A vehicle driving control method, system, and vehicle

Abstract

This application provides a vehicle driving control method, system, and vehicle. The control method includes: calculating the drivetrain clearance; when the vehicle's driving state changes, obtaining a first clearance elimination time based on the drivetrain clearance; and then adjusting the torque at the power input end based on the first clearance elimination time, so that the torque at the power input end slowly changes to a target torque. Here, the drivetrain clearance is the gap between the vehicle's power input end and power output end, and the first clearance elimination time is the time required for the drivetrain clearance to eliminate when the vehicle's driving state changes. Therefore, this control method adjusts the input torque within the time period required from the separation of the vehicle's power input end and power output end to the occurrence of a collision, so that the input torque slowly changes to a target torque, thereby reducing the collision sensation when the power input end and power output end come into contact. Consequently, when the vehicle's driving state changes, it reduces the impact sensation and improves the vehicle's driving comfort.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a vehicle driving control method, a vehicle driving control system, and a vehicle including the control system. Background Technology

[0002] If the vehicle's driving state suddenly changes during operation, such as during driving or braking, the input torque will change drastically or reverse direction, resulting in a jolt during driving, which reduces comfort and affects the user experience. Summary of the Invention

[0003] In view of this, this application provides a vehicle driving control method, the scheme of which is as follows:

[0004] A vehicle driving control method, the control method comprising:

[0005] Calculate the transmission chain clearance, which is the clearance between the vehicle's power input end and power output end; wherein, the power input end includes a motor, and the power output end includes an output shaft;

[0006] During vehicle operation, when the vehicle's driving state changes, a first gap elimination time is obtained based on the transmission chain gap. The first gap elimination time is the time for the transmission chain gap to be eliminated when the vehicle's driving state changes.

[0007] The torque at the power input terminal is adjusted based on the first gap elimination time, so that the torque at the power input terminal slowly changes to the target torque.

[0008] Optionally, the calculation of the transmission chain clearance includes:

[0009] The transmission chain clearance is calculated during the first gear shift after the vehicle is powered on.

[0010] Optionally, calculating the transmission chain clearance during the first gear shift after the vehicle is powered on includes:

[0011] Obtain the first rotational speed, which is the motor speed during the first gear shift process;

[0012] Obtain the second gap elimination time, which is the time for the transmission chain gap to be eliminated during the first gear shift;

[0013] The transmission chain gap is obtained based on the first rotational speed and the second gap elimination time.

[0014] Optionally, during vehicle operation, when the vehicle's driving state changes, the process of obtaining the first gap elimination time based on the transmission chain gap includes:

[0015] Obtain the second rotational speed, which is the motor speed when the vehicle's driving state changes;

[0016] Obtain the third rotational speed, which is the output shaft rotational speed when the vehicle's driving state changes;

[0017] The speed difference is obtained based on the second rotational speed and the third rotational speed;

[0018] The first gap elimination time is obtained based on the ratio of the transmission chain gap to the speed difference.

[0019] Optionally, obtaining the speed difference based on the second rotational speed and the third rotational speed includes:

[0020] Get the vehicle's current gear;

[0021] Obtain the product of the third rotational speed and the current gear ratio;

[0022] The speed difference is obtained based on the difference between the second rotational speed and the product.

[0023] Optionally, the control method further includes:

[0024] Obtain the direction of rotation of the motor;

[0025] The step of adjusting the torque at the power input end based on the first gap elimination time, so that the torque at the power input end gradually changes to the target torque, includes:

[0026] Based on the first gap elimination time and the motor rotation, the torque of the power input terminal is adjusted so that the torque of the power input terminal slowly changes along the motor rotation to the target torque.

[0027] Optionally, the control method further includes:

[0028] During vehicle operation, when the vehicle's driving state changes, the torque at the power output end and the target torque are obtained, and the difference between the torque at the power output end and the target torque is calculated.

[0029] The margin time is determined based on the difference;

[0030] The step of adjusting the torque at the power input end based on the first gap elimination time, so that the torque at the power input end gradually changes to the target torque, includes:

[0031] Obtain the sum of the first gap elimination time and the margin time, and adjust the torque of the power input terminal based on the sum so that the torque of the power input terminal slowly changes to the target torque.

