Clutch position self-learning control method, device, equipment and storage medium

Abstract

The present application relates to the technical field of vehicle control, and discloses a clutch position self-learning control method, device, equipment and storage medium, the method comprising: when it is determined that the vehicle is in a safe state, continuously acquiring position information of a dog clutch in the vehicle; performing position self-learning control on the dog clutch according to the position information to obtain a position-updated dog clutch, the position self-learning control being used to control the dog clutch to displace to a position meeting a coupling requirement; checking the position-updated dog clutch, and ending the position self-learning control after passing the check. Compared with a traditional clutch control method, since the above-mentioned method of the present application performs position self-learning control on the dog clutch according to the position information of the dog clutch, the dog clutch can be controlled to displace to a position meeting a coupling requirement, and then the coupling and opening control of the dog clutch with tolerances and errors in manufacturing, assembly, sensors and the like can be accurately realized.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a clutch position self-learning control method, device, equipment, and storage medium. Background Technology

[0002] Dog clutches are characterized by their simple and compact structure, high load-bearing capacity, and low drag loss, and are widely used in the transmission field. Since a dog clutch relies on the meshing of its driving and driven ends to achieve clutch engagement and torque transmission, and because the dog clutch itself does not have a speed synchronization mechanism, external mechanisms and corresponding controls are needed to ultimately synchronize the speeds of the driving and driven ends of the dog clutch. Once the speeds are synchronized, the hydraulic system pushes the driving end of the dog clutch axially to the corresponding axial displacement range, at which point engagement is considered complete.

[0003] When a dog clutch disengages, the hydraulic system is controlled to move the driving end of the dog clutch axially to the corresponding axial displacement range, at which point the disengagement is considered complete. However, in mass-produced transmissions, the dog clutches assembled with them have tolerances and errors in manufacturing, assembly, and sensors. Therefore, it is necessary to develop a control method that enables the dog clutch to self-learn its position, ensuring that every transmission can accurately control the engagement and disengagement of the dog clutch.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this invention is to provide a clutch position self-learning control method, device, equipment, and storage medium, aiming to solve the technical problem that the prior art cannot accurately achieve the engagement and disengagement control of the canine clutch.

[0006] To achieve the above objectives, the present invention provides a clutch position self-learning control method, the method comprising the following steps:

[0007] When the vehicle is determined to be in a safe state, the position information of the canine clutch in the vehicle is continuously acquired;

[0008] Based on the position information, the position self-learning control of the canine clutch is performed to obtain the canine clutch with an updated position. The position self-learning control is used to control the displacement of the canine clutch to a position that meets the engagement requirements.

[0009] The position-updated canine clutch is checked, and the position self-learning control ends after the check is passed.

[0010] Optionally, the step of continuously acquiring the position information of the canine clutch in the vehicle when it is determined that the vehicle is in a safe state includes:

[0011] When the vehicle's transmission oil temperature is normal, the brake pedal is depressed, the transmission output shaft speed is stationary, the engine speed signal is normal, the transmission output shaft speed signal is normal, the shift lever is in driving mode, the transmission oil pump pressure is normal, the canine clutch position sensor signal is normal, and the transmission target gear is 1, the vehicle is determined to be in a safe state.

[0012] The position information of the canine clutch in the vehicle is continuously acquired by a canine clutch position sensor, which is a Hall sensor.

[0013] Optionally, the position self-learning control includes downshift control and gear engagement control. The step of performing position self-learning control on the dog clutch based on the position information to obtain the dog clutch with updated position includes:

[0014] An intervention signal is sent to the transmission to adjust the main oil pressure of the transmission to the maximum, and the dog clutch is downshifted based on the maximum main oil pressure;

[0015] When the position of the canine clutch reaches the first interval based on the position information, it is determined that the canine clutch has completed the downshift control.

[0016] The canine clutch is engaged based on the position information to obtain the canine clutch with updated position.

[0017] Optionally, the step of controlling the gear engagement of the canine clutch based on the position information to obtain the canine clutch with updated position includes:

[0018] When the position of the canine clutch reaches the second interval based on the position information, the canine clutch is engaged and the position change of the canine clutch is monitored in each control cycle.

[0019] The position of the canine clutch is determined based on the position change. If it is stable, the position of the canine clutch is updated after the gear shifting control is terminated.

[0020] Optionally, after the step of verifying the position-updated canine clutch and ending the position self-learning control after passing the verification, the method further includes:

[0021] The position information of the canine clutch after the position update is stored during the self-learning control of the end position.

