Clutch self-learning methods, devices, computer equipment, storage media and products

Abstract

This application relates to a clutch self-learning method, apparatus, computer device, storage medium, and computer program product. By controlling a transmission controller to perform a disengagement operation on a target clutch, a first input torque is obtained. If the first input torque is less than or equal to a first target torque value, a first displacement value of the target clutch is obtained to determine whether the target clutch is in a fully disengaged state. If the target clutch is in a fully disengaged state, the transmission controller is controlled to perform an engagement operation on the target clutch and a second input torque is obtained. If the second input torque is greater than or equal to the first target torque value, a second displacement value of the target clutch is obtained. If the second input torque is greater than or equal to the second target torque value, a third displacement value of the target clutch is obtained. Based on the first, second, and third displacement values, the self-learning result of the target clutch can be determined, thereby ensuring transmission safety.

Description

Technical Field

[0001] This application relates to the field of transmission control technology, and in particular to a clutch self-learning method, device, computer equipment, storage medium, and computer program product. Background Technology

[0002] Off-line testing of automatic transmissions for commercial vehicles is a crucial means of controlling product quality. It allows for the assessment of product functionality and performance levels, reflecting production consistency. A systematic and comprehensive off-line testing platform and methods not only rigorously control the quality of transmission assemblies leaving the factory and ensure consistent product performance, but also prevent defective products from entering the market and reaching users, avoiding unnecessary claims and reputational damage.

[0003] Traditional methods for testing automatic transmissions in commercial vehicles after they are put into production mostly involve testing the basic functions of the assembly. This mainly focuses on checking the basic shifting function of the transmission, the clutch engagement and disengagement function, and the basic communication status of the automatic transmission (AMT) controller. This approach only checks the basic functions of the product and lacks detailed checks on the product status of each subsystem of the AMT, which can easily lead to AMT failures. Summary of the Invention

[0004] Therefore, it is necessary to provide a clutch self-learning method, device, computer equipment, computer-readable storage medium, and computer program product that can ensure the safety of the transmission, addressing the aforementioned technical problems.

[0005] Firstly, this application provides a clutch self-learning method, which includes:

[0006] The transmission controller is controlled to perform the disengagement operation of the target clutch and to obtain the first input torque;

[0007] If the first input torque is less than or equal to the first target torque value, obtain the first displacement value of the target clutch;

[0008] Based on the first displacement value, it is determined whether the target clutch is in a fully disengaged state. If it is determined that the target clutch is in a fully disengaged state based on the first displacement value, the transmission controller is controlled to perform the engagement operation of the target clutch and obtain the second input torque.

[0009] If the second input torque is greater than or equal to the first target torque value, obtain the second displacement value of the target clutch;

[0010] If the second input torque is greater than or equal to the second target torque value, obtain the third displacement value of the target clutch;

[0011] Based on the first displacement value, the second displacement value, and the third displacement value, the self-learning result of the target clutch is determined.

[0012] In one embodiment, the step of determining whether the target clutch is in a fully disengaged state based on the first displacement value includes:

[0013] Based on the first displacement value and the first compensation value, the first displacement target value is calculated;

[0014] If the torque value corresponding to the first displacement target value is less than or equal to the first target torque value, the target clutch is determined to be in a fully disengaged state.

[0015] In one embodiment, the step of determining the self-learning result of the target clutch based on the first displacement value, the second displacement value, and the third displacement value includes:

[0016] Obtain historical driving data for a specified clutch that is the same model as the target clutch;

[0017] Based on historical driving data, obtain the target range corresponding to the clutch characteristic values;

[0018] If the first displacement value, the second displacement value, and the third displacement value are all within the target range, the self-learning result of the target clutch is determined to be self-learning passed.

[0019] In one embodiment, the method further includes:

[0020] If, based on the first displacement value, the second displacement value, and the third displacement value, it is determined that the self-learning result of the target clutch is that the self-learning has failed, the steps of controlling the transmission controller to perform the disengagement operation of the target clutch and obtaining the first input torque are repeated.

[0021] If the self-learning result of the target clutch is still determined to be a failure, a fault alarm signal is issued; the fault alarm signal includes fault information.

[0022] In one embodiment, the method further includes:

[0023] If the clutch self-learning result is that the self-learning is successful, the average shift displacement value of the target synchronizer is obtained. The average shift displacement value is the displacement value of the target synchronizer in the corresponding gear.

[0024] The self-learning result of the target synchronizer is determined based on the average shift displacement value.

[0025] In one embodiment, the step of obtaining the average shift displacement value of the target synchronizer includes:

[0026] According to the target number of executions, the steps of controlling the transmission controller to perform the first shift operation of the target synchronizer and obtaining the corresponding first shift displacement values ​​are executed multiple times, and the steps of controlling the transmission controller to perform the second shift operation of the target synchronizer and obtaining the corresponding second shift displacement values ​​are executed multiple times.

[0027] The average shift displacement value is calculated based on multiple first shift displacement values ​​and multiple second shift displacement values.

[0028] Among them, the first shift operation and the second shift operation together constitute a shift operation combination, and the shift operation combination has multiple combination results; the multiple combination results are as follows: the first shift operation is the target synchronizer shifting from a low gear to a high gear and the second shift operation is the target synchronizer shifting from a high gear to a low gear; the first shift operation is the target transmission shifting from reverse to first gear and the second shift operation is the target transmission shifting from first gear to reverse; the first shift operation is the target transmission shifting from second gear to third gear and the second shift operation is the target transmission shifting from third gear to second gear.