[0032] Optionally, determining the margin time based on the difference includes:

[0033] Compare the difference with a preset difference;

[0034] If the difference is less than or equal to the preset difference, the margin time is 0;

[0035] If the difference is greater than the preset difference, the margin time is greater than 0, and the margin time increases as the difference increases.

[0036] A vehicle driving control system, the control system comprising:

[0037] A first calculation unit is used to calculate the transmission chain clearance, which is the clearance between the vehicle's power input end and power output end; wherein, the power input end includes a motor, and the power output end includes an output shaft;

[0038] The second calculation unit, during vehicle operation, when the vehicle's driving state changes, is used to obtain a first gap elimination time based on the transmission chain gap, where the first gap elimination time is the time for the transmission chain gap to be eliminated when the vehicle's driving state changes.

[0039] An adjustment unit is used to adjust the torque of the power input terminal so that the torque of the power input terminal slowly changes to the target torque within a preset time, wherein the preset time includes the first gap elimination time.

[0040] A vehicle comprising the vehicle driving control system described in any of the above embodiments.

[0041] Compared with the prior art, the beneficial effects of the technical solution of this application are as follows:

[0042] The vehicle driving control method provided in this application includes: calculating the drivetrain clearance; when the vehicle's driving state changes, obtaining a first clearance elimination time based on the drivetrain clearance; and then adjusting the torque at the power input end based on the first clearance elimination time, so that the torque at the power input end slowly changes to a target torque. Here, the drivetrain clearance is the gap between the vehicle's power input end and power output end, and the first clearance elimination time is the time it takes for the drivetrain clearance to eliminate when the vehicle's driving state changes. Therefore, this control method adjusts the input torque based on the first clearance elimination time, so that the input torque slowly changes to the target torque. Specifically, it adjusts the input torque within the time required for the vehicle's power input end and power output end to separate and collide, thereby reducing the impact sensation when the power input end and power output end come into contact. Consequently, when the vehicle's driving state changes, it reduces the impact sensation, improves driving comfort, and enhances the user experience. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0044] The structures, proportions, sizes, etc., shown in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this application. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0045] Figure 1 This diagram illustrates the changes in power input and power output when a vehicle's driving state undergoes a sudden change.

[0046] Figure 2 A flowchart of a vehicle driving control method provided in this application;

[0047] Figure 3 This is a diagram illustrating the gear shifting process of a vehicle.

[0048] Figure 4 A flowchart of another vehicle driving control method provided in this application. Detailed Implementation

[0049] The embodiments of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely one area of ​​this application, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0050] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] As described in the background section, if the vehicle's driving state suddenly changes, such as Figure 1 As shown, the collision between the power output end 1 and the power input end 2 will cause the vehicle to feel an impact, resulting in a reduction in the vehicle's driving comfort.

[0052] Based on this, this application provides a vehicle driving control method, such as... Figure 2 As shown, Figure 2 A flowchart of a vehicle driving control method provided in this application is provided, the control method including:

[0053] S1: Calculate the transmission chain clearance, which is the gap between the vehicle's power input end and power output end. The power input end includes a motor, and the power output end includes an output shaft. It should be noted that the power input end connects to the crankshaft to transmit engine power to the power output end, which in turn connects to the wheels to deliver power to drive the vehicle. Furthermore, it is clear that the power input end includes other components besides the motor, and the power input end also includes other components besides the output shaft, depending on the specific circumstances; this application does not provide a detailed description of these components.

[0054] S2: During vehicle operation, when the vehicle's driving state changes, such as when the vehicle suddenly drives or brakes, a first gap elimination time is obtained based on the transmission chain gap. The first gap elimination time is the time when the transmission chain gap is eliminated when the vehicle's driving state changes.

[0055] S3: Adjust the torque of the power input terminal based on the first gap elimination time, so that the torque of the power input terminal changes slowly to the target torque, that is, adjust the input torque based on the first gap elimination time, so that the input torque changes slowly to the target torque.

