Clutch control method, device, controller, vehicle and computer readable storage medium

Abstract

The application provides a clutch control method and device, a controller and a vehicle. The method comprises the following steps: determining whether oil discharge control is needed according to an obtained clutch instruction; controlling the clutch to discharge oil after it is determined that the oil discharge control is needed; in the process of discharging oil, adjusting the pressure of the clutch in response to the real-time torque demand of the clutch; and terminating the oil discharge of the clutch when the pressure of the clutch is less than a target pressure value.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a clutch control method, device, controller, and vehicle. Background Technology

[0002] The engagement and disengagement of the clutch, as well as the pressure response, have a significant impact on the overall power and smoothness of the vehicle. Slow clutch disengagement leads to a delay in torque response. Current clutch engagement and disengagement control methods are inadequate. Summary of the Invention

[0003] The purpose of this application is to provide a clutch control method, device, controller, and vehicle that can improve the control effect of the clutch.

[0004] In a first aspect, the present invention provides a clutch control method, comprising: determining whether oil release control is required based on an acquired clutch command; controlling the clutch to release oil after determining that oil release is required; adjusting the clutch pressure in response to the real-time torque demand of the clutch during the oil release process; and terminating clutch oil release when the clutch pressure is less than a target pressure value.

[0005] In the above embodiments, the clutch pressure is controlled relatively smoothly while responding to torque demands in real time. Furthermore, the clutch can be controlled based on a target pressure value, and oil release can be terminated promptly when the pressure is below the target value, thereby improving the smoothness of the vehicle's power delivery.

[0006] In an optional implementation, the step of responding to the real-time torque demand of the clutch and regulating the pressure of the clutch includes: regulating the pressure of the clutch based on the real-time collected clutch pressure according to the real-time torque demand of the clutch using a linear controller.

[0007] In the above embodiments, a linear controller can be used to regulate the pressure, which can make the regulated clutch pressure more smoothly, reduce the torque follow-up delay caused by slow clutch disengagement, and thus improve the smoothness of the whole vehicle.

[0008] In an optional implementation, the step of regulating the clutch pressure based on the real-time collected clutch pressure according to the real-time torque requirement of the clutch includes: acquiring a pre-stored pressure relationship table, wherein the pressure relationship table includes at least the relationship between clutch pressure and clutch torque; determining the pressure requirements corresponding to different torque requirements based on the pressure relationship table according to the real-time torque requirement of the clutch; and regulating the clutch pressure according to the pressure requirements.

[0009] In the above implementation, pressure can be controlled by combining a pre-stored pressure relationship table, which can make the control data more reliable, thus enabling the clutch disengagement speed to better meet the requirements and improve the smoothness of the whole vehicle.

[0010] In an optional implementation, the step of regulating the clutch pressure based on the real-time collected clutch pressure according to the real-time torque requirement of the clutch includes: obtaining the clutch pressure feedforward compensation; and regulating the clutch pressure based on the clutch pressure feedforward compensation according to the real-time torque requirement of the clutch.

[0011] In an optional implementation, the pressure feedforward compensation is determined by measuring the required pressure feedforward compensation for the clutch at a specified transmission temperature and a specified clutch pressure.

[0012] In the above embodiments, the required pressure feedforward compensation for the clutch can also be measured under a specified transmission temperature and a specified clutch pressure, which can reduce the calculation requirements in the clutch control process, quickly respond to the clutch torque requirements, and realize clutch control.

[0013] In an optional implementation, the method is applied to a target type of vehicle; the target pressure value is determined by: acquiring historical clutch control data of the target type of vehicle; determining a historical pressure dataset and the corresponding clutch torque under different pressure data based on the historical clutch control data; and determining the target pressure value based on the historical pressure dataset and the corresponding clutch torque under different pressure data.

[0014] In an optional implementation, the target pressure value is determined by receiving a target pressure value set by the user.

[0015] In an optional implementation, controlling the clutch to release oil includes: controlling the motor of the clutch actuator to reverse in order to release oil from the clutch.

[0016] In the above implementation, oil can be released by reversing the motor, which can better control the oil release speed and make the clutch disengagement speed more appropriate.

[0017] In an optional implementation, the method further includes: determining whether the duration of clutch oil release is greater than a target time value; if the duration of clutch oil release is greater than the target time value, terminating clutch oil release.

[0018] In the above embodiments, the oil release time can also be controlled by combining the target time value to avoid prolonged oil release and improve the safety and reliability of clutch control.