[0029] Secondly, this application also provides a clutch self-learning device, the device comprising:

[0030] The clutch disengagement module is used to control the transmission controller to perform the disengagement operation of the target clutch and to obtain the first input torque;

[0031] The first displacement acquisition module is used to acquire the first displacement value of the target clutch when the first input torque is less than or equal to the first target torque value;

[0032] The clutch engagement module is used to determine whether the target clutch is in a fully disengaged state based on a first displacement value. If the target clutch is determined to be in a fully disengaged state based on the first displacement value, the module controls the transmission controller to perform the engagement operation of the target clutch and obtain the second input torque.

[0033] The second displacement acquisition module is used to acquire the second displacement value of the target clutch when the second input torque is greater than or equal to the first target torque value;

[0034] The third displacement acquisition module is used to acquire the third displacement value of the target clutch when the second input torque is greater than or equal to the second target torque value.

[0035] The self-learning determination module is used to determine the self-learning result of the target clutch based on the first displacement value, the second displacement value, and the third displacement value.

[0036] Thirdly, this application also provides a computer device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method steps of any one of the first aspects.

[0037] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method steps of any one of the first aspects.

[0038] Fifthly, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the method steps of any one of the first aspects.

[0039] The aforementioned clutch self-learning method, device, computer equipment, storage medium, and computer program product, by controlling the transmission controller to execute the disengagement operation of the target clutch, obtains a first input torque. If the first input torque is less than or equal to a first target torque value, the first displacement value of the target clutch is obtained to determine whether the target clutch is in a fully disengaged state. If the target clutch is in a fully disengaged state, the transmission controller is controlled to execute the engagement operation of the target clutch and obtains a second input torque. If the second input torque is greater than or equal to the first target torque value, a second displacement value of the target clutch is obtained. If the second input torque is greater than or equal to the second target torque value, a third displacement value of the target clutch is obtained. Based on the first displacement value, the second displacement value, and the third displacement value, the self-learning result of the target clutch can be accurately determined, ensuring clutch safety and thus ensuring transmission safety. Attached Figure Description

[0040] Figure 1 This is a diagram illustrating the application environment of the clutch self-learning method in one embodiment;

[0041] Figure 2 This is a flowchart illustrating a clutch self-learning method in one embodiment;

[0042] Figure 3 This is a flowchart illustrating the steps for determining the self-learning result in one embodiment;

[0043] Figure 4 This is a flowchart illustrating the steps for obtaining the average shift displacement value in one embodiment;

[0044] Figure 5 This is a flowchart illustrating a clutch self-learning method in one embodiment;

[0045] Figure 6 This is a structural block diagram of a clutch self-learning system in one embodiment;

[0046] Figure 7 This is a structural block diagram of a clutch self-learning device in one embodiment;

[0047] Figure 8 This is an internal structural diagram of a computer device in one embodiment.

[0048] Explanation of reference numerals in the attached figures:

[0049] 1-Host computer, 2-AMT controller, 3-Load motor, 4-Output motor, 5-Pressure reducing valve, 6-Torque sensor, 7-Clutch actuator, 8-Gear selector actuator, 9-Gear shift actuator, 10-Clutch displacement sensor, 11-Gear selector displacement sensor, 12-Gear shift displacement sensor, 13-Input shaft speed sensor, 14-Output shaft speed sensor, 15-Pressure sensor. Detailed Implementation

[0050] 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.

[0051] The clutch self-learning method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, the host computer 102 communicates with the transmission controller 104 via a network. The transmission controller 104 is electrically connected to the target clutch 106.

[0052] The host computer 102 controls the transmission controller 104 to perform the disengagement operation of the target clutch 106 and acquires the first input torque. If the first input torque is less than or equal to the first target torque value, the host computer acquires the first displacement value of the target clutch 106 and determines whether the target clutch 106 is in a fully disengaged state based on the first displacement value. If the host computer determines that the target clutch 106 is in a fully disengaged state based on the first displacement value, the host computer controls the transmission controller 104 to perform the engagement operation of the target clutch 106 and acquires the second input torque. If the second input torque is greater than or equal to the first target torque value, the host computer acquires the second displacement value of the target clutch 106. If the second input torque is greater than or equal to the second target torque value, the host computer acquires the third displacement value of the target clutch 106. Based on the first displacement value, the second displacement value, and the third displacement value, the host computer determines the self-learning result of the target clutch 106.

[0053] The host computer 102 can be a terminal. The terminal can be, but is not limited to, various personal computers, laptops, etc. The transmission controller 104 can be implemented using a standalone controller or a controller cluster composed of multiple controllers.

[0054] In one embodiment, such as Figure 2 As shown, a clutch self-learning method is provided, which is applied to... Figure 1Taking the host computer 102 as an example, the explanation includes the following steps:

[0055] S202: Controls the transmission controller to perform the disengagement operation of the target clutch and obtains the first input torque.

[0056] Clutch self-learning is typically used to detect the clutch's engagement and disengagement functions. During clutch self-learning, the transmission is in direct drive, i.e., a gear with a gear ratio of 1. When the gear ratio is 1, the ratio of the input shaft angle to the output shaft angle of the transmission is 1. By controlling the engagement and disengagement of the target clutch, the transmission ratio can be changed, thereby adjusting the output torque. Specifically, the host computer controls the transmission controller to execute the disengagement operation of the target clutch. At this time, the input motor speed is 1000 rpm, and the load motor torque is 500 Nm. During the clutch disengagement process, the current input torque, i.e., the first input torque, is collected by the torque sensor at the input end.

[0057] S204: If the first input torque is less than or equal to the first target torque value, obtain the first displacement value of the target clutch.

[0058] The process involves determining whether the first input torque is less than or equal to the first target torque value. The first target torque value is a target torque value for the current clutch model, determined based on historical experience. When the first input torque is less than or equal to the first target torque value, it indicates that torque transmission is interrupted, and power is cut off. This confirms that the target clutch is in a critical state of complete disengagement. In this critical state, the target clutch appears to be disengaged, but in reality, the clutch's actuator has not fully reached its disengagement limit. To ensure the accuracy of clutch self-learning, the clutch should be fully disengaged and fully engaged as much as possible. Therefore, the host computer obtains the first displacement value of the target clutch using a displacement sensor to determine whether the target clutch (i.e., the clutch's actuator) is fully disengaged.