[0022] Optionally, before the step of continuously acquiring the position information of the canine clutch in the vehicle when it is determined that the vehicle is in a safe state, the method further includes:

[0023] The timer starts when at least one of the following conditions is not met: normal transmission oil temperature, brake pedal depressed, transmission output shaft speed stationary, engine speed signal normal, transmission output shaft speed signal normal, shift lever in driving mode, transmission oil pump pressure normal, canine clutch position sensor signal normal, and transmission target gear is 1st gear.

[0024] If the total timing duration reaches the time threshold, the timeout protection will be activated and the self-learning control of the canine clutch position will be automatically terminated.

[0025] Optionally, the clutch position self-learning control method further includes:

[0026] When the canine clutch is in the gear shifting control stage of position self-learning control, a first difference and a second difference are obtained. The first difference is the duty cycle difference between the first position learned by the canine clutch and the actual engagement position of the canine clutch. The second difference is the duty cycle difference between the second position learned by the canine clutch and the actual engagement position of the canine clutch.

[0027] If the first difference is less than the first preset value or the second difference is greater than the second preset value, then the dog clutch is re-engaged.

[0028] Furthermore, to achieve the above objectives, the present invention also proposes a clutch position self-learning control device, the clutch position self-learning control device comprising:

[0029] The information acquisition module is used to continuously acquire the position information of the canine clutch in the vehicle when it is determined that the vehicle is in a safe state;

[0030] The position control module is used to perform position self-learning control on the canine clutch according to the position information to obtain the canine clutch with updated position. The position self-learning control is used to control the canine clutch to move to a position that meets the engagement requirements.

[0031] The information storage module is used to verify the position-updated canine clutch and end the position self-learning control after passing the verification.

[0032] Furthermore, to achieve the above objectives, the present invention also proposes a clutch position self-learning control device, the device comprising: a memory, a processor, and a clutch position self-learning control program stored in the memory and executable on the processor, the clutch position self-learning control program being configured to implement the steps of the clutch position self-learning control method as described above.

[0033] Furthermore, to achieve the above objectives, the present invention also proposes a storage medium storing a clutch position self-learning control program, wherein when the clutch position self-learning control program is executed by a processor, it implements the steps of the clutch position self-learning control method described above.

[0034] This invention continuously acquires the position information of the canine clutch in the vehicle when it is determined to be in a safe state; performs position self-learning control on the canine clutch based on the position information to obtain a position-updated canine clutch, which is used to control the canine clutch to move to a position that meets the engagement requirements; the position-updated canine clutch is verified, and the position self-learning control ends after passing the verification. Compared with traditional clutch control methods, because the above method of this invention performs position self-learning control on the canine clutch based on the position information of the canine clutch, it can control the canine clutch to move to a position that meets the engagement requirements, thereby accurately realizing the engagement and disengagement control of canine clutches with tolerances and errors in manufacturing, assembly, and sensors. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the clutch position self-learning control device in the hardware operating environment involved in the embodiments of the present invention.

[0036] Figure 2 This is a flowchart illustrating the first embodiment of the clutch position self-learning control method of the present invention;

[0037] Figure 3 This is a flowchart illustrating the second embodiment of the clutch position self-learning control method of the present invention;

[0038] Figure 4 This is a flowchart illustrating the third embodiment of the clutch position self-learning control method of the present invention;

[0039] Figure 5 This is a structural block diagram of the first embodiment of the clutch position self-learning control device of the present invention.

[0040] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0041] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0042] Reference Figure 1 , Figure 1 This is a schematic diagram of the clutch position self-learning control device structure in the hardware operating environment involved in the embodiments of the present invention.

[0043] like Figure 1 As shown, the clutch position self-learning control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0044] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the clutch position self-learning control device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0045] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a clutch position self-learning control program.

[0046] exist Figure 1 In the clutch position self-learning control device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and memory 1005 in the clutch position self-learning control device of the present invention can be set in the clutch position self-learning control device, and the clutch position self-learning control device calls the clutch position self-learning control program stored in the memory 1005 through the processor 1001 and executes the clutch position self-learning control method provided in the embodiment of the present invention.

[0047] This invention provides a clutch position self-learning control method, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the clutch position self-learning control method of the present invention.