[0019] In an optional implementation, the method is applied to a target type of vehicle; the target time value is determined by: acquiring historical clutch control data of the target type of vehicle; determining a historical oil release duration set based on the historical clutch control data; and determining the target time value based on the historical oil release duration set.

[0020] In an optional implementation, determining the target time value based on the historical oil release duration set includes: determining the historical clutch torque and historical transmission oil temperature corresponding to different historical oil release durations based on the historical clutch control data; constructing an oil release time relationship based on the historical clutch torque and historical transmission oil temperature corresponding to different historical oil release durations; and determining the target time value based on the oil release time relationship.

[0021] In an optional implementation, the target time value is determined by receiving a target time value set by the user.

[0022] In the above embodiments, the target time value can be determined in a variety of ways, which can improve the reliability of the target time value.

[0023] Secondly, the present invention provides a clutch control device, comprising: a determining module for determining whether oil release control is required based on a acquired clutch command; a controlling module for controlling the clutch to release oil after determining that oil release is required; an adjusting module for adjusting the clutch pressure in response to the real-time torque demand of the clutch during the oil release process; and a termination module for terminating the clutch oil release when the clutch pressure is less than a target pressure value.

[0024] Thirdly, the present invention provides a controller, comprising: a processing unit and a storage unit, wherein the storage unit stores machine-readable instructions executable by the processing unit, and when the controller is running, the machine-readable instructions are executed by the processing unit to perform the steps of the method described in any of the foregoing embodiments.

[0025] Fourthly, the present invention provides a vehicle comprising: a clutch and a controller as described in the foregoing embodiments.

[0026] Fifthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the method described in any of the foregoing embodiments. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 A schematic diagram of an electro-hydraulic actuator for controlling a clutch provided in an embodiment of this application;

[0029] Figure 2 A block diagram illustrating an electronic device provided in an embodiment of this application;

[0030] Figure 3 A flowchart of the clutch disengagement control method provided in the embodiments of this application;

[0031] Figure 4 Another flowchart of the clutch disengagement control method provided in the embodiments of this application;

[0032] Figure 5 This is a schematic diagram of the functional modules of the clutch disengagement control device provided in the embodiments of this application. Detailed Implementation

[0033] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0034] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0035] The electrification and intelligentization of automobiles have made electro-hydraulic actuators, consisting of brushless DC motors and oil pumps, a development trend. Hybrid transmissions use electro-hydraulic actuators composed of BLDC motors and oil pumps to control clutch engagement and disengagement, enabling the series and parallel operation of the hybrid system. The engagement and disengagement of the clutch, as well as the pressure response, have a significant impact on the vehicle's power performance and smoothness; slow clutch disengagement leads to a delay in torque follow-through.

[0036] Based on this, the clutch control method, device, controller and automobile provided in this application can control the clutch disengagement speed and improve the smoothness of the whole vehicle.

[0037] To facilitate understanding of this embodiment, the electro-hydraulic actuator used to control clutch disengagement in a clutch control method disclosed in this application will first be introduced.

[0038] like Figure 1 The diagram shown is a schematic of an electro-hydraulic actuator for controlling a clutch according to an embodiment of this application. The electro-hydraulic actuator includes: a pressure relief valve 110, a clutch oil circuit 120, an electronic oil pump 130, an oil sump 140, an oil filter 150, and a pressure sensor 160.

[0039] The pressure relief valve 110 is connected to the clutch oil passage 120. An electronic oil pump 130 is connected to the clutch oil passage 120, which can draw oil from the oil sump 140. An oil filter 150 is installed between the electronic oil pump 130 and the oil sump 140 for filtering the oil.

[0040] For example, the electro-hydraulic actuator may also include a pressure sensor 160 for detecting the pressure in the clutch main oil circuit.

[0041] like Figure 2 The diagram shown is a block illustration of a controller provided in an embodiment of this application. The controller 200 may include a storage unit 211 and a processing unit 213. Those skilled in the art will understand that... Figure 2 The structure shown is for illustrative purposes only and does not limit the structure of the controller 200. For example, the controller 200 may also include components that are more... Figure 2 The more or fewer components shown, or having the same Figure 2 The different configurations shown.

[0042] The storage unit 211 and processing unit 213 described above are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The processing unit 213 described above is used to execute executable modules stored in the memory.

[0043] The storage unit 211 can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The storage unit 211 stores the program. After receiving an execution instruction, the processing unit 213 executes the program. The method executed by the controller 200, which defines the process according to any embodiment of this application, can be applied to the processing unit 213, or implemented by the processing unit 213.