[0059] S206: Determine whether the target clutch is in a fully disengaged state based on the first displacement value. If the target clutch is in a fully disengaged state based on the first displacement value, control the transmission controller to perform the engagement operation of the target clutch and obtain the second input torque.

[0060] The host computer determines whether the target clutch is fully disengaged based on the first displacement value. Specifically, through pre-conducted vehicle calibration tests, the disengagement compensation amount of the current clutch model can be obtained. The sum of the first displacement value and the disengagement compensation amount is used as the disengagement characteristic value of the target clutch. When the displacement value of the target clutch reaches the disengagement characteristic value, it is determined whether the input torque is still less than or equal to the first target torque value. If the input torque is less than or equal to the first target torque value, the target clutch is determined to be fully disengaged. The host computer controls the transmission controller to execute the engagement operation of the target clutch and collects the second input torque through the sensor at the input end.

[0061] S208: If the second input torque is greater than or equal to the first target torque value, obtain the second displacement value of the target clutch.

[0062] Specifically, when the second input torque is greater than or equal to the first torque value, it indicates that power transmission is present and the target clutch is in a critical slip-wear state. The host computer obtains the displacement value of the target clutch at this moment through a unique sensor, which is used as the second displacement value, i.e., the friction characteristic value of the target clutch. Afterwards, the host computer controls the transmission controller to continue executing the engagement operation of the target clutch.

[0063] S210: If the second input torque is greater than or equal to the second target torque value, obtain the third displacement value of the target clutch.

[0064] The second target torque value is the engagement target torque of the current model clutch, obtained through pre-conducted vehicle calibration tests. When the second input torque is greater than or equal to the second target torque value, the target clutch is considered to be in a critical state of full engagement. The host computer obtains the third displacement value of the target clutch through a displacement sensor. To ensure full engagement of the target clutch, the engagement limit of the target clutch's actuator structure also needs to be considered. Through pre-conducted vehicle tests, the engagement compensation amount of the current model clutch can be obtained. The sum of the third displacement value and the engagement compensation amount is used as the engagement characteristic value of the target clutch.

[0065] S212: Determine the self-learning result of the target clutch based on the first displacement value, the second displacement value, and the third displacement value.

[0066] The host computer compares the first displacement value, the second displacement value, and the third displacement value with the characteristic value range obtained through pre-calibration of the whole vehicle. When the first displacement value, the second displacement value, and the third displacement value are all within the corresponding characteristic value range, it indicates that the self-learning is successful, and the self-learning result of the target clutch is successful.

[0067] In the aforementioned clutch self-learning method, the transmission controller is controlled to perform a disengagement operation on the target clutch to obtain a first input torque. If the first input torque is less than or equal to the first target torque value, the first displacement value of the target clutch is obtained to determine whether the target clutch is in a fully disengaged state. If the target clutch is in a fully disengaged state, the transmission controller is controlled to perform an engagement operation on the target clutch and obtain a second input torque. If the second input torque is greater than or equal to the first target torque value, the second displacement value of the target clutch is obtained. If the second input torque is greater than or equal to the second target torque value, the third displacement value of the target clutch is obtained. Based on the first displacement value, the second displacement value, and the third displacement value, the self-learning result of the target clutch can be accurately determined, ensuring clutch safety and thus ensuring transmission safety.

[0068] In one embodiment, the step of determining whether the target clutch is in a fully disengaged state based on a first displacement value includes: calculating a first displacement target value based on the first displacement value and a first compensation value; and determining that the target clutch is in a fully disengaged state if the torque value corresponding to the first displacement target value is less than or equal to the first target torque value.

[0069] The first compensation value refers to the separation compensation amount of the current model clutch obtained through a pre-conducted vehicle calibration test. The host computer uses the sum of the first displacement value and the first compensation value as the first displacement target value, which is the separation characteristic value of the target clutch. When the displacement value of the target clutch reaches the first displacement target value, the host computer obtains the current torque value through the torque sensor at the input end. If the current torque value is less than or equal to the first target torque value, it is determined that the target clutch is in a fully disengaged state.

[0070] In this embodiment, a first displacement target value is calculated based on a first displacement value and a first compensation value. When the torque value corresponding to the first displacement target value is less than or equal to the first target torque value, it is determined that the target clutch is in a fully disengaged state. This can make the target clutch as fully disengaged as possible, thereby accurately determining the self-learning result of the target clutch.

[0071] In one embodiment, such as Figure 3 As shown, the steps for determining the self-learning result of the target clutch based on the first displacement value, the second displacement value, and the third displacement value include:

[0072] S302: Obtain historical driving data for a specified clutch that is the same model as the target clutch.

[0073] The host computer acquires historical driving data of a specified clutch with the same model as the target clutch. This historical driving data can be obtained through the transmission controller.

[0074] S304: Based on historical driving data, obtain the target range corresponding to the clutch characteristic values.

[0075] The host computer obtains the target range corresponding to the clutch characteristic values ​​based on historical data. Specifically, the target range includes the target range of separation characteristic values, the target range of friction characteristic values, and the target range of engagement characteristic values.

[0076] S306: If the first displacement value, the second displacement value, and the third displacement value are all within the target range, the self-learning result of the target clutch is determined to be self-learning passed.

[0077] The host computer compares the first displacement value, the second displacement value, and the third displacement value with their respective rated target ranges. If the first displacement value, the second displacement value, and the third displacement value are all within the target range, the self-learning result of the target clutch is determined to be self-learning passed.