[0048] In this embodiment, the clutch position self-learning control method includes the following steps:

[0049] Step S10: When it is determined that the vehicle is in a safe state, continuously acquire the position information of the canine clutch in the vehicle.

[0050] It should be noted that the executing entity of the method in this embodiment can be a terminal device with information acquisition, data processing, and program execution functions, such as a smartphone or computer, or an electronic device with the same or similar functions, such as the aforementioned clutch position self-learning control device. The following description uses the clutch position self-learning control device (hereinafter referred to as the control device) as an example to illustrate this embodiment and the following embodiments.

[0051] Understandably, the aforementioned dog clutch is a simple, compact clutch with high load-bearing capacity and low drag loss, and it is widely used in the transmission field. Since the dog clutch relies on the meshing of its driving and driven teeth to achieve clutch engagement and torque transmission, and since the dog clutch itself does not have a speed synchronization mechanism, external mechanisms and corresponding controls are needed to ultimately synchronize the speeds of the driving and driven ends of the dog clutch. After speed synchronization, the hydraulic system pushes the driving end of the dog clutch axially to the corresponding axial displacement range, thus completing the engagement. When disengaging from a dog clutch, the hydraulic system is controlled to push the driving end of the dog clutch axially to the corresponding axial displacement range, thus completing the disengagement.

[0052] In a practical implementation, the safety status of a vehicle can be determined by detecting its current status data. This current status data may include transmission data, engine data, brake pedal data, etc., but this embodiment does not impose any limitations on this.

[0053] Step S20: Perform position self-learning control on the canine clutch according to the position information to obtain the canine clutch with updated position. The position self-learning control is used to control the displacement of the canine clutch to a position that meets the engagement requirements.

[0054] It should be understood that, due to the mass production of transmissions in the prior art, the dog clutches assembled with them inevitably have tolerances and errors in manufacturing, assembly, and sensors. Therefore, this embodiment proposes the aforementioned position self-learning control of the dog clutch to ensure that each transmission can accurately achieve the engagement and disengagement control of the dog clutch.

[0055] Step S30: Verify the position-updated canine clutch, and end the position self-learning control after passing the verification.

[0056] This embodiment continuously acquires the position information of the canine clutch in the vehicle when it is determined that the vehicle is in a safe state; performs position self-learning control on the canine clutch based on the position information to obtain a position-updated canine clutch, which is used to control the canine clutch to move to a position that meets the engagement requirements; the position-updated canine clutch is verified, and the position self-learning control ends after passing the verification. Compared with traditional clutch control methods, because the above method in this embodiment performs position self-learning control on the canine clutch based on the position information of the canine clutch, it can control the canine clutch to move to a position that meets the engagement requirements, thereby accurately realizing the engagement and disengagement control of canine clutches with manufacturing, assembly, sensor, and other tolerances and errors.

[0057] refer to Figure 3 , Figure 3 This is a flowchart illustrating the second embodiment of the clutch position self-learning control method of the present invention.

[0058] Based on the first embodiment described above, in this embodiment, step S10 may include:

[0059] Step S101: When the vehicle's transmission oil temperature is normal, the brake pedal is depressed, the transmission output shaft speed is stationary, the engine speed signal is normal, the transmission output shaft speed signal is normal, the shift lever is in driving mode, the transmission oil pump pressure is normal, the canine clutch position sensor signal is normal, and the transmission target gear is 1, the vehicle is determined to be in a safe state.

[0060] In practical implementation, the self-learning control of the canine clutch position requires setting activation conditions; otherwise, the success rate of self-learning will be affected, the results of self-learning will not be representative, and since self-learning may be performed at the vehicle level, it is necessary to ensure that the vehicle is in a safe state before self-learning control can proceed. Activation conditions specifically include: the transmission oil temperature must be within a suitable range, the vehicle must be braked, the transmission output shaft speed must be stationary, the engine speed signal must be normal, the transmission output shaft speed signal must be normal, the vehicle shift lever must be in Drive mode, the transmission oil pump pressure must be normal, the canine clutch position sensor signal must be normal, and the target gear of the transmission must be 1st gear.

[0061] Step S102: Continuously acquire the position information of the canine clutch in the vehicle through the canine clutch position sensor, wherein the canine clutch position sensor is a Hall sensor.

[0062] In practical implementation, a Hall sensor is a sensor that uses the Hall effect principle to detect magnetic fields. It consists of a Hall element, a power supply, and an output signal processing circuit. In a Hall sensor, when current flows through the Hall element, a change in the angle or position between the applied magnetic field and the sensor causes a voltage change due to the Hall effect within the Hall element. This voltage change is captured by the sensor and converted into an electrical signal that can be used by the measurement or control system.