[0056] Specifically, as mentioned above, the transmission chain clearance is the gap between the vehicle's power input end and power output end. Furthermore, the first clearance elimination time is the time required for the transmission chain clearance to eliminate when the vehicle's driving state changes. In other words, the first clearance elimination time is the time required for the vehicle's power input end and power output end to separate from each other and then collide. Therefore, this control method adjusts the input torque based on the first clearance elimination time, causing the input torque to gradually change to the target torque. This means that the control method can adjust the input torque during the time between the separation of the vehicle's power input end and power output end and the collision, thus reducing the impact sensation when the power input end and power output end collide. Consequently, when the vehicle's driving state changes, it reduces the impact sensation, improves driving comfort, and enhances the user experience.

[0057] For step S1, in one embodiment of this application, calculating the transmission chain gap includes:

[0058] The drivetrain clearance is calculated during the first gear shift after the vehicle is powered on; that is, the drivetrain clearance is calculated during the first gear shift of each driving cycle. The aforementioned driving cycle refers to the driving process from when the vehicle is powered on and started to when it is powered off and turned off.

[0059] It should be noted that although the drivetrain clearance will increase due to wear as the vehicle is used over time, the change in drivetrain clearance during a single driving cycle is usually negligible. Therefore, the drivetrain clearance only needs to be calculated once per driving cycle, thus simplifying the control method. Furthermore, in this control method, the drivetrain clearance is calculated during the first gear shift of a driving cycle, and this clearance is used as the reference for subsequent driving processes within the cycle. In other words, this control method obtains the drivetrain clearance for each driving cycle at the beginning, before the vehicle is driven. This results in strong timeliness, allowing the system to minimize impact even if the vehicle's driving state changes immediately after being driven, thereby improving driving comfort and user experience.

[0060] Based on the above embodiments, in one embodiment of this application, calculating the transmission chain clearance during the first gear shift after the vehicle is powered on includes:

[0061] Obtain the first rotational speed, which is the motor speed during the first gear shift.

[0062] Obtain the second gap elimination time, which is the time for eliminating the transmission chain gap corresponding to the first rotational speed during the first gear shift process.

[0063] The transmission chain gap is obtained based on the first rotational speed and the second gap elimination time.

[0064] Figure 3 A diagram illustrating the vehicle's gear shifting process, such as... Figure 3 As shown, the vehicle's gear shifting process mainly consists of torque clearing, disengaging, speed adjustment, and gear engagement. Torque is restored after gear engagement. Therefore, in the first gear shift after the vehicle is powered on, calculating the transmission chain clearance specifically refers to calculating the transmission chain clearance during the process from torque clearing to torque recovery. Since the vehicle is not driven during gear shifting, and power is not transmitted to the power output end, the output shaft does not rotate. Therefore, in the first gear shift after the vehicle is powered on, calculating the transmission chain clearance only requires obtaining the first rotational speed, i.e., the current motor speed. Then, in the first gear shift, the second clearance elimination time is obtained, i.e., the time required for the vehicle's power input end and power output end to contact each other during the first gear shift. Therefore, after obtaining the first rotational speed and the second clearance elimination time, the transmission chain clearance can be obtained by calculating the integral of the first rotational speed with respect to the second clearance elimination time, thus completing the calculation of the transmission chain clearance in the first gear shift after the vehicle is powered on.

[0065] It should be noted that during the first gear shift after the vehicle is powered on, sensors and other devices can be used to monitor the power input end to obtain the time required for the power input end and the power output end to come into contact.

[0066] Regarding step S2, in one embodiment of this application, during vehicle operation, when the vehicle's driving state changes, the step of obtaining the first gap elimination time based on the transmission chain gap includes:

[0067] Obtain the second rotational speed, which is the motor speed when the vehicle's driving state changes.

[0068] Obtain the third rotational speed, which is the output shaft rotational speed when the vehicle's driving state changes.

[0069] The speed difference is obtained based on the second speed and the third speed, and then the speed difference between the power input end and the power output end is obtained based on the second speed and the third speed.

