A method for detecting clutch sticking during gear shifting

Abstract

A method for detecting clutch sticking during gear shifting includes the following steps: 1) Dividing the clutch disengagement state into slip state, dead zone state, dead zone excess state, and sticking state; 2) Setting speed thresholds X1, X2, X3, X4, X5, and X6 for judging the clutch disengagement state, dead zone duration threshold T1, and dead zone excess duration threshold T2; 3) Using a speed sensor to monitor the engine speed and clutch input shaft speed in real time, comparing their differences with X1, X2, X5, and X6, and comparing the change in the difference with X3 and X4 to obtain the current clutch disengagement state; 4) Determining whether the clutch disengagement is sticking. If the clutch disengagement is sticking, the following steps are taken: a) Engage and then disengage to disengage the clutch and return to step 3); b) If the clutch disengagement is still sticking, abandon the current gear shift; c) If the gear shift fails multiple times due to sticking, store the fault code and illuminate the fault light on the instrument panel.

Description

Technical Field

[0001] This invention relates to the field of automatic transmission vehicle control, and more specifically to a method for detecting clutch sticking during gear shifting. Background Technology

[0002] Compared to traditional manual transmission cars, automatic transmission cars greatly reduce the frequency of driver operations, eliminating the need for frequent clutch and gear shifting, thus significantly reducing the difficulty of driving and offering the advantages of simple and convenient operation.

[0003] The disengaging clutch refers to the clutch that gradually disengages until it is fully engaged during automatic gear shifting in a dual-clutch automatic transmission vehicle. One clutch gradually disengages until it is fully open, while the other gradually engages. However, during operation, the disengaging clutch can sometimes stick together, especially due to factors such as clutch burning or mechanical failure. This can lead to difficulty in disengaging the disengaging clutch, or even complete inability to disengage, resulting in an uneven or even impossible gear shift, potentially posing a driving safety hazard. Currently, there is no specific method for detecting clutch sticking during gear shifting; therefore, identifying clutch sticking during gear shifting is a crucial technical problem that needs to be solved. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a method for detecting clutch sticking during gear shifting. This method can detect whether the clutch is sticking during gear shifting, thereby achieving a smooth gear shifting process, improving the driving experience, and ensuring the driving safety of automatic transmission vehicles.

[0005] The objective of this invention is achieved by providing a method for detecting clutch sticking during gear shifting, comprising the following steps:

[0006] 1) The clutch disengagement state is divided into four states, including slip state, dead zone state, dead zone excess state, and sticking state;

[0007] 2) Set rotational speed thresholds X1, X2, X3, X4, X5, and X6 for judging the slip state, dead zone state, dead zone state, and adhesion state, as well as the duration thresholds T1 and T2 for the dead zone state and the dead zone state respectively.

[0008] 3) The engine speed and the speed of the disengagement clutch input shaft are monitored in real time by a speed sensor. The difference between the engine speed and the speed of the disengagement clutch input shaft is compared with the speed thresholds X1, X2, X5, and X6. The change in the difference between the engine speed and the speed of the disengagement clutch input shaft is compared with the speed thresholds X3 and X4 to obtain the current disengagement clutch status.

[0009] 4) Determine whether the disengaged clutch is in a sticking state based on its current state. If it is not sticking, return to step 3). If it is sticking, perform sticking control processing as follows:

[0010] a) Perform a control process on the disengagement clutch to first engage and then disengage it, so that the current disengagement clutch is no longer stuck, and return to step 3);

[0011] b) If the disengaged clutch is still stuck, abandon this shift and keep the gear in the same position as before the shift.

[0012] c) If shifting fails multiple times due to sticking, a fault code will be stored and the fault light on the instrument panel will be illuminated.

[0013] Preferably, the slip state is the normal operating state of the disengaged clutch, i.e., the default initial state in this detection method.

[0014] Preferably, the dead zone state is a transitional state between the slip state and the adhesion state where it cannot be accurately determined to be adhesion; the state beyond the dead zone is a transitional state between the adhesion state and the slip state where it cannot be accurately determined to be slip.

[0015] Preferably, determining whether the disengaged clutch transitions from a slippery state to a dead zone state requires simultaneously meeting the following four conditions:

[0016] 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X1;

[0017] 2) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X2;

[0018] 3) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than or equal to the speed threshold X3;

[0019] 4) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than or equal to the speed threshold X4.