[0078] In this embodiment, by acquiring historical driving data of a specified clutch with the same model as the target clutch, and based on the historical driving data, the target range corresponding to the clutch characteristic value is obtained. When the first displacement value, the second displacement value, and the third displacement value are all within the target range, the self-learning result of the target clutch is determined to be self-learning passed. This can accurately determine the self-learning result of the target clutch, ensure clutch safety, and thus ensure the safety of the transmission.

[0079] In one embodiment, the method further includes: if, based on a first displacement value, a second displacement value, and a third displacement value, it is determined that the self-learning result of the target clutch is a self-learning failure, repeatedly executing the step of controlling the transmission controller to perform the disengagement operation of the target clutch and obtaining a first input torque; if it is determined that the self-learning result of the target clutch is still a self-learning failure, issuing a fault alarm signal; the fault alarm signal includes fault information.

[0080] In this scenario, if the host computer determines that the self-learning result of the target clutch has failed, to avoid the possibility that the failure is due to malfunctions in other equipment or external interference, it typically needs to perform a second disengagement-engagement operation on the target clutch for a second self-learning test. If the result of the second self-learning test is also a failure, a fault alarm message is issued to instruct the operator to adjust the target clutch. Generally, to balance with the production cycle, the self-learning process is usually performed twice; that is, if the second self-learning test also fails, the result is considered a self-learning failure.

[0081] In this embodiment, if the self-learning result of the target clutch is determined to be a failure based on the first displacement value, the second displacement value, and the third displacement value, the steps of controlling the transmission controller to perform the disengagement operation of the target clutch and obtaining the first input torque are repeated. If the self-learning result of the target clutch is still determined to be a failure, a fault alarm signal is issued. This can accurately determine the self-learning result of the target clutch, ensure clutch safety, and thus ensure transmission safety.

[0082] In one embodiment, the method further includes: if the self-learning result of the clutch is that the self-learning is successful, obtaining the average shift displacement value of the target synchronizer, wherein the average shift displacement value is the displacement value of the target synchronizer in the corresponding gear; and determining the self-learning result of the target synchronizer based on the average shift displacement value.

[0083] In addition to the clutch self-learning result being successful, synchronizer self-learning is also required to further ensure transmission safety. The synchronizer is used to synchronize gears when adjusting transmission gears via the clutch. During synchronizer self-learning, the host computer inputs a motor speed of 1000 rpm. The host computer controls the transmission controller to execute various shifting operations on the target synchronizer to obtain the displacement value of the target synchronizer in the corresponding gear, calculates the average shift displacement value, and then determines the self-learning result of the target synchronizer based on the average shift displacement value.

[0084] In this embodiment, when the clutch self-learning result is that the self-learning is successful, the average shift displacement value of the target synchronizer is obtained. The average shift displacement value is the displacement value of the target synchronizer in the corresponding gear. Based on the average shift displacement value, the self-learning result of the target synchronizer can be accurately determined, ensuring the safety of the synchronizer and thus ensuring the safety of the transmission.

[0085] In one embodiment, such as Figure 4 As shown, the steps for obtaining the average shift displacement value of the target synchronizer include:

[0086] S402: According to the target number of executions, execute the steps of controlling the transmission controller to perform the first shift operation of the target synchronizer multiple times, obtaining the corresponding multiple first shift displacement values, controlling the transmission controller to perform the second shift operation of the target synchronizer, and obtaining the corresponding multiple second shift displacement values.

[0087] During synchronizer self-learning, the host computer repeatedly controls the transmission controller to perform the first shift operation (from low gear to high gear) of the target synchronizer according to the target execution number. The first shift displacement value of the synchronizer is obtained through a displacement sensor. Then, the host computer controls the transmission controller to perform the second shift operation (from high gear to low gear), again obtaining the second shift displacement value through the displacement sensor. Typically, the target execution number is three times, and the first and second shift displacement values ​​are obtained during each execution.

[0088] S404: Based on multiple first shift displacement values ​​and multiple second shift displacement values, the average shift displacement value is calculated; wherein, the first shift operation and the second shift operation together constitute a shift operation combination, and the shift operation combination is divided into multiple combination results; the multiple combination results are as follows: the first shift operation is the target synchronizer shifting from a low gear to a high gear and the second shift operation is the target synchronizer shifting from a high gear to a low gear; the first shift operation is the target transmission shifting from reverse gear to first gear and the second shift operation is the target transmission shifting from first gear to reverse gear.

[0089] The host computer calculates the average shift displacement value based on multiple first and second shift displacement values, and then determines the synchronizer's self-learning result using this average shift displacement value. The first and second shift operations together form a shift operation combination, which can have various possible outcomes. These combinations could include: the first shift operation being a shift from a low gear to a high gear, and the second shift operation being a shift from a high gear to a low gear; the first shift operation being a shift from reverse to first gear, and the second shift operation being a shift from first gear to reverse; or the first shift operation being a shift from second to third gear, and the second shift operation being a shift from third to second gear. Furthermore, the gears in the first and second shift operations can be adjusted according to actual application requirements.

[0090] In this embodiment, by repeatedly executing the first shift operation of the target synchronizer by controlling the transmission controller to perform the target shift operation multiple times according to the target number of executions, and obtaining the corresponding multiple first shift displacement values, and then controlling the transmission controller to perform the second shift operation of the target synchronizer to obtain the corresponding multiple second shift displacement values, the average shift displacement value is calculated based on the multiple first shift displacement values ​​and the multiple second shift displacement values. This can accurately determine the self-learning result of the target synchronizer, ensure the synchronizer's safety, and thus ensure the safety of the transmission.

[0091] In one embodiment, such as Figure 5 As shown, a clutch self-learning method is provided, which includes the following steps:

[0092] S502: Controls the transmission controller to perform the disengagement operation of the target clutch and obtain the first input torque.

[0093] S504: If the first input torque is less than or equal to the first target torque value, obtain the first displacement value of the target clutch.

