process of the hydraulic automatic transmission clutch self-learning method of the aforementioned embodiment, and will not be described in detail here.

[0110] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned hydraulic automatic transmission clutch self-learning control method.

[0111] An embodiment of the present application also provides a computer program product, including a computer program / instruction, which implements the above-mentioned hydraulic automatic transmission clutch self-learning control method when executed by a processor.

[0112] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0113] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0114] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0115] The above descriptions are merely examples of various embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A self-learning control method for a hydraulic automatic transmission clutch, characterized in that: include: When the vehicle is power-shifting, it determines whether the clutch meets the power-shifting self-learning entry conditions, whether the clutch is filled with oil too late, or whether the clutch is filled with oil too much, and adjusts the oil filling time according to the judgment results; When the vehicle is downshifting without power, determine whether the clutch meets the entry conditions for the self-learning of downshifting without power, and determine the slip start time and slip duration. Adjust the oil filling time and clutch Kp pressure based on the judgment result, slip start time and slip duration. When the vehicle is in static shifting, it determines whether the clutch meets the static shifting self-learning entry conditions, whether the clutch is overfilled with oil, or whether the clutch is filled with oil too late, and adjusts the filling time according to the judgment results; Among them, when the vehicle is downshifting without power, it is judged whether the clutch meets the entry conditions of the self-learning for downshifting without power, and the slip start time and slip duration are determined. According to the judgment result, the slip start time and slip duration, the oil filling time and the clutch Kp pressure are adjusted, including: If the clutch meets the no-power downshift self-learning entry conditions, determine whether the clutch is filled with oil too late; If so, increase the filling time and clutch Kp pressure; If not, determine the slip start time and slip duration, and adjust the oil filling time and clutch Kp pressure according to the slip start time and slip duration; The oil filling time and clutch Kp pressure are adjusted according to the slip start time and slip duration, including: If the sliding friction starts late and lasts for a long time, increase the oil filling time; If the slippage starts late and the slippage duration is short, increase the oil filling duration and the clutch Kp pressure; If the sliding friction starts late and the sliding friction duration is normal, increase the oil filling time; If the sliding friction starts earlier and the sliding friction duration is shorter, the oil filling duration should be shortened; If the sliding friction starts early and lasts for a long time, reduce the oil filling time; If the sliding friction starts early and the sliding friction duration is normal, reduce the oil filling time; If the slip start time is normal and the slip duration is long, increase the clutch Kp pressure; If the slip start time is normal and the slip duration is short, reduce the clutch Kp pressure.

2. The method according to claim 1, wherein in, When the vehicle is power-shifting, the system determines whether the clutch meets the power-shifting self-learning entry conditions, whether the clutch is filled with oil too late, or whether the clutch is filled with oil too much. The system adjusts the filling time based on the judgment results, including: If the clutch meets the power upshift self-learning entry conditions, determine whether the clutch is filled with oil too late; If yes, increase the oil filling time; If not, determine whether the clutch is overfilled with oil. If so, reduce the oil filling time.

3. The method according to claim 2, wherein Determine whether the clutch is filled too late, including: During a power upshift, the vehicle obtains a calculated value by subtracting the product of the output shaft speed and the previous gear ratio from the input shaft speed. If the calculated value is greater than the first set value for more than the first set number of times, it is determined that the clutch oil filling is too late.

4. The method according to claim 2, wherein Determine whether the clutch is overfilled with oil, including: During a power upshift of the vehicle, if the input shaft speed drops by more than a second set value for more than a second set number of times, it is determined that the clutch is overfilled with oil.

5. The method according to claim 1, wherein in, Determine whether the clutch is filled too late, including: During the vehicle's unpowered downshifting process, if it is detected that the minimum speed is lower than the third set value for more than the third set number of times, it is determined that the clutch oil filling is too late.