[0070] The first gap elimination time is obtained based on the ratio of the transmission chain gap to the speed difference. Since the speed difference is known to be the speed difference between the power input end and the power output end, the time required for the power input end and the power output end to contact each other can be obtained based on the ratio of the transmission chain gap to the speed difference, thus yielding the first gap elimination time.

[0071] Based on the above embodiments, in one embodiment of this application, obtaining the speed difference based on the second rotational speed and the third rotational speed includes:

[0072] Obtain the vehicle's current gear, specifically the gear when the vehicle's driving status changes.

[0073] Obtain the product of the third rotational speed and the current gear ratio.

[0074] The speed difference is obtained based on the difference between the second rotational speed and the product.

[0075] It should be noted that there is a certain transmission ratio between the motor speed and the output shaft speed, which varies depending on the vehicle's gear. Therefore, when calculating the speed difference based on the second and third speeds, it is necessary to convert the third speed (output shaft speed) to the corresponding motor speed according to the current gear. This motor speed is the product of the third speed and the transmission ratio of the current gear. The speed difference can then be obtained based on the aforementioned second speed and its product. This speed difference represents the speed difference between the power input and power output ends when the vehicle's driving state changes.

[0076] It should be noted that when the vehicle's driving state changes, if the vehicle is driving, the motor rotates forward and its speed increases, and the output shaft rotates forward, but its speed also increases; if the vehicle is braking, the motor rotates in reverse and its speed decreases, and the output shaft rotates in reverse, but its speed also decreases. Therefore, in one embodiment of this application, the control method further includes:

[0077] Obtain the direction of rotation of the motor.

[0078] The step of adjusting the torque at the power input end based on the first gap elimination time, so that the torque at the power input end gradually changes to the target torque, includes:

[0079] Based on the first gap elimination time and the motor rotation direction, the torque at the power input terminal is adjusted so that the torque at the power input terminal slowly changes to the target torque along the motor rotation direction. This allows the control method to adapt to different changes in vehicle driving conditions and has strong practicality. Specifically, when the vehicle is driving, based on the first gap elimination time, the torque at the power input terminal slowly changes to the target torque along the motor's forward rotation direction. When the vehicle is braking, based on the first gap elimination time, the torque at the power input terminal slowly changes to the target torque along the motor's reverse rotation direction.

[0080] During vehicle operation, if the input torque changes drastically, such as by suddenly accelerating or braking, the torque change is very large, and the first clearance elimination time is insufficient to smoothly eliminate the drivetrain backlash. Therefore, in one embodiment of this application, the control method further includes:

[0081] During vehicle operation, when the vehicle's driving state changes, the torque at the power output end and the target torque are obtained, and the difference between the torque at the power output end and the target torque is calculated.

[0082] The remaining time is determined based on the difference.

[0083] Based on this, adjusting the torque at the power input end based on the first gap elimination time, so that the torque at the power input end gradually changes to the target torque, includes:

[0084] Obtain the sum of the first gap elimination time and the margin time, and adjust the torque of the power input terminal based on the sum so that the torque of the power input terminal slowly changes to the target torque.

[0085] Specifically, when the vehicle's driving state changes, the difference between the torque at the power output end and the target torque is obtained. Based on this difference, a margin time is obtained, and the input torque is adjusted based on the sum of the first gap elimination time and the margin time, so that the input torque slowly changes to the target torque within the aforementioned sum time. This suppresses the impact on the vehicle when the input torque changes drastically, ensuring the stability of the vehicle's driving.

[0086] Based on the above embodiments, in one embodiment of this application, determining the margin time based on the difference includes:

[0087] Compare the difference with a preset difference;

[0088] If the difference is less than or equal to the preset difference, the margin time is 0.

[0089] If the difference is greater than the preset difference, the margin time is greater than 0, and the margin time increases as the difference increases. It should be noted that when the difference is greater than the preset difference, the specific change in margin time with respect to that difference will vary depending on the vehicle model and type; this application does not limit this, and it depends on the specific circumstances. It should also be noted that this application does not limit the specific value of the aforementioned preset difference; it depends on the specific circumstances.

[0090] To gain a clear understanding of the vehicle driving control method provided in this application, the following detailed description of the control method is provided in conjunction with a flowchart.