[0094] S506: Based on the first displacement value and the first compensation value, calculate the first displacement target value. If the torque value corresponding to the first displacement target value is less than or equal to the first target torque value, determine that the target clutch is in a fully disengaged state, control the transmission controller to perform the engagement operation of the target clutch, and obtain the second input torque.

[0095] S508: If the second input torque is greater than or equal to the first target torque value, obtain the second displacement value of the target clutch.

[0096] S510: If the second input torque is greater than or equal to the second target torque value, obtain the third displacement value of the target clutch.

[0097] S512: Obtain historical driving data of a specified clutch with the same model as the target clutch. Based on the historical driving data, obtain the target range corresponding to the clutch characteristic value. If the first displacement value, the second displacement value, and the third displacement value are all within the target range, determine that the self-learning result of the target clutch is self-learning passed.

[0098] S514: If, based on the first displacement value, the second displacement value, and the third displacement value, it is determined that the self-learning result of the target clutch is that the self-learning has failed, the step of controlling the transmission controller to perform the disengagement operation of the target clutch and obtaining the first input torque is repeated.

[0099] S516: If the self-learning result of the target clutch is still determined to be a failure, a fault alarm signal is issued; the fault alarm signal includes fault information.

[0100] S518: If the clutch self-learning result is that the self-learning is successful, the transmission controller is controlled to perform the first shift operation of the target synchronizer multiple times according to the target number of executions, and the corresponding first shift displacement values ​​are obtained. The transmission controller is then controlled to perform the second shift operation of the target synchronizer, and the corresponding second shift displacement values ​​are obtained.

[0101] S520: Based on multiple first shift displacement values ​​and multiple second shift displacement values, the average shift displacement value is calculated; wherein, the first shift operation and the second shift operation together constitute a shift operation combination, and the shift operation combination is divided into multiple combination results; the multiple combination results are as follows: the first shift operation is the target synchronizer shifting from a low gear to a high gear and the second shift operation is the target synchronizer shifting from a high gear to a low gear; the first shift operation is the target transmission shifting from reverse to first gear and the second shift operation is the target transmission shifting from first gear to reverse; the first shift operation is the target transmission shifting from second gear to third gear and the second shift operation is the target transmission shifting from third gear to second gear.

[0102] S522: Determine the self-learning result of the target synchronizer based on the average shift displacement value.

[0103] Among them, such as Figure 6 As shown, the above-described clutch self-learning method can be applied to, for example... Figure 6 The clutch self-learning system shown includes: host computer 1, AMT controller 2, load motor 3, output motor 4, pressure reducing valve 5, torque sensor 6, clutch actuator 7, gear selector actuator 8, gear shift actuator 9, clutch displacement sensor 10, gear selector displacement sensor 11, gear shift displacement sensor 12, input shaft speed sensor 13, output shaft speed sensor 14, and pressure sensor 15.

[0104] The host computer 1 communicates with the AMT controller via a network. Host computer 1 sends control commands to the AMT controller 2 to control the AMT controller to perform self-learning operations on the target clutch and the target synchronizer, and to receive sensor signals from the AMT controller 2. Host computer 1 is electrically connected to the input motor 3, load motor 4, pressure reducing valve 5, and torque sensor 6. Input motor 3 provides the input speed, load motor 4 provides the load torque, pressure reducing valve 5 regulates the intake pressure of the AMT controller 2, and torque sensor 6 collects torque values ​​according to the control commands from host computer 1. AMT controller 2 is electrically connected to the clutch actuator 7, gear selector actuator 8, gear shift actuator 9, clutch displacement sensor 10, gear selector displacement sensor 11, gear shift displacement sensor 12, input shaft speed sensor 13, output shaft speed sensor 14, and pressure sensor 15. Clutch actuator 7 is used to perform clutch disengagement or engagement operations; gear selector actuator 8 is used to perform synchronizer gear selector operations; gear shift actuator 9 is used to perform synchronizer gear shift operations; clutch displacement sensor 10 is used to collect clutch displacement values; gear selector displacement sensor 11 is used to collect synchronizer gear selector displacement values; gear shift displacement sensor 12 is used to collect synchronizer gear shift displacement values; input shaft speed sensor 13 is used to collect the input speed of input motor 3; output shaft speed sensor 14 is used to collect the output speed of load motor 4; and pressure sensor 15 is used to collect the intake pressure of AMT controller 2.

[0105] In this embodiment, by controlling the transmission controller to perform the disengagement operation of the target clutch, a first input torque is obtained. If the first input torque is less than or equal to the first target torque value, a first displacement value of the target clutch is obtained to determine whether the target clutch is in a fully disengaged state. If the target clutch is in a fully disengaged state, the transmission controller is controlled to perform the engagement operation of the target clutch and a second input torque is obtained. If the second input torque is greater than or equal to the first target torque value, a second displacement value of the target clutch is obtained. If the second input torque is greater than or equal to the second target torque value, a third displacement value of the target clutch is obtained. Based on the first displacement value, the second displacement value, and the third displacement value, the self-learning result of the target clutch can be accurately determined, ensuring clutch safety and thus ensuring transmission safety.

[0106] It should be understood that although the steps in the flowcharts of the above embodiments 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 above embodiments 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.

[0107] Based on the same inventive concept, this application also provides a clutch self-learning device for implementing the clutch self-learning method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of the one or more clutch self-learning device embodiments provided below can be found in the limitations of the clutch self-learning method described above, and will not be repeated here.

[0108] In one embodiment, such as Figure 7 As shown, a clutch self-learning device is provided, comprising: a clutch disengagement module 10, a first displacement acquisition module 20, a clutch engagement module 30, a second displacement acquisition module 40, a third displacement acquisition module 50, and a self-learning determination module 60, wherein:

[0109] The clutch disengagement module 10 is used to control the transmission controller to perform the disengagement operation of the target clutch and to obtain the first input torque.