[0063] Further, in this embodiment, step S20 may include:

[0064] Step S201: Send an intervention signal to the transmission to adjust the main oil pressure of the transmission to the maximum, and perform downshift control on the dog clutch based on the maximum main oil pressure.

[0065] Step S202: When the position of the canine clutch reaches the first interval according to the position information, it is determined that the canine clutch has completed the downshift control.

[0066] In its implementation, the canine clutch position self-learning function needs to be manually triggered by an external device. Once manually triggered, the canine clutch position self-learning control checks if the activation conditions are met. If not, the main control phase enters the "waiting for activation conditions to be met" phase; if met, it enters the "self-learning execution" phase. Once in the "self-learning execution" phase, and the timer has not exceeded the set threshold (i.e., not entering the "self-learning abort" phase), it transitions to the "self-learning idle" phase. During the "self-learning idle" phase, all timers related to the canine clutch self-learning control are reset. After resetting all timers during the "self-learning idle" phase, the control enters the "self-learning request downshift" phase. The control objective in this phase is to issue a downshift command, enabling the canine clutch to downshift to the open state. Simultaneously, the self-learning control function sends an intervention signal to the transmission master hydraulic pressure, requesting maximum master hydraulic pressure to ensure rapid and smooth downshifting. When the canine clutch position is detected to have reached the open range, it is considered that the request for unshift control has been completed, and the process transitions from "request for unshift control" to "unshift control". At this time, the current canine clutch position is recorded and compared with the position stored in the previous unshift action. If the current canine clutch position is smaller, that is, closer to the canine clutch open position, then this position is recorded as the canine clutch open position.

[0067] Step S203: Perform gear engagement control on the canine clutch according to the position information to obtain the canine clutch with updated position.

[0068] Based on the first embodiment described above, in this embodiment, step S203 may include:

[0069] Step S2031: When the position of the canine clutch is detected to have reached the second interval according to the position information, the canine clutch is engaged and the position change of the canine clutch is monitored in each control cycle.

[0070] Step S2032: Determine whether the current position of the canine clutch is stable based on the position change amount. If it is stable, then obtain the canine clutch with updated position after ending the gear shift control.

[0071] In practical implementation, once the canine clutch completes disengagement, the system transitions from the "disengagement control" stage to the "gear engagement request control" stage. The control objective in this stage is to issue a gear engagement command, bringing the canine clutch into engagement mode. Once the canine clutch enters the engagement range, its position change in each control cycle is monitored. If the position change is less than 0.5% of the duty cycle for three consecutive cycles, the canine clutch position is considered stable, and the current canine clutch position is recorded as its engagement position.

[0072] This embodiment determines that the vehicle is in a safe state when the vehicle's transmission oil temperature is normal, the brake pedal is depressed, the transmission output shaft speed is stationary, the engine speed signal is normal, the transmission output shaft speed signal is normal, the shift lever is in driving mode, the transmission oil pump pressure is normal, the hound clutch position sensor signal is normal, and the transmission target gear is 1st gear. The vehicle continuously acquires the position information of the hound clutch in the vehicle through the hound clutch position sensor, which is a Hall effect sensor. An intervention signal is sent to the transmission to adjust the transmission's main oil pressure to the maximum, and the hound clutch is adjusted based on the maximum main oil pressure. The clutch performs downshift control; when the position of the canine clutch reaches the first interval according to the position information, it is determined that the canine clutch has completed downshift control; the canine clutch is engaged according to the position information to obtain a canine clutch with updated position; when the position of the canine clutch reaches the second interval according to the position information, the canine clutch is engaged and the position change of the canine clutch is monitored in each control cycle; the current position of the canine clutch is determined based on the position change; if it is stable, the engagement control ends and a canine clutch with updated position is obtained. Compared with traditional clutch control methods, the above method in this embodiment ensures that each transmission can accurately achieve the engagement and disengagement control of the canine clutch by performing position self-learning control on the position of the canine clutch.

[0073] refer to Figure 4 , Figure 4 This is a flowchart illustrating the third embodiment of the clutch position self-learning control method of the present invention.

[0074] Based on the above embodiments, in this embodiment, after step S30, the following may also be included:

[0075] Step S40: Store the position information of the canine clutch after position update during the end position self-learning control.