[0020] Preferably, determining whether the disengaged clutch transitions from an adhesive state to a state exceeding the dead zone requires satisfying any one of the following four conditions:

[0021] 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than or equal to the speed threshold X1;

[0022] 2) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than or equal to the speed threshold X2;

[0023] 3) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold value X3;

[0024] 4) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X4.

[0025] Preferably, determining whether the disengaged clutch transitions from the dead zone state to the slip state requires satisfying any one of the following four conditions:

[0026] 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than or equal to the speed threshold X1;

[0027] 2) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than or equal to the speed threshold X2;

[0028] 3) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X3;

[0029] 4) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X4.

[0030] Preferably, determining whether the disengaged clutch transitions from the dead zone state to the slip state requires simultaneously meeting the following four conditions:

[0031] 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X5, or the difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X6.

[0032] 2) The clutch is disengaged and in a state beyond the dead zone;

[0033] 3) Meets any one of the following conditions:

[0034] a) The difference between the engine speed and the input shaft speed where the disengagement clutch is located is less than or equal to the speed threshold X1;

[0035] b) The difference between the engine speed and the input shaft speed where the disengagement clutch is located is greater than or equal to the speed threshold X2;

[0036] c) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X3;

[0037] d) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X4;

[0038] 4) The duration of satisfying the above conditions reaches or exceeds the time threshold T2.

[0039] Preferably, the following six conditions must be met simultaneously to determine whether the disengaged clutch transitions from a dead zone state to an adhesive state:

[0040] 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X1;

[0041] 2) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X2;

[0042] 3) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than or equal to the speed threshold value X3;

[0043] 4) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than or equal to the speed threshold X4;

[0044] 5) The clutch is in a dead zone state when disengaged;

[0045] 6) The duration of satisfying the above conditions reaches or exceeds the time threshold T1.

[0046] Preferably, the following four conditions must be met simultaneously to determine whether the disengaged clutch transitions from the dead zone state to the sticking state:

[0047] 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X1;

[0048] 2) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X2;

[0049] 3) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than or equal to the speed threshold X3;

[0050] 4) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than or equal to the speed threshold X4.

[0051] The beneficial effects achieved by adopting the above technical solution are as follows:

[0052] By continuously monitoring the state of the disengaged clutch during gear shifting, the system achieves real-time switching between slipping, dead zone, exceeding dead zone, and sticking states. Furthermore, by determining whether the disengaged clutch has stuck and by controlling its response after sticking occurs, the system resolves the issues of uneven or impossible gear shifting caused by clutch sticking during gear shifting operations. This results in smoother gear shifting, improved driving experience, and enhanced driving safety for automatic transmission vehicles.

[0053] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0054] Figure 1 This is a flowchart of the present invention;

[0055] Figure 2 This is a logic flowchart of the present invention. Detailed Implementation

[0056] See Figures 1 to 2 A method for detecting clutch sticking during gear shifting is provided, which is executed by an automatic transmission controller. In each operating cycle of the automatic transmission controller, judgment, control, and execution steps are required. The steps of the method for detecting clutch sticking during gear shifting are as follows:

[0057] 1) The clutch disengagement state is divided into four states, including slip state, dead zone state, dead zone excess state, and sticking state;

[0058] 2) Set speed thresholds X1, X2, X3, X4, X5, and X6 for judging the slip state, dead zone state, dead zone excess state, and adhesion state, as well as duration thresholds T1 for the dead zone state and duration thresholds T2 for the dead zone excess state. For better illustration of the present invention, in this embodiment, X1 = -40 rpm, X2 = 40 rpm, X3 = -15 rpm, X4 = 15 rpm, X5 = -50 rpm, X6 = 50 rpm, T1 = 50 ms, and T2 = 10 ms; where rpm is the unit of rotational speed (revolutions per minute) and ms is the unit of time (milliseconds). The speed thresholds X1, X2, X3, X4, X5, and X6, and the time thresholds T1 and T2 can be set according to specific needs. The above specific values ​​are only used for illustration of this embodiment and are not intended to limit the present invention.