[0044] The aforementioned processing unit 213 may be an integrated circuit chip with signal processing capabilities. The processing unit 213 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP) or an application-specific integrated circuit (ASIC).

[0045] Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. These devices can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0046] The controller 200 in this embodiment can be used to execute various steps in the clutch control method provided in this application embodiment.

[0047] This application also provides a vehicle that includes a clutch and a controller.

[0048] The controller structure can be as follows: Figure 2 The controller structure shown above; for detailed information about vehicle controllers, please refer to the above embodiments. Figure 2 The description will not be repeated here.

[0049] In this embodiment, the vehicle may also include conventional equipment on the vehicle, such as wheels, chairs, shells, etc.

[0050] The controller included in the vehicle provided in this embodiment can be used to control the disengagement and engagement of the clutch in order to execute the various steps in the clutch control method provided in this application embodiment. The implementation process of the clutch control method is described in detail below through several embodiments.

[0051] Please see Figure 3 This is a flowchart of the clutch control method provided in the embodiments of this application. The following will describe... Figure 3 The specific process shown will be explained in detail.

[0052] Step 310: Based on the obtained clutch command, determine whether oil release control is required.

[0053] For example, the clutch command may include a controller that determines the clutch command based on torque demand and wheel speed, in order to determine whether an oil release operation is required based on the clutch command.

[0054] Step 320: After determining that oil needs to be released, control the clutch to release oil.

[0055] Alternatively, the clutch can be drained by reversing the motor of the clutch actuator.

[0056] The clutch actuator provided in this embodiment can be an electro-hydraulic actuator, which may include a brushless DC motor and an oil pump. For example, the brushless DC motor can be controlled to reverse in order to release oil from the clutch.

[0057] By controlling the clutch oil release by reversing the brushless DC motor, the response speed of the actual clutch pressure can be improved, thus achieving the purpose of rapid clutch oil release.

[0058] Step 330: During the oil release process, the pressure of the clutch is adjusted in response to the real-time torque demand of the clutch.

[0059] Optionally, the pressure of the clutch can be adjusted by a linear (PI) controller based on the real-time torque requirement of the clutch and the real-time pressure of the clutch.

[0060] For example, the linear controller can pre-store the relationship between clutch torque and clutch pressure, and dynamically adjust the clutch pressure based on the relationship between clutch torque and clutch pressure.

[0061] Optionally, a pre-stored pressure relationship table is obtained, and the pressure requirements corresponding to different torque requirements are determined based on the pressure relationship table according to the real-time torque requirements of the clutch, and the pressure of the clutch is adjusted according to the pressure requirements.

[0062] For example, the pressure requirements mentioned above may include the need to compensate for the clutch pressure under different torque demands, and to adaptively adjust the clutch pressure based on the pressure compensation.

[0063] Optionally, the linear controller can pre-store the pressure compensation corresponding to different torque requirements, and use the pressure compensation to regulate the pressure of the clutch.

[0064] The pressure relationship table includes at least the relationship between clutch pressure and clutch torque.

[0065] Optionally, the pressure relationship table may also include information such as transmission fluid temperature, clutch main oil circuit pressure, and release time. This pressure relationship table stores the corresponding clutch pressure distribution when the transmission fluid temperature, clutch main oil circuit pressure, and release time are at different values.

[0066] Then, based on the pressure relationship table above, it is determined that the clutch pressure needs to be adjusted under the real-time torque requirement.

[0067] For example, step 330 above may include: obtaining the pressure feedforward compensation of the clutch; and adjusting the pressure of the clutch based on the pressure feedforward compensation according to the real-time torque requirement of the clutch.

[0068] Optionally, the pressure feedforward compensation is determined by measuring the required pressure feedforward compensation for the clutch at a specified transmission temperature and a specified clutch pressure.

[0069] Optionally, after determining the pressure feedforward compensation, the target current that needs to be supplied to the pressure relief valve under the pressure feedforward compensation can also be determined based on the clutch actuator, and the pressure of the clutch can be regulated by the target current.

[0070] Optionally, the pressure feedforward compensation is determined by measuring the required pressure feedforward compensation for the clutch and the clutch actuator duty cycle at a specified transmission temperature and a specified clutch pressure.

[0071] Based on this duty cycle, the current of the pressure relief valve in the clutch actuator required to regulate the clutch pressure is determined.

[0072] Step 340: Determine whether the pressure of the clutch is less than the target pressure value.