6. The method according to claim 1, wherein During the vehicle's unpowered downshifting process, if the time t1 when the speed ratio change is detected is less than the fourth set value, it is determined that the start time of slip is early; if the time t1 when the speed ratio change is detected is greater than the fifth set value, it is determined that the start time of slip is too late; if the fourth set value < the time t1 when the speed ratio change is detected < the fifth set value, it is determined that the start time of slip is normal.

7. The method according to claim 1, wherein During the vehicle's unpowered downshift, if the slip duration t2 is detected to be greater than the sixth set value, the slip duration is determined to be long; if the slip duration t2 is detected to be less than the seventh set value, the slip duration is determined to be short; and if the seventh set value < slip duration t2 < the sixth set value, the slip duration is determined to be normal.

8. The method according to claim 1, wherein in, When the vehicle is in a static shift, the system determines whether the clutch meets the static shift self-learning entry conditions, whether the clutch is overfilled, or whether the clutch is filled too late. The system then adjusts the filling time based on the judgment results, including: If the clutch meets the static shift self-learning entry conditions, determine whether the clutch is overfilled with oil; If so, reduce the oil filling time; If not, determine whether the clutch is filled with oil too late. If so, increase the filling time.

9. The method according to claim 8, wherein in, Determine whether the clutch is overfilled with oil, including: During a static shift of the vehicle, if the number of times that the clutch engagement point is detected to be less than the eighth set value reaches a fourth set number, it is determined that the clutch is overfilled with oil.

10. The method according to claim 8, wherein in, Determine whether the clutch is filled too late, including: During a static shift of the vehicle, if the clutch engagement point is detected to be greater than the eighth set value for a fifth set number of times, it is determined that the clutch is filled too late.

11. A self-learning control device for a hydraulic automatic transmission clutch, characterized in that: include: The power upshift self-learning module is used to determine whether the clutch meets the power upshift self-learning entry conditions, whether the clutch is filled with oil too late, or whether the clutch is filled with oil too much when the vehicle is power upshifting, and adjust the oil filling time according to the judgment results; The unpowered downshift self-learning module is used to determine whether the clutch meets the unpowered downshift self-learning entry conditions when the vehicle is downshifting, and to determine the slip start time and slip duration. The oil filling time and clutch Kp pressure are adjusted according to the judgment result, slip start time and slip duration; The static shift self-learning module is used to determine whether the clutch meets the static shift self-learning entry conditions, whether the clutch is over-filled with oil, or whether the clutch is filled with oil too late when the vehicle is static shifting, and adjust the oil filling time according to the judgment results; Among them, when the vehicle is downshifting without power, it is judged whether the clutch meets the entry conditions of the self-learning for downshifting without power, and the slip start time and slip duration are determined. According to the judgment result, the slip start time and slip duration, the oil filling time and the clutch Kp pressure are adjusted, including: If the clutch meets the no-power downshift self-learning entry conditions, determine whether the clutch is filled with oil too late; If so, increase the filling time and clutch Kp pressure; If not, determine the slip start time and slip duration, and adjust the oil filling time and clutch Kp pressure according to the slip start time and slip duration; The oil filling time and clutch Kp pressure are adjusted according to the slip start time and slip duration, including: If the sliding friction starts late and lasts for a long time, increase the oil filling time; If the slippage starts late and the slippage duration is short, increase the oil filling duration and the clutch Kp pressure; If the sliding friction starts late and the sliding friction duration is normal, increase the oil filling time; If the sliding friction starts earlier and the sliding friction duration is shorter, the oil filling duration should be shortened; If the sliding friction starts early and lasts for a long time, reduce the oil filling time; If the sliding friction starts early and the sliding friction duration is normal, reduce the oil filling time; If the slip start time is normal and the slip duration is long, increase the clutch Kp pressure; If the slip start time is normal and the slip duration is short, reduce the clutch Kp pressure.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the self-learning control method for the hydraulic automatic transmission clutch according to any one of claims 1 to 10.

13. A computer program product, characterized in that It includes a computer program / instruction, which, when executed by a processor, implements the self-learning control method for the hydraulic automatic transmission clutch according to any one of claims 1 to 10.

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