[0110] The first displacement acquisition module 20 is used to acquire the first displacement value of the target clutch when the first input torque is less than or equal to the first target torque value.

[0111] The clutch engagement module 30 is used to determine whether the target clutch is in a fully disengaged state based on a first displacement value. If the target clutch is determined to be in a fully disengaged state based on the first displacement value, the module controls the transmission controller to perform the engagement operation of the target clutch and obtain the second input torque.

[0112] The second displacement acquisition module 40 is used to acquire the second displacement value of the target clutch when the second input torque is greater than or equal to the first target torque value.

[0113] The third displacement acquisition module 50 is used to acquire the third displacement value of the target clutch when the second input torque is greater than or equal to the second target torque value.

[0114] The self-learning determination module 60 is used to determine the self-learning result of the target clutch based on the first displacement value, the second displacement value, and the third displacement value.

[0115] In one embodiment, the clutch engagement module 30 is further configured to calculate a first displacement target value based on a first displacement value and a first compensation value; and determine that the target clutch is in a fully disengaged state if the torque value corresponding to the first displacement target value is less than or equal to the first target torque value.

[0116] In one embodiment, the self-learning determination module 60 includes: a historical data acquisition unit, a target range determination unit, and a self-learning determination unit, wherein:

[0117] The historical data acquisition unit is used to acquire historical driving data of a specified clutch that is the same model as the target clutch.

[0118] The target range determination unit is used to obtain the target range corresponding to the clutch characteristic value based on historical driving data.

[0119] The self-learning determination unit is used to determine the self-learning result of the target clutch as self-learning passed when the first displacement value, the second displacement value, and the third displacement value are all within the target range.

[0120] In one embodiment, the self-learning determination module 60 is further configured to, if the self-learning result of the target clutch is determined to be a failure based on the first displacement value, the second displacement value, and the third displacement value, repeatedly execute the step of controlling the transmission controller to perform the disengagement operation of the target clutch and obtain the first input torque; and if the self-learning result of the target clutch is still determined to be a failure, issue a fault alarm signal; the fault alarm signal includes fault information.

[0121] In one embodiment, the self-learning determination module 60 is further configured to, when the self-learning result of the clutch is that the self-learning is successful, obtain the average shift displacement value of the target synchronizer, the average shift displacement value being the displacement value of the target synchronizer in the corresponding gear; and determine the self-learning result of the target synchronizer based on the average shift displacement value.

[0122] In one embodiment, the self-learning determination module 60 is further configured to execute the steps of controlling the transmission controller to perform a first shift operation of the target synchronizer multiple times according to the target number of executions, obtaining multiple corresponding first shift displacement values, controlling the transmission controller to perform a second shift operation of the target synchronizer, and obtaining multiple corresponding second shift displacement values; and to calculate an average shift displacement value based on the multiple first shift displacement values ​​and the multiple second shift displacement values; wherein, the first shift operation and the second shift operation together constitute a shift operation combination, and the shift operation combination is divided into multiple combination results; the multiple combination results are as follows: the first shift operation is the target synchronizer shifting from a low gear to a high gear and the second shift operation is the target synchronizer shifting from a high gear to a low gear; the first shift operation is the target transmission shifting from reverse to first gear and the second shift operation is the target transmission shifting from first gear to reverse; the first shift operation is the target transmission shifting from second gear to third gear and the second shift operation is the target transmission shifting from third gear to second gear.

[0123] Each module in the aforementioned clutch self-learning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0124] In one embodiment, a computer device is provided, which may be a host computer or a terminal, and its internal structure diagram may be as follows. Figure 8As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a clutch self-learning method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0125] Those skilled in the art will understand that Figure 8 The 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.

[0126] 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: controlling a transmission controller to perform a disengagement operation of a target clutch and acquiring a first input torque; if the first input torque is less than or equal to a first target torque value, acquiring a first displacement value of the target clutch; determining whether the target clutch is in a fully disengaged state based on the first displacement value; if the target clutch is determined to be in a fully disengaged state based on the first displacement value, controlling the transmission controller to perform an engagement operation of the target clutch and acquiring a second input torque; if the second input torque is greater than or equal to the first target torque value, acquiring a second displacement value of the target clutch; if the second input torque is greater than or equal to the second target torque value, acquiring a third displacement value of the target clutch; and determining a self-learning result of the target clutch based on the first displacement value, the second displacement value, and the third displacement value.

[0127] In one embodiment, the determination of whether the target clutch is in a fully disengaged state based on a first displacement value when the processor executes a computer program includes: calculating a first displacement target value based on the first displacement value and a first compensation value; and determining that the target clutch is in a fully disengaged state if the torque value corresponding to the first displacement target value is less than or equal to the first target torque value.

[0128] In one embodiment, the processor executing a computer program to determine the self-learning result of the target clutch based on a first displacement value, a second displacement value, and a third displacement value includes: acquiring historical driving data of a specified clutch of the same model as the target clutch; acquiring a target range corresponding to the clutch characteristic value based on the historical driving data; and determining that the self-learning result of the target clutch is self-learning passed if the first displacement value, the second displacement value, and the third displacement value are all within the target range.

[0129] In one embodiment, when the processor executes the computer program, it further performs the following steps: if, based on the first displacement value, the second displacement value, and the third displacement value, it determines that the self-learning result of the target clutch is a failure, it repeatedly executes the step of controlling the transmission controller to perform the disengagement operation of the target clutch and obtain the first input torque; if it determines that the self-learning result of the target clutch is still a failure, it issues a fault alarm signal; the fault alarm signal includes fault information.