[0073] If the clutch pressure is less than the target pressure value, proceed to step 350.

[0074] Step 350: Stop releasing oil from the clutch.

[0075] For example, if the clutch oil release is achieved by reversing the motor, the clutch oil release can be terminated by stopping the motor reversal.

[0076] In this embodiment, the target pressure value can be a pre-set value. For example, the target pressure value can be a value set in advance by relevant technicians, or it can be a value calculated based on the historical control data of the clutch.

[0077] The target pressure value may differ for the clutch of different vehicle types. Clutch control methods can be applied to the target vehicle type.

[0078] In some implementations, the target pressure value is determined by: acquiring historical clutch control data of the target type of vehicle; determining a historical pressure dataset and the corresponding clutch torque under different pressure data based on the historical clutch control data; and determining the target pressure value based on the historical pressure dataset and the corresponding clutch torque under different pressure data.

[0079] The clutch control method of this embodiment can be used on the target vehicle, and the historical clutch control data can be the clutch control data of the same model of the target vehicle.

[0080] The historical clutch control data can include the actual clutch pressure under different clutch torques, the actual clutch pressure under different transmission oil temperatures, the actual clutch pressure under different main oil circuit pressures, and the actual clutch pressure under different release times.

[0081] For example, the relationship between the actual clutch pressure and the clutch torque, transmission oil temperature, main oil pressure and release time can be established based on the actual clutch pressure corresponding to different clutch torques, the actual clutch pressure at different transmission oil temperatures, the actual clutch pressure at different main oil circuit pressures and the actual clutch pressure at different release times.

[0082] For example, the relationship between the actual clutch pressure and any one of the parameters—clutch torque, transmission oil temperature, main oil circuit pressure, and release time—may be linear or nonlinear.

[0083] Optionally, multiple sets of actual clutch pressure and clutch torque values ​​can be determined from historical clutch control data. Then, curve fitting can be performed based on the multiple sets of actual clutch pressure and clutch torque values ​​to obtain the relationship between actual clutch pressure and clutch torque.

[0084] Optionally, multiple sets of actual clutch pressure and transmission oil temperature values ​​can be determined from historical clutch control data. Then, curve fitting can be performed based on the values ​​of multiple sets of actual clutch pressure and transmission oil temperature to obtain the relationship between actual clutch pressure and transmission oil temperature.

[0085] Optionally, multiple sets of clutch actual pressure and main oil circuit pressure values ​​can be determined from historical clutch control data. Then, curve fitting can be performed based on the values ​​of multiple sets of clutch actual pressure and main oil circuit pressure to obtain the relationship between clutch actual pressure and main oil circuit pressure.

[0086] Optionally, multiple sets of clutch actual pressure and release time values ​​can be determined from historical clutch control data. Then, curve fitting can be performed based on the multiple sets of clutch actual pressure and release time values ​​to obtain the relationship between clutch actual pressure and release time.

[0087] For example, the relationship between actual clutch pressure and clutch torque, transmission oil temperature, main oil pressure and release time can be constructed based on the relationship between actual clutch pressure and clutch torque, the relationship between actual clutch pressure and transmission oil temperature, the relationship between actual clutch pressure and main oil circuit pressure, and the relationship between actual clutch pressure and release time.

[0088] For example, the clutch pressure when the clutch is in the disengaged state can be determined based on the relationship between the actual clutch pressure and the clutch torque, transmission oil temperature, main oil circuit pressure and oil release time, thereby determining the target pressure value.

[0089] In some implementations, the target pressure value is determined by receiving a target pressure value set by the user.

[0090] For example, a default target pressure value can be set before the vehicle leaves the factory.

[0091] Optionally, the target pressure value can be updated at set time intervals. For example, the target pressure value can be updated every six months. Or, it can be updated every year. Of course, the time interval for updating the target pressure value can also be set to other durations as needed.

[0092] By controlling the end time of oil release based on the preset target pressure value in the above manner, the oil release of the clutch can better meet the clutch disengagement or engagement requirements.

[0093] To avoid other problems caused by prolonged oil draining, such as Figure 4As shown, the clutch control method of this embodiment may further include: step 360, determining whether the duration of the clutch oil release is greater than a target time value.

[0094] If the duration of the clutch oil release is greater than the target time value, then step 350 is executed.

[0095] In this embodiment, the target time value can be a pre-set value. For example, the target time value can be a value set in advance by relevant technical personnel, or it can be a value calculated based on the historical control data of the clutch.