[0091] like Figure 4 As shown, Figure 4The flowchart of a vehicle driving control method provided in this application first calculates the transmission chain clearance during the first gear shift after the vehicle is powered on. Then, when the vehicle's driving state changes, a first clearance elimination time is obtained based on the transmission chain clearance, and a margin time is obtained based on the difference between the torque at the power input end and the target torque, i.e., a margin time based on the torque difference. The sum of the first clearance elimination time and the margin time is obtained, and the torque at the power input end is adjusted based on this sum time, so that the torque at the power input end slowly changes along the motor's rotation direction to the target torque within this sum time.

[0092] Accordingly, this application also provides a vehicle driving control system for implementing the control method described in any of the above embodiments, the control system comprising:

[0093] A first calculation unit is used to calculate the transmission chain clearance, which is the clearance between the vehicle's power input end and power output end; wherein the power input end includes a motor, and the power output end includes an output shaft.

[0094] The second calculation unit, during vehicle operation, when the vehicle's driving state changes, is used to obtain a first gap elimination time based on the transmission chain gap. The first gap elimination time is the time when the transmission chain gap is eliminated when the vehicle's driving state changes.

[0095] An adjustment unit is used to adjust the torque of the power input terminal so that the torque of the power input terminal slowly changes to the target torque within a preset time, wherein the preset time includes the first gap elimination time.

[0096] Specifically, as mentioned above, the transmission chain clearance is the gap between the vehicle's power input end and power output end. Furthermore, the first clearance elimination time is the time required for the transmission chain clearance to eliminate when the vehicle's driving state changes. In other words, the first clearance elimination time is the time required for the vehicle's power input end and power output end to separate from each other and then collide. Therefore, this control method adjusts the input torque based on the first clearance elimination time, causing the input torque to gradually change to the target torque. This means that the control method can adjust the input torque during the time between the separation of the vehicle's power input end and power output end and the collision, thus reducing the impact sensation when the power input end and power output end collide. Consequently, when the vehicle's driving state changes, it reduces the impact sensation, improves driving comfort, and enhances the user experience.

[0097] Based on the above control system, this application also provides a vehicle that includes the vehicle driving control system described in the above embodiments.

[0098] In summary, this application provides a vehicle driving control method, system, and vehicle. The control method includes: calculating the drivetrain clearance; obtaining a first clearance elimination time based on the drivetrain clearance when the vehicle's driving state changes; and adjusting the torque at the power input end based on the first clearance elimination time, so that the torque at the power input end slowly changes to a target torque. Since the drivetrain clearance is the gap between the vehicle's power input end and power output end, and the first clearance elimination time is the time it takes for the drivetrain clearance to eliminate when the vehicle's driving state changes, this control method adjusts the input torque based on the first clearance elimination time, allowing the input torque to slowly change to the target torque. This allows the control method to adjust the input torque within the time required for a collision between the vehicle's power input end and power output end, thereby reducing the impact sensation when the power input end and power output end come into contact. Consequently, when the vehicle's driving state changes, the impact sensation is reduced, improving driving comfort and enhancing the user experience.

[0099] The various embodiments in this specification are described in a progressive, parallel, or combined manner. Each embodiment focuses on its differences from other embodiments, and similar or identical areas between embodiments can be referred to interchangeably. For the apparatuses disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant details can be found in the description of the method area.

[0100] It should be noted that, in the description of this application, the terms "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a component centrally located at the same time.

[0101] It should also be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or apparatus comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or apparatus that includes the aforementioned element.