[0059] 3) The engine speed and the speed of the disengagement clutch input shaft are monitored in real time by a speed sensor. The difference between the engine speed and the speed of the disengagement clutch input shaft is compared with the speed thresholds X1, X2, X5, and X6. The change in the difference between the engine speed and the speed of the disengagement clutch input shaft is compared with the speed thresholds X3 and X4 to obtain the current disengagement clutch status.

[0060] 4) Determine whether the disengaged clutch is in a sticking state based on its current state. If it is not sticking, return to step 3). If it is sticking, perform sticking control processing as follows:

[0061] a) Perform a control process on the disengagement clutch to first engage and then disengage it, so that the current disengagement clutch is no longer stuck, and return to step 3);

[0062] b) If the disengaged clutch is still stuck, abandon this shift and keep the gear in the same position as before the shift.

[0063] c) If shifting fails multiple times due to sticking, a fault code will be stored and the fault light on the instrument panel will be illuminated.

[0064] The slip state is the normal operating state of the disengaged clutch, which is the default initial state in this detection method.

[0065] The dead zone state is a transitional state between the slip state and the adhesion state where it cannot be accurately determined to be adhesion; the state beyond the dead zone state is a transitional state between the adhesion state and the slip state where it cannot be accurately determined to be slip.

[0066] Figure 2 C11, C12, C13, C14, C15, and C16 are all conditions used to determine the state jump of the disengaged clutch.

[0067] The condition for the disengaged clutch to transition from a slippery state to a dead zone state is C11, which is determined by simultaneously satisfying the following four conditions:

[0068] 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X1;

[0069] 2) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X2;

[0070] 3) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than or equal to the speed threshold X3;

[0071] 4) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than or equal to the speed threshold X4.

[0072] The condition for the disengaged clutch to transition from a dead zone state to an engaged state is C12, which requires the simultaneous fulfillment of the following six conditions:

[0073] 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X1;

[0074] 2) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X2;

[0075] 3) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than or equal to the speed threshold value X3;

[0076] 4) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than or equal to the speed threshold X4;

[0077] 5) The clutch is in a dead zone state when disengaged;

[0078] 6) The duration of satisfying the above conditions reaches or exceeds the time threshold T1.

[0079] The condition for the disengaged clutch to transition from the dead zone state to the slip state is C13, where C13 is any one of the following four conditions:

[0080] 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than or equal to the speed threshold X1;

[0081] 2) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than or equal to the speed threshold X2;

[0082] 3) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X3;

[0083] 4) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X4.

[0084] The condition for the disengaged clutch to jump from the sticking state to the dead zone state is C14, where C14 is any one of the following four conditions:

[0085] 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than or equal to the speed threshold X1;

[0086] 2) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than or equal to the speed threshold X2;

[0087] 3) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold value X3;

[0088] 4) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X4.

[0089] The condition for the disengaged clutch to transition from the dead zone state to the slip state is C15, which requires the simultaneous fulfillment of the following four conditions:

[0090] 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X5, or the difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X6.

[0091] 2) The clutch is disengaged and in a state beyond the dead zone.

[0092] 3) Meets any one of the following conditions:

[0093] a) The difference between the engine speed and the input shaft speed where the disengagement clutch is located is less than or equal to the speed threshold X1;

[0094] b) The difference between the engine speed and the input shaft speed where the disengagement clutch is located is greater than or equal to the speed threshold X2;

[0095] c) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X3;

[0096] d) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X4;

[0097] 4) The duration of satisfying the above conditions reaches or exceeds the time threshold T2.

[0098] The condition for the disengaged clutch to transition from the dead zone state to the sticking state is C16, which requires the simultaneous fulfillment of the following four conditions:

[0099] 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X1;

[0100] 2) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X2;

[0101] 3) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than or equal to the speed threshold X3;

[0102] 4) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than or equal to the speed threshold X4.