[0096] The target time value may differ for different types of vehicle clutches. The clutch control method in this embodiment can be applied to the target type of vehicle.

[0097] In one implementation, the target time value is determined by: acquiring historical clutch control data of the target type vehicle; determining a historical oil release duration set based on the historical clutch control data; and determining the target time value based on the historical oil release duration set.

[0098] The aforementioned determination of the target time value based on the historical oil release duration set may include: determining the historical clutch torque and historical transmission oil temperature corresponding to different historical oil release durations based on the historical clutch control data; constructing an oil release time relationship based on the historical clutch torque and historical transmission oil temperature corresponding to different historical oil release durations; and determining the target time value based on the oil release time relationship.

[0099] In another implementation, the target time value is determined by receiving a target time value set by the user.

[0100] For example, a default target time value can be set before the vehicle leaves the factory.

[0101] Optionally, the target time value can be updated periodically according to a set cycle. For example, the target time value can be updated every six months. Or, it can be updated every year. Of course, the time interval for updating the target time value can also be set to other durations as needed.

[0102] In some implementations, the target time value can be measured at a specified transmission oil temperature and a specified main oil circuit pressure.

[0103] Through the above implementation method, when controlling the clutch, it is possible to control the end of oil release in a timely manner based on the oil release time, avoid prolonged oil release, and improve the safety of clutch control.

[0104] Based on the same concept, this application also provides a clutch control device corresponding to the clutch control method. Since the principle of the device in this application is similar to that of the aforementioned clutch control method, the implementation of the device in this application can refer to the description in the above-mentioned method embodiments, and the repeated parts will not be repeated.

[0105] Please see Figure 5 This is a functional block diagram of the clutch control device provided in this application embodiment. Each module in the clutch control device of this embodiment is used to execute the steps in the above method embodiments. The clutch control device includes: a determining module 410, a controlling module 420, an adjusting module 430, and a terminating module 440; the contents of each module are as follows: the determining module 410 is used to determine whether oil release control is needed based on the acquired clutch command; the controlling module 420 is used to control the clutch to release oil after determining that oil release is needed; the adjusting module 430 is used to adjust the clutch pressure in response to the real-time torque demand of the clutch during the oil release process; the terminating module 440 is used to terminate the clutch oil release when the clutch pressure is less than the target pressure value.

[0106] In one possible implementation, the aforementioned control module 430 is used to control the pressure of the clutch based on the real-time collected pressure of the clutch, according to the real-time torque requirement of the clutch, via a linear controller.

[0107] In one possible implementation, the aforementioned control module 430 is used to acquire a pre-stored pressure relationship table, wherein the pressure relationship table includes at least the relationship between the clutch pressure and the clutch torque; based on the real-time torque demand of the clutch, it determines the pressure requirements corresponding to different torque demands based on the pressure relationship table; and it controls the clutch pressure according to the pressure requirements.

[0108] In one possible implementation, the aforementioned control module 430 acquires the pressure feedforward compensation of the clutch; and controls the pressure of the clutch based on the pressure feedforward compensation according to the real-time torque requirement of the clutch.

[0109] In one possible implementation, the pressure feedforward compensation is determined by measuring the required pressure feedforward compensation for the clutch at a specified transmission temperature and a specified clutch pressure.

[0110] In one possible implementation, the method is applied to a target type of vehicle; the target pressure value is determined by: acquiring historical clutch control data of the target type of vehicle; determining a historical pressure dataset and the corresponding clutch torque under different pressure data based on the historical clutch control data; and determining the target pressure value based on the historical pressure dataset and the corresponding clutch torque under different pressure data.

[0111] In one possible implementation, the target pressure value is determined by receiving a target pressure value set by the user.

[0112] In one possible implementation, the control module 420 is also configured to reverse the motor of the clutch actuator to release oil from the clutch.

[0113] In one possible implementation, the clutch control device may further include: a judgment module for judging whether the duration of clutch oil release is greater than a target time value; and the aforementioned termination module 440 for terminating clutch oil release if the duration of clutch oil release is greater than the target time value.

[0114] In one possible implementation, the method is applied to a target type of vehicle; the target time value is determined by: acquiring historical clutch control data of the target type of vehicle; determining a historical release duration set based on the historical clutch control data; and determining the target time value based on the historical release duration set.

[0115] In one possible implementation, the target time value is determined by: acquiring historical clutch control data of the target type of vehicle; determining a set of historical release times based on the historical clutch control data; determining the historical clutch torque and historical transmission oil temperature corresponding to different historical release times based on the historical clutch control data; constructing a release time relationship based on the historical clutch torque and historical transmission oil temperature corresponding to different historical release times; and determining the target time value based on the release time relationship.