[0102] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle driving control method, characterized in that, include: Calculate the transmission chain clearance, which is the clearance between the vehicle's power input end and power output end; wherein, the power input end includes a motor, and the power output end includes an output shaft; During vehicle operation, when the vehicle's driving state changes, a first gap elimination time is obtained based on the transmission chain gap. The first gap elimination time is the time for the transmission chain gap to be eliminated when the vehicle's driving state changes. The torque at the power input terminal is adjusted based on the first gap elimination time, so that the torque at the power input terminal changes slowly to the target torque; The calculation of the transmission chain clearance includes: During the first gear shift after the vehicle is powered on, the drivetrain clearance is calculated; wherein, the calculation of the drivetrain clearance during the first gear shift after the vehicle is powered on includes: Obtain the first rotational speed, which is the motor speed during the first gear shift process; Obtain the second gap elimination time, which is the time for the transmission chain gap to be eliminated during the first gear shift; The transmission chain gap is obtained based on the first rotational speed and the second gap elimination time; During vehicle operation, when the vehicle's driving state changes, the first gap elimination time obtained based on the transmission chain gap includes: Obtain the second rotational speed, which is the motor speed when the vehicle's driving state changes; Obtain the third rotational speed, which is the output shaft rotational speed when the vehicle's driving state changes; The speed difference is obtained based on the second rotational speed and the third rotational speed; The first gap elimination time is obtained based on the ratio of the transmission chain gap to the speed difference.

2. The vehicle driving control method according to claim 1, characterized in that, The speed difference obtained based on the second rotational speed and the third rotational speed includes: Get the vehicle's current gear; Obtain the product of the third rotational speed and the current gear ratio; The speed difference is obtained based on the difference between the second rotational speed and the product.

3. The vehicle driving control method according to claim 2, characterized in that, The control method also includes: Obtain the direction of rotation of the motor; The step of adjusting the torque at the power input end based on the first gap elimination time, so that the torque at the power input end gradually changes to the target torque, includes: Based on the first gap elimination time and the motor rotation, the torque of the power input terminal is adjusted so that the torque of the power input terminal slowly changes along the motor rotation to the target torque.

4. The vehicle driving control method according to claim 1, characterized in that, The control method also includes: During vehicle operation, when the vehicle's driving state changes, the torque at the power output end and the target torque are obtained, and the difference between the torque at the power output end and the target torque is calculated. The margin time is determined based on the difference; The step of adjusting the torque at the power input end based on the first gap elimination time, so that the torque at the power input end gradually changes to the target torque, includes: Obtain the sum of the first gap elimination time and the margin time, and adjust the torque of the power input terminal based on the sum so that the torque of the power input terminal slowly changes to the target torque.

5. The vehicle driving control method according to claim 4, characterized in that, The step of determining the margin time based on the difference includes: Compare the difference with a preset difference; If the difference is less than or equal to the preset difference, the margin time is 0; If the difference is greater than the preset difference, the margin time is greater than 0, and the margin time increases as the difference increases.

6. A vehicle driving control system, characterized in that, include: A first calculation unit is used to calculate the transmission chain clearance, which is the clearance between the vehicle's power input end and power output end. The power input end includes a motor, and the power output end includes an output shaft; the calculation of the transmission chain clearance includes: calculating the transmission chain clearance during the first gear shift after the vehicle is powered on; wherein, the calculation of the transmission chain clearance during the first gear shift after the vehicle is powered on includes: obtaining a first rotational speed, the first rotational speed being the motor rotational speed during the first gear shift; obtaining a second clearance elimination time, the second clearance elimination time being the clearance time of the transmission chain clearance during the first gear shift; and obtaining the transmission chain clearance based on the first rotational speed and the second clearance elimination time; The second calculation unit, during vehicle operation, when the vehicle's driving state changes, is used to obtain a first gap elimination time based on the transmission chain gap. The first gap elimination time is the time required to eliminate the transmission chain gap when the vehicle's driving state changes. Specifically, obtaining the first gap elimination time based on the transmission chain gap during vehicle operation includes: acquiring a second rotational speed, which is the motor speed when the vehicle's driving state changes; acquiring a third rotational speed, which is the output shaft speed when the vehicle's driving state changes; obtaining a speed difference based on the second rotational speed and the third rotational speed; and obtaining the first gap elimination time based on the ratio of the transmission chain gap to the speed difference. An adjustment unit is used to adjust the torque of the power input terminal so that the torque of the power input terminal slowly changes to the target torque within a preset time, wherein the preset time includes the first gap elimination time.

7. A vehicle, characterized in that, The vehicle includes the vehicle driving control system as described in claim 6.

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