[0103] The method for detecting the adhesion state of the clutch during the gear shifting process in an embodiment of the present invention is as follows. When an automatic transmission vehicle starts to shift gears, it is default that the current state of the disengaged clutch is the slip state. At this time, the engine speed measured by the speed sensor is 1800 rpm, and the speed of the input shaft where the disengaged clutch is located is 1770 rpm. At the previous moment, the engine speed measured by the speed sensor is 1590 rpm, and the speed of the input shaft where the disengaged clutch is located is 1565 rpm. At this time, the difference between the engine speed and the speed of the input shaft where the disengaged clutch is located is 30 rpm, and the change amount of the difference between the engine speed and the speed of the input shaft where the disengaged clutch is located is 5 rpm. Because the disengaged clutch is in the slip state at this time and 30 rpm > X1, X1 = -40 rpm, 30 rpm < X2, X2 = 40 rpm, 5 rpm > X3, X3 = -15 rpm, 5 rpm < X4, X4 = 15 rpm, that is, C11 is established, so the current state of the disengaged clutch jumps from the slip state to the dead zone state. When the current state of the disengaged clutch is in the dead zone state, two situations will occur:

[0104] 1) Within the next T1 time, that is, 50 milliseconds, the difference between the engine speed measured by the speed sensor and the speed of the input shaft where the disengaged clutch is located is always greater than -40 rpm and less than 40 rpm, and the change amount of their difference is always greater than -15 rpm and less than 15 rpm, that is, C12 is established, then the current state of the disengaged clutch jumps from the dead zone state to the adhesion state. Since the current state of the disengaged clutch is the adhesion state, the automatic transmission controller will control the disengaged clutch to perform the process of first engaging and then disengaging. At this time, two results will occur:

[0105] 1.1) The adhesion elimination is effective, making the difference between the engine speed measured by the speed sensor and the speed of the input shaft of the disengaged clutch less than or equal to -40 rpm or greater than or equal to 40 rpm, or the change amount of their difference is less than or equal to -15 rpm or greater than or equal to 15 rpm, that is, C14 is established, then the state of the disengaged clutch jumps from the adhesion state to the state beyond the dead zone. Similarly, two situations will occur:

[0106] a) Within the next T2 time, that is, 10 milliseconds, the difference between the engine speed measured by the speed sensor and the speed of the input shaft where the disengaged clutch is located is greater than -40 rpm and less than 40 rpm, and the change amount of their difference is greater than -15 rpm and less than 15 rpm, that is, C16 is established. The current state of the disengaged clutch jumps from the state beyond the dead zone to the adhesion state, then this gear shift is abandoned and the gear does not change.

[0107] b) Within the next 10 milliseconds, the difference between the engine speed measured by the speed sensor and the input shaft speed where the disengaged clutch is located is always less than X5 (-50 rpm) or greater than X6 (50 rpm), and the difference is always less than or equal to -40 rpm or greater than or equal to 40 rpm, or the change in the difference is always less than -15 rpm or greater than 15 rpm. That is, C15 is true, the current disengaged clutch state jumps from the dead zone state to the slip state, and the shift continues to perform other steps.

[0108] 1.2) If eliminating the sticking fails and the sticking persists, abandon the current gear shift, leave the gear unchanged, and continue driving. After a period of time, attempt another gear shift. The disengaged clutch will still default to the slipping state. Then, because C11 is satisfied, the current disengaged clutch state jumps to the dead zone state. Because C12 is satisfied, the current disengaged clutch state will finally jump from the dead zone state to the sticking state. The automatic transmission controller will again control the disengaged clutch to perform a process of engagement and disengagement. If the sticking still cannot be eliminated, abandon the gear shift again. Repeat the above steps for the next gear shift. If multiple gear shifts fail due to sticking, a fault code will be stored and the malfunction indicator lamp on the instrument panel will be illuminated.

[0109] 2) Within the next 50 milliseconds, if the difference between the engine speed measured by the speed sensor and the input shaft speed where the disengaged clutch is located is less than or equal to -40 rpm or greater than or equal to 40 rpm, or if the change in their difference is less than -15 rpm or greater than 15 rpm, then C13 is established. At this time, the current disengaged clutch state jumps from the dead zone state to the slip state, and the shift continues to perform other steps.

[0110] This detection method continuously monitors the state of the disengaged clutch during gear shifting, enabling real-time switching between slip, dead zone, exceeding dead zone, and sticking states. Furthermore, by determining whether the disengaged clutch has stuck and by controlling its operation after sticking occurs, it solves the problem of uneven or impossible gear shifting caused by clutch sticking during gear shifting, achieving a smoother shifting process, improving the driving experience, and ensuring the driving safety of automatic transmission vehicles.