[0076] In the specific implementation, once the "gear shift control" stage is completed, it means that the self-learning of the canine clutch position is complete, and then the "position storage" stage is entered, where the duty cycle values ​​of the canine clutch "open position" and "engaged position" stored in the transmission controller's EEPROM (Electrically Erasable Programmable Read-Only Memory) are updated.

[0077] Based on the above embodiments, in this embodiment, before step S10, the following may also be included:

[0078] Step S01: When at least one of the following conditions is not met: normal transmission oil temperature, brake pedal depressed, transmission output shaft speed stationary, engine speed signal status normal, transmission output shaft speed signal status normal, shift lever in driving mode, transmission oil pump pressure normal, canine clutch position sensor signal status normal, and transmission target gear is 1st gear, start timing.

[0079] Step S02: If the total timing duration reaches the duration threshold, the timeout protection is activated and the position self-learning control of the canine clutch is automatically terminated.

[0080] In practical implementation, if at least one of the following conditions is not met: normal transmission oil temperature, brake pedal depressed, transmission output shaft speed stationary, engine speed signal normal, transmission output shaft speed signal normal, shift lever in driving mode, transmission oil pump pressure normal, hound clutch position sensor signal normal, and target gear in first gear, then the vehicle cannot be considered to be in a safe state, and therefore position self-learning control cannot be performed. The hound clutch position self-learning control has two timeout protection mechanisms: First, when manually triggering the hound clutch position self-learning control, if other self-learning activation conditions are not yet met, a timer begins and waits for the other self-learning activation conditions to be met. If the other self-learning activation conditions are not met and the timer exceeds the set 5-second threshold, the timeout protection is activated, and the hound clutch position self-learning control is automatically exited. Second, when entering the "self-learning execution" stage, a timer begins. When the timer exceeds the set 10-second threshold, the timeout protection is activated, and the hound clutch position self-learning control is automatically exited.

[0081] In this embodiment, the clutch position self-learning control method may further include:

[0082] Step S50: When the canine clutch is in the gear shifting control stage of position self-learning control, a first difference and a second difference are obtained. The first difference is the duty cycle difference between the first position learned by the canine clutch and the actual engagement position of the canine clutch. The second difference is the duty cycle difference between the second position learned by the canine clutch and the actual engagement position of the canine clutch.

[0083] Step S60: If the first difference is less than the first preset value or the second difference is greater than the second preset value, then the dog clutch is re-engaged.

[0084] In the specific implementation, when in the "gear shifting control" stage of the canine clutch position self-learning control, the duty cycle difference between the learned canine clutch "open position" and the current canine clutch engagement position is calculated. If the difference is less than 20%, the learned "engagement position" is considered unusable, and gear shifting control needs to continue. When in the "gear shifting control" stage of the canine clutch position self-learning control, the current canine clutch engagement position is compared with the maximum value (i.e., the deepest position) of the previously successfully self-learned "engagement position". If the deviation between the two is greater than 2% of the duty cycle, the self-learned "engagement position" is considered unusable, and gear shifting control needs to continue.

[0085] This embodiment stores the position information of the canine clutch after the position update at the end of the self-learning control. Timing begins when at least one of the following conditions is not met: normal transmission oil temperature, brake pedal depressed, transmission output shaft speed stationary, engine speed signal normal, transmission output shaft speed signal normal, shift lever in driving mode, transmission oil pump pressure normal, canine clutch position sensor signal normal, and the target gear is 1st gear. If the total timing duration reaches a time threshold, timeout protection is activated and the canine clutch position self-learning control automatically ends. When the canine clutch is in the gear engagement control phase of the position self-learning control, a first difference and a second difference are obtained. The first difference is the duty cycle difference between the first position learned by the canine clutch and the actual engagement position of the canine clutch, and the second difference is the duty cycle difference between the second position learned by the canine clutch and the actual engagement position of the canine clutch. If the first difference is less than a first preset value or the second difference is greater than a second preset value, the canine clutch is re-engaged. Compared to traditional clutch control methods, the method described in this embodiment improves the safety and rationality of the canine clutch in the position self-learning control process by introducing timeout protection and error prevention measures for position self-learning control.

[0086] Furthermore, this embodiment of the invention also proposes a storage medium storing a clutch position self-learning control program, which, when executed by a processor, implements the steps of the clutch position self-learning control method described above.