[0116] In one possible implementation, the target time value is determined by receiving a target time value set by the user.

[0117] Furthermore, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the clutch control method described in the above method embodiments.

[0118] The computer program product of the clutch control method provided in this application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the steps of the clutch control method described in the above method embodiments. For details, please refer to the above method embodiments, which will not be repeated here.

[0119] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0120] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0121] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks. It should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, 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 a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0122] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0123] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A clutch control method, characterized in that, include: Based on the obtained clutch command, determine whether oil release control is required; After determining that oil needs to be released, control the clutch to release oil; During the oil release process, in response to the real-time torque demand of the clutch, the pressure of the clutch is regulated, including: obtaining the pressure feedforward compensation of the clutch; based on the real-time torque demand of the clutch, determining the target current that needs to be supplied to the pressure relief valve under the pressure feedforward compensation based on the clutch actuator, and regulating the pressure of the clutch through the target current; When the pressure of the clutch is less than the target pressure value, the clutch oil release is terminated.

2. The method according to claim 1, characterized in that, The method of responding to the real-time torque demand of the clutch and adjusting the pressure of the clutch includes: The pressure of the clutch is adjusted by a linear controller based on the real-time torque requirement of the clutch and the real-time pressure of the clutch.

3. The method according to claim 2, characterized in that, The step of adjusting the clutch pressure based on the real-time torque requirement of the clutch and the real-time collected clutch pressure includes: Obtain a pre-stored pressure relationship table, wherein the pressure relationship table includes at least the relationship between clutch pressure and clutch torque; Based on the real-time torque demand of the clutch, the corresponding pressure requirements under different torque demands are determined based on the pressure relationship table; The pressure of the clutch is adjusted according to the pressure requirements.

4. The method according to claim 1, characterized in that, The pressure feedforward compensation is determined in the following manner: The required pressure feedforward compensation for the clutch is measured at a specified transmission temperature and a specified clutch pressure.

5. The method according to claim 1, characterized in that, Applied to the target type of vehicle; the target pressure value is determined by the following: Obtain historical clutch control data for the target type of vehicle; Based on the historical clutch control data, determine the historical pressure dataset and the corresponding clutch torque under different pressure data. The target pressure value is determined based on the historical pressure dataset and the clutch torque corresponding to different pressure data.

6. The method according to claim 1, characterized in that, The target pressure value is determined in the following way: Receive the target pressure value set by the user.

7. The method according to claim 1, characterized in that, The control of the clutch to release oil includes: The clutch is released by reversing the motor of the clutch actuator.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: Determine whether the duration of the clutch oil release is greater than the target time value; If the duration of clutch oil release exceeds the target time value, clutch oil release is terminated.

9. The method according to claim 8, characterized in that, Applied to target type vehicles; the target time value is determined in the following way: Obtain historical clutch control data for the target type of vehicle; The historical oil release duration set is determined based on the historical clutch control data. Based on the historical clutch control data, the historical clutch torque and historical transmission oil temperature corresponding to different historical oil release durations are determined. Based on the historical clutch torque and historical transmission oil temperature corresponding to different historical oil drain durations, an oil drain time relationship is constructed. Based on the oil release time relationship, the target time value is determined.

10. The method according to claim 8, characterized in that, The target time value is determined in the following way: Receive the target time value set by the user.

11. A clutch control device, characterized in that, include: The determination module is used to determine whether oil release control is needed based on the acquired clutch command; The control module is used to control the release of oil from the clutch after determining that oil release is necessary; The control module is used to control the pressure of the clutch in response to the real-time torque demand of the clutch during the oil release process. The termination module is used to terminate the clutch oil release when the pressure of the clutch is less than the target pressure value; The control module is also used to obtain the pressure feedforward compensation of the clutch; based on the real-time torque requirement of the clutch, it determines the target current that needs to be supplied to the pressure relief valve under the pressure feedforward compensation, and realizes the control of the clutch pressure through the target current.

12. A controller, characterized in that, include: The system includes a processing unit and a storage unit, wherein the storage unit stores machine-readable instructions executable by the processing unit, and when the controller is running, the machine-readable instructions are executed by the processing unit to perform the steps of the method as described in any one of claims 1 to 10.

13. A vehicle, characterized in that, include: The clutch and the controller as described in claim 12.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method as described in any one of claims 1 to 10.

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