[0130] In one embodiment, when the processor executes the computer program, it further performs the following steps: if the self-learning result of the clutch is that the self-learning is successful, it obtains the average shift displacement value of the target synchronizer, the average shift displacement value being the displacement value of the target synchronizer in the corresponding gear; and determines the self-learning result of the target synchronizer based on the average shift displacement value.

[0131] In one embodiment, the process of obtaining the average shift displacement value of the target synchronizer when the processor executes the computer program includes: repeatedly executing the steps of controlling the transmission controller to perform a first shift operation of the target synchronizer according to the target number of executions, obtaining a plurality of corresponding first shift displacement values; controlling the transmission controller to perform a second shift operation of the target synchronizer, obtaining a plurality of corresponding second shift displacement values; and calculating the average shift displacement value based on the plurality of first shift displacement values ​​and the plurality of second shift displacement values. The first and second shift operations together constitute a shift operation combination, which has multiple possible combinations. These multiple combinations include: the first shift operation being a shift from a low gear to a high gear and the second shift operation being a shift from a high gear to a low gear; the first shift operation being a shift from reverse to first gear and the second shift operation being a shift from first gear to reverse gear; and the first shift operation being a shift from second to third gear and the second shift operation being a shift from third to second gear.

[0132] 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: controlling a transmission controller to perform a disengagement operation of a target clutch and acquiring a first input torque; if the first input torque is less than or equal to a first target torque value, acquiring a first displacement value of the target clutch; determining whether the target clutch is in a fully disengaged state based on the first displacement value; if the target clutch is determined to be in a fully disengaged state based on the first displacement value, controlling the transmission controller to perform an engagement operation of the target clutch and acquiring a second input torque; if the second input torque is greater than or equal to the first target torque value, acquiring a second displacement value of the target clutch; if the second input torque is greater than or equal to the second target torque value, acquiring a third displacement value of the target clutch; and determining a self-learning result of the target clutch based on the first displacement value, the second displacement value, and the third displacement value.

[0133] In one embodiment, the determination of whether the target clutch is in a fully disengaged state based on a first displacement value when the computer program is executed by the processor includes: calculating a first displacement target value based on the first displacement value and a first compensation value; and determining that the target clutch is in a fully disengaged state if the torque value corresponding to the first displacement target value is less than or equal to the first target torque value.

[0134] In one embodiment, when the computer program is executed by the processor, determining the self-learning result of the target clutch based on a first displacement value, a second displacement value, and a third displacement value includes: acquiring historical driving data of a specified clutch of the same model as the target clutch; acquiring a target range corresponding to the clutch characteristic value based on the historical driving data; and determining that the self-learning result of the target clutch is self-learning passed when the first displacement value, the second displacement value, and the third displacement value are all within the target range.

[0135] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if, based on the first displacement value, the second displacement value, and the third displacement value, it is determined that the self-learning result of the target clutch is a failure, repeatedly execute the step of controlling the transmission controller to perform the disengagement operation of the target clutch and obtain the first input torque; if it is determined that the self-learning result of the target clutch is still a failure, issue a fault alarm signal; the fault alarm signal includes fault information.

[0136] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: if the self-learning result of the clutch is that the self-learning is successful, obtain the average shift displacement value of the target synchronizer, the average shift displacement value being the displacement value of the target synchronizer in the corresponding gear; and determine the self-learning result of the target synchronizer based on the average shift displacement value.

[0137] In one embodiment, the process of obtaining the average shift displacement value of the target synchronizer when the computer program is executed by the processor includes: repeatedly executing the steps of controlling the transmission controller to perform a first shift operation of the target synchronizer according to the target number of executions, obtaining a plurality of corresponding first shift displacement values; controlling the transmission controller to perform a second shift operation of the target synchronizer, obtaining a plurality of corresponding second shift displacement values; and calculating the average shift displacement value based on the plurality of first shift displacement values ​​and the plurality of second shift displacement values. The first and second shift operations together constitute a shift operation combination, and the shift operation combination has multiple possible combinations. These multiple combinations include: the first shift operation being a shift from a low gear to a high gear and the second shift operation being a shift from a high gear to a low gear; the first shift operation being a shift from reverse to first gear and the second shift operation being a shift from first gear to reverse gear; and the first shift operation being a shift from second to third gear and the second shift operation being a shift from third to second gear.

[0138] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: controlling a transmission controller to perform a disengagement operation of a target clutch and acquiring a first input torque; if the first input torque is less than or equal to a first target torque value, acquiring a first displacement value of the target clutch; determining whether the target clutch is in a fully disengaged state based on the first displacement value; if the target clutch is determined to be in a fully disengaged state based on the first displacement value, controlling the transmission controller to perform an engagement operation of the target clutch and acquiring a second input torque; if the second input torque is greater than or equal to the first target torque value, acquiring a second displacement value of the target clutch; if the second input torque is greater than or equal to the second target torque value, acquiring a third displacement value of the target clutch; and determining a self-learning result of the target clutch based on the first displacement value, the second displacement value, and the third displacement value.

[0139] In one embodiment, the determination of whether the target clutch is in a fully disengaged state based on a first displacement value when the computer program is executed by the processor includes: calculating a first displacement target value based on the first displacement value and a first compensation value; and determining that the target clutch is in a fully disengaged state if the torque value corresponding to the first displacement target value is less than or equal to the first target torque value.

[0140] In one embodiment, when the computer program is executed by the processor, determining the self-learning result of the target clutch based on a first displacement value, a second displacement value, and a third displacement value includes: acquiring historical driving data of a specified clutch of the same model as the target clutch; acquiring a target range corresponding to the clutch characteristic value based on the historical driving data; and determining that the self-learning result of the target clutch is self-learning passed when the first displacement value, the second displacement value, and the third displacement value are all within the target range.

[0141] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if, based on the first displacement value, the second displacement value, and the third displacement value, it is determined that the self-learning result of the target clutch is a failure, repeatedly execute the step of controlling the transmission controller to perform the disengagement operation of the target clutch and obtain the first input torque; if it is determined that the self-learning result of the target clutch is still a failure, issue a fault alarm signal; the fault alarm signal includes fault information.