[0087] Reference Figure 5 , Figure 5 This is a structural block diagram of the first embodiment of the clutch position self-learning control device of the present invention.

[0088] like Figure 5 As shown, the clutch position self-learning control device proposed in this embodiment of the invention includes:

[0089] The information acquisition module 501 is used to continuously acquire the position information of the canine clutch in the vehicle when it is determined that the vehicle is in a safe state;

[0090] Position control module 502 is used to perform position self-learning control on the canine clutch according to the position information to obtain the canine clutch with updated position. The position self-learning control is used to control the canine clutch to move to a position that meets the engagement requirements.

[0091] The information storage module 503 is used to verify the position-updated canine clutch and end the position self-learning control after passing the verification.

[0092] This embodiment continuously acquires the position information of the canine clutch in the vehicle when it is determined that the vehicle is in a safe state; performs position self-learning control on the canine clutch based on the position information to obtain a position-updated canine clutch, which is used to control the canine clutch to move to a position that meets the engagement requirements; the position-updated canine clutch is verified, and the position self-learning control ends after passing the verification. Compared with traditional clutch control methods, because the above method in this embodiment performs position self-learning control on the canine clutch based on the position information of the canine clutch, it can control the canine clutch to move to a position that meets the engagement requirements, thereby accurately realizing the engagement and disengagement control of canine clutches with manufacturing, assembly, sensor, and other tolerances and errors.

[0093] Based on the first embodiment of the clutch position self-learning control device of the present invention, a second embodiment of the clutch position self-learning control device of the present invention is proposed.

[0094] In this embodiment, the information acquisition module 501 is further configured to determine that the vehicle is in a safe state when the vehicle's transmission oil temperature is normal, the brake pedal is depressed, the transmission output shaft speed is stationary, the engine speed signal is normal, the transmission output shaft speed signal is normal, the shift lever is in driving mode, the transmission oil pump pressure is normal, the canine clutch position sensor signal is normal, and the transmission target gear is 1st gear; and to continuously acquire the position information of the canine clutch in the vehicle through the canine clutch position sensor, wherein the canine clutch position sensor is a Hall sensor.

[0095] Furthermore, the position control module 502 is also used to send an intervention signal to the transmission to adjust the main oil pressure of the transmission to the maximum, and to perform downshift control on the canine clutch based on the maximum main oil pressure; when the position of the canine clutch reaches the first interval according to the position information, it is determined that the canine clutch has completed the downshift control; and to perform gear engagement control on the canine clutch according to the position information to obtain the canine clutch with updated position.

[0096] Furthermore, the position control module 502 is also used to perform gear engagement control on the canine clutch and monitor the position change of the canine clutch in each control cycle when the position of the canine clutch is detected to have reached the second interval according to the position information; determine whether the current position of the canine clutch is stable according to the position change; if it is stable, then obtain the canine clutch with updated position after ending the gear engagement control.

[0097] Furthermore, the information storage module 503 is also used to store the position information corresponding to the canine clutch after position update during the end position self-learning control.

[0098] Furthermore, the information acquisition module 501 is also used to start timing when at least one of the following conditions is not met: normal transmission oil temperature, brake pedal depressed, transmission output shaft speed stationary, engine speed signal status normal, transmission output shaft speed signal status normal, shift lever in driving mode, transmission oil pump pressure normal, canine clutch position sensor signal status normal, and transmission target gear is 1st gear; if the total timing duration reaches the duration threshold, then timeout protection is activated and the canine clutch position self-learning control is automatically terminated.

[0099] Furthermore, the information acquisition module 501 is also used to acquire a first difference and a second difference when the canine clutch is in the gear shifting control stage of position self-learning control. The first difference is the duty cycle difference between the first position learned by the canine clutch and the actual engagement position of the canine clutch, and the second difference is the duty cycle difference between the second position learned by the canine clutch and the actual engagement position of the canine clutch. If the first difference is less than a first preset value or the second difference is greater than a second preset value, then the gear shifting control of the canine clutch is re-performed.

[0100] Other embodiments or specific implementations of the clutch position self-learning control device of the present invention can be referred to the above-described method embodiments, and will not be repeated here.