[0111] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications made to the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for detecting clutch sticking during gear shifting, characterized in that, Includes the following steps: 1) The clutch disengagement state is divided into four states, including slip state, dead zone state, dead zone excess state, and sticking state. The slip state is the normal operating state of the clutch disengagement state, which is the default initial state in this detection method. The dead zone state is a transitional state between the slip state and the sticking state where it cannot be accurately determined to be sticking. The dead zone excess state is a transitional state between the sticking state and the slip state where it cannot be accurately determined to be slipping. 2) Set rotation speed thresholds X1, X2, X3, X4, X5, and X6 for judging the slip state, dead zone state, dead zone state, and adhesion state, as well as the duration thresholds T1 and T2 for the dead zone state and the dead zone state respectively. 3) The engine speed and the speed of the disengagement clutch input shaft are monitored in real time by a speed sensor. The difference between the engine speed and the speed of the disengagement clutch input shaft is compared with the speed thresholds X1, X2, X5, and X6. The change in the difference between the engine speed and the speed of the disengagement clutch input shaft is compared with the speed thresholds X3 and X4 to obtain the current disengagement clutch status. 4) Determine whether the disengaged clutch is in a sticking state based on its current state. If it is not sticking, return to step 3). If it is sticking, perform sticking control processing as follows: a) Perform a control process on the disengagement clutch to first engage and then disengage it, so that the current disengagement clutch is no longer stuck, and return to step 3); b) If the disengaged clutch is still stuck, abandon this shift and keep the gear in the same position as before the shift. c) If shifting fails multiple times due to sticking, a fault code will be stored and the malfunction indicator lamp on the instrument panel will be illuminated.

2. The method for detecting clutch sticking during gear shifting according to claim 1, characterized in that: To determine whether the disengaged clutch transitions from a slippery state to a dead zone state, the following four conditions must be met simultaneously: 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X1; 2) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X2; 3) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than or equal to the speed threshold X3; 4) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than or equal to the speed threshold X4.

3. The method for detecting clutch sticking during gear shifting according to claim 1, characterized in that: For a clutch to transition from a sticking state to a dead zone state, any one of the following four conditions must be met: 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than or equal to the speed threshold X1; 2) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than or equal to the speed threshold X2; 3) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold value X3; 4) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X4.

4. The method for detecting clutch sticking during gear shifting according to claim 1, characterized in that: To determine whether the disengaged clutch transitions from a dead zone state to a slip state, any one of the following four conditions must be met: 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than or equal to the speed threshold X1; 2) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than or equal to the speed threshold X2; 3) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X3; 4) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X4.

5. The method for detecting clutch sticking during gear shifting according to claim 1, characterized in that: To determine whether the disengaged clutch transitions from the dead zone state to the slip state, the following four conditions must be met simultaneously: 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X5, or the difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X6. 2) The clutch is disengaged and in a state beyond the dead zone; 3) Meets any one of the following conditions: a) The difference between the engine speed and the input shaft speed where the disengagement clutch is located is less than or equal to the speed threshold X1; b) The difference between the engine speed and the input shaft speed where the disengagement clutch is located is greater than or equal to the speed threshold X2; c) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X3; d) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X4; 4) The duration of satisfying the above conditions reaches or exceeds the time threshold T2.

6. The method for detecting clutch sticking during gear shifting according to claim 1, characterized in that: To determine whether a disengaged clutch transitions from a dead zone state to an engaged state, the following six conditions must be met simultaneously: 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X1; 2) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X2; 3) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than or equal to the speed threshold value X3; 4) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than or equal to the speed threshold X4; 5) The clutch is in a dead zone state when disengaged; 6) The duration of satisfying the above conditions reaches or exceeds the time threshold T1.

7. The method for detecting clutch sticking during gear shifting according to claim 1, characterized in that: To determine whether a disengaged clutch transitions from a dead zone state to an engaged state, the following four conditions must be met simultaneously: 1) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than the speed threshold X1; 2) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than the speed threshold X2; 3) The change in the difference between the engine speed and the input shaft speed where the disengaged clutch is located is greater than or equal to the speed threshold X3; 4) The difference between the engine speed and the input shaft speed where the disengaged clutch is located is less than or equal to the speed threshold X4.

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