[0142] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: if the self-learning result of the clutch is that the self-learning is successful, obtain the average shift displacement value of the target synchronizer, the average shift displacement value being the displacement value of the target synchronizer in the corresponding gear; and determine the self-learning result of the target synchronizer based on the average shift displacement value.

[0143] In one embodiment, the process of obtaining the average shift displacement value of the target synchronizer when the computer program is executed by the processor includes: repeatedly executing the steps of controlling the transmission controller to perform a first shift operation of the target synchronizer according to the target number of executions, obtaining a plurality of corresponding first shift displacement values; controlling the transmission controller to perform a second shift operation of the target synchronizer, obtaining a plurality of corresponding second shift displacement values; and calculating the average shift displacement value based on the plurality of first shift displacement values ​​and the plurality of second shift displacement values. The first and second shift operations together constitute a shift operation combination, and the shift operation combination has multiple possible combinations. These multiple combinations include: the first shift operation being a shift from a low gear to a high gear and the second shift operation being a shift from a high gear to a low gear; the first shift operation being a shift from reverse to first gear and the second shift operation being a shift from first gear to reverse gear; and the first shift operation being a shift from second to third gear and the second shift operation being a shift from third to second gear.

[0144] 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.

[0145] 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.

[0146] 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 clutch self-learning method, characterized in that, The method includes: The transmission controller is controlled to perform the disengagement operation of the target clutch and to obtain the first input torque; If the first input torque is less than or equal to the first target torque value, obtain the first displacement value of the target clutch; Based on the first displacement value, it is determined whether the target clutch is in a fully disengaged state. If it is determined that the target clutch is in the fully disengaged state based on the first displacement value, the transmission controller is controlled to perform the engagement operation of the target clutch and obtain the second input torque. When the second input torque is greater than or equal to the first target torque value, the second displacement value of the target clutch is obtained; If the second input torque is greater than or equal to the second target torque value, obtain the third displacement value of the target clutch; Obtain historical driving data for a specified clutch that is the same model as the target clutch; Based on the historical driving data, the target range corresponding to the clutch characteristic values ​​is obtained; the clutch characteristic values ​​include disengagement characteristic values, friction characteristic values, and engagement characteristic values. If the first displacement value, the second displacement value, and the third displacement value are all within the target range, the self-learning result of the target clutch is determined to be self-learning passed.

2. The method according to claim 1, characterized in that, Determining whether the target clutch is in a fully disengaged state based on the first displacement value includes: Based on the first displacement value and the first compensation value, the first displacement target value is calculated; If the torque value corresponding to the first displacement target value is less than or equal to the first target torque value, the target clutch is determined to be in the fully disengaged state.

3. The method according to claim 1, characterized in that, The method further includes: If, based on the first displacement value, the second displacement value, and the third displacement value, it is determined that the self-learning result of the target clutch is a failure, the steps of controlling the transmission controller to perform the disengagement operation of the target clutch and obtaining the first input torque are repeated. If the self-learning result of the target clutch is still determined to be a failure, a fault alarm signal is issued; the fault alarm signal includes fault information.

4. The method according to claim 1, characterized in that, The method includes: If the clutch self-learning result is that the self-learning is successful, the average shift displacement value of the target synchronizer is obtained. The average shift displacement value is the displacement value of the target synchronizer in the corresponding gear. Based on the average shift displacement value, the self-learning result of the target synchronizer is determined.

5. The method according to claim 4, characterized in that, The process of obtaining the average shift displacement value of the target synchronizer includes: According to the target number of executions, the steps of controlling the transmission controller to perform the first shift operation of the target synchronizer and obtaining the corresponding first shift displacement values ​​are executed multiple times, and the steps of controlling the transmission controller to perform the second shift operation of the target synchronizer and obtaining the corresponding second shift displacement values ​​are executed multiple times. Based on the plurality of first shift displacement values ​​and the plurality of second shift displacement values, the average shift displacement value is calculated. The first shift operation and the second shift operation together constitute a shift operation combination, which has multiple possible combinations. These multiple combinations are as follows: the first shift operation is the target synchronizer shifting from a low gear to a high gear and the second shift operation is the target synchronizer shifting from a high gear to a low gear; the first shift operation is the target transmission shifting from reverse to first gear and the second shift operation is the target transmission shifting from first gear to reverse; the first shift operation is the target transmission shifting from second gear to third gear and the second shift operation is the target transmission shifting from third gear to second gear.

6. A clutch self-learning device, characterized in that, The device includes: The clutch disengagement module is used to control the transmission controller to perform the disengagement operation of the target clutch and to obtain the first input torque; The first displacement acquisition module is used to acquire the first displacement value of the target clutch when the first input torque is less than or equal to the first target torque value; The clutch engagement module is used to determine whether the target clutch is in a fully disengaged state based on the first displacement value. If the target clutch is determined to be in the fully disengaged state based on the first displacement value, the module controls the transmission controller to perform the engagement operation of the target clutch and obtain the second input torque. The second displacement acquisition module is used to acquire the second displacement value of the target clutch when the second input torque is greater than or equal to the first target torque value; The third displacement acquisition module is used to acquire the third displacement value of the target clutch when the second input torque is greater than or equal to the second target torque value. The self-learning determination module is used to acquire historical driving data of a specified clutch with the same model as the target clutch; based on the historical driving data, acquire the target range corresponding to the clutch feature values; when the first displacement value, the second displacement value, and the third displacement value are all within the target range, determine that the self-learning result of the target clutch is self-learning passed; the clutch feature values ​​include separation feature values, friction feature values, and engagement feature values.

7. 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 5.

8. 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 5.

9. 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 5.

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