[0101] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system 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 system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0102] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0103] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0104] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A clutch position self-learning control method, characterized in that, The method includes the following steps: When the vehicle is determined to be in a safe state, the position information of the canine clutch in the vehicle is continuously acquired; Based on the position information, the position self-learning control of the canine clutch is performed to obtain the canine clutch with an updated position. The position self-learning control is used to control the displacement of the canine clutch to a position that meets the engagement requirements. The position-updated canine clutch is checked, and the position self-learning control ends after the check is passed. The position self-learning control includes downshift control and gear engagement control. The step of performing position self-learning control on the dog clutch based on the position information to obtain the updated position of the dog clutch includes: An intervention signal is sent to the transmission to adjust the main oil pressure of the transmission to the maximum, and the dog clutch is downshifted based on the maximum main oil pressure; When the position of the canine clutch reaches the first interval based on the position information, it is determined that the canine clutch has completed the downshift control. When the position of the canine clutch reaches the second interval based on the position information, the canine clutch is engaged and the position change of the canine clutch is monitored in each control cycle. The position of the canine clutch is determined based on the position change. If it is stable, the position of the canine clutch is updated after the gear shifting control is terminated.

2. The clutch position self-learning control method as described in claim 1, characterized in that, The step of continuously acquiring the position information of the canine clutch in the vehicle when it is determined that the vehicle is in a safe state includes: When the vehicle's transmission oil temperature is normal, the brake pedal is depressed, the transmission output shaft speed is stationary, the engine speed signal is normal, the transmission output shaft speed signal is normal, the shift lever is in driving mode, the transmission oil pump pressure is normal, the canine clutch position sensor signal is normal, and the transmission target gear is 1, the vehicle is determined to be in a safe state. The position information of the canine clutch in the vehicle is continuously acquired by a canine clutch position sensor, which is a Hall sensor.

3. The clutch position self-learning control method as described in claim 1, characterized in that, After verifying the position-updated canine clutch and ending the position self-learning control upon passing the verification, the method further includes: The position information of the canine clutch after the position update is stored during the self-learning control of the end position.

4. The clutch position self-learning control method as described in claim 1, characterized in that, Before the step of continuously acquiring the position information of the canine clutch in the vehicle when it is determined that the vehicle is in a safe state, the method further includes: The timer starts when at least one of the following conditions is not met: normal transmission oil temperature, brake pedal depressed, transmission output shaft speed stationary, engine speed signal normal, transmission output shaft speed signal normal, shift lever in driving mode, transmission oil pump pressure normal, canine clutch position sensor signal normal, and transmission target gear is 1st gear. If the total timing duration reaches the time threshold, the timeout protection will be activated and the self-learning control of the canine clutch position will be automatically terminated.

5. The clutch position self-learning control method as described in claim 1, characterized in that, The method further includes: When the canine clutch is in the gear shifting control stage of position self-learning control, a first difference and a second difference are obtained. The first difference is the duty cycle difference between the first position learned by the canine clutch and the actual engagement position of the canine clutch. The second difference is the duty cycle difference between the second position learned by the canine clutch and the actual engagement position of the canine clutch. If the first difference is less than the first preset value or the second difference is greater than the second preset value, then the dog clutch is re-engaged.

6. A clutch position self-learning control device, characterized in that, The clutch position self-learning control device includes: The information acquisition module is used to continuously acquire the position information of the canine clutch in the vehicle when it is determined that the vehicle is in a safe state; The position control module is used to perform position self-learning control on the canine clutch according to the position information to obtain the canine clutch with updated position. The position self-learning control is used to control the canine clutch to move to a position that meets the engagement requirements. The information storage module is used to verify the position-updated canine clutch and end the position self-learning control after passing the verification. The position self-learning control includes downshift control and gear engagement control. The position control module is also used for: An intervention signal is sent to the transmission to adjust the main oil pressure of the transmission to the maximum, and the dog clutch is downshifted based on the maximum main oil pressure; When the position of the canine clutch reaches the first interval based on the position information, it is determined that the canine clutch has completed the downshift control. When the position of the canine clutch reaches the second interval based on the position information, the canine clutch is engaged and the position change of the canine clutch is monitored in each control cycle. The position of the canine clutch is determined based on the position change. If it is stable, the position of the canine clutch is updated after the gear shifting control is terminated.

7. A clutch position self-learning control device, characterized in that, The device includes: a memory, a processor, and a clutch position self-learning control program stored in the memory and executable on the processor, the clutch position self-learning control program being configured to implement the steps of the clutch position self-learning control method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium stores a clutch position self-learning control program, which, when executed by a processor, implements the steps of the clutch position self-learning control method as described in any one of claims 1 to 5.

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