Hybrid vehicle clutch self-learning method, device and medium

Abstract

The embodiment of the application discloses a hybrid vehicle clutch self-learning method, device and medium, and belongs to the technical field of vehicle control. The problem that the one-time learning mode of the clutch offline easily causes engine starting overshoot or power deficiency when facing an environment with a large temperature difference is solved. The method comprises the following steps: when the vehicle is powered on, entering a clutch slip point self-learning state; during the clutch engagement process, the motor speed is detected in real time, and when the motor speed reaches a preset motor speed condition, the current clutch engagement position is taken as the clutch slip point position; the clutch slip point position is verified, and the clutch slip point position learning is determined to be successful when the verification is passed; when the vehicle is powered off, entering a clutch minimum engagement point self-learning state, and taking the clutch position corresponding to the vehicle powered off as the clutch minimum engagement point position; the clutch minimum engagement point position is verified, and the clutch minimum engagement point position learning is determined to be successful when the verification is passed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a hybrid vehicle clutch self-learning method, device and medium. BACKGROUND

[0002] In a vehicle power transmission system, the performance stability of the clutch is crucial, and the position adjustment of the clutch directly affects the starting smoothness and power output efficiency of the vehicle.

[0003] Due to the influence of temperature on the position of the clutch, especially in plateau areas where the temperature difference between morning, noon and night is large, the positions of the clutch slip point and the minimum combination point change significantly.

[0004] In the prior art, the clutch self-learning technology mainly relies on a one-time learning process at the time of delivery, that is, the clutch is calibrated once during vehicle production or maintenance. However, this one-time learning method is difficult to ensure that the clutch can maintain the best working state at different time periods when facing an environment with a large temperature difference, so as to easily cause the problems of engine starting overshoot or power deficiency. SUMMARY

[0005] The embodiments of the present application provide a hybrid vehicle clutch self-learning method, device and medium, which are used to solve the following technical problem: the one-time learning method of the clutch at the time of delivery in the prior art is difficult to ensure that the clutch can maintain the best working state at different time periods when facing an environment with a large temperature difference, so as to easily cause the problems of engine starting overshoot or power deficiency.

[0006] The embodiments of the present application adopt the following technical solutions:

[0007] The embodiments of the present application provide a hybrid vehicle clutch self-learning method. The method comprises: when the vehicle is powered on, entering a clutch slip point self-learning state; during the clutch combination process, detecting the motor speed in real time, and in the case that the motor speed reaches a preset motor speed condition, taking the current clutch combination position as the clutch slip point position; verifying the clutch slip point position based on preset slip point verification data, and in the case that the verification is passed, determining that the clutch slip point position learning is successful; when the vehicle is powered off, entering a clutch minimum combination point self-learning state, and taking the clutch position corresponding to the vehicle powered off as the clutch minimum combination point position; verifying the clutch minimum combination point position based on preset minimum combination point verification data, and in the case that the verification is passed, determining that the clutch minimum combination point position learning is successful.

[0008] The embodiment of the application learns the clutch slip point when the vehicle is powered on, and learns the minimum combination point when the vehicle is powered off, thereby improving the learning frequency of the clutch self-learning, preventing the problems of gear shifting impact or power deficiency caused by the change of the clutch slip point position and the minimum combination point position due to a large temperature difference. In addition, the embodiment of the application detects the learning position after the self-learning is completed, ensures the accuracy of the learned slip point and minimum combination point, and can timely find errors, thereby improving the stability and reliability of clutch control.

[0009] In an implementation manner of the application, in the case that the motor speed reaches the preset motor speed condition, the current clutch combination position is taken as the clutch slip point position, and specifically includes: determining a reference time length corresponding to the case that the motor speed reaches the preset motor speed threshold, and comparing the reference time length with a preset time length threshold; in the case that the reference time length is not greater than the preset time length threshold, taking the clutch combination position corresponding to the case that the preset motor speed threshold is reached as the clutch slip point position; and within the preset time length threshold, if the motor speed is less than the preset motor speed threshold, the motor speed is marked as acquisition failure data, and clutch slip point self-learning failure information is sent.

[0010] In an implementation manner of the application, the clutch slip point position is verified based on preset slip point verification data, and specifically includes: comparing the clutch slip point position with the last stored clutch slip point position, determining a first slip point position difference value, and comparing the first slip point position difference value with a first position difference threshold; and comparing the clutch slip point position with an initial calibration amount, determining a second slip point position difference value, and comparing the second slip point position difference value with a second position difference threshold; in the case that the first slip point position difference value is not greater than the first position difference threshold, and the second slip point position difference value is not greater than the second position difference threshold, it is determined that the clutch slip point position verification is successful.

[0011] In an implementation manner of the application, before comparing the first slip point position difference value with the first position difference threshold, the method further includes: acquiring a first environment temperature value of the vehicle corresponding to the last clutch slip point position storage, and acquiring a second environment temperature value of the vehicle currently located; determining a temperature difference value between the first environment temperature value and the second environment temperature value; inputting the temperature difference value into a preset slip point position prediction model to output a slip point position variation value corresponding to the temperature difference value through the preset slip point position prediction model; taking the slip point position variation value as the first position difference threshold to compare the first slip point position difference value with the first position difference threshold.

[0012] In an implementation form of the application, the clutch position corresponding to the vehicle being powered off is taken as the clutch minimum engagement point position, specifically comprising: after the vehicle is powered off, starting a first powered-off time counting; in the case that the clutch has been closed instruction is received during the first powered-off time counting, determining the clutch position, and taking the clutch position as the clutch minimum engagement point position.

[0013] In an implementation form of the application, after starting the first powered-off time counting, the method further comprises: in the case that the first powered-off time counting reaches a first preset time and no clutch has been closed instruction is received, starting a second powered-off time counting; after the second powered-off time counting reaches a second preset time, determining the clutch position, and taking the clutch position as the clutch minimum engagement point position.

[0014] In an implementation form of the application, the clutch minimum engagement point position is verified based on preset minimum engagement point verification data, specifically comprising: comparing the clutch minimum engagement point position with the last stored clutch minimum engagement point position to determine a first minimum engagement point position difference, and comparing the first minimum engagement point position difference with a third position difference threshold; and comparing the clutch minimum engagement point position with an initial calibration value to determine a second minimum engagement point position difference, and comparing the second minimum engagement point position difference with a fourth position difference threshold; in the case that the first minimum engagement point position difference is not greater than the third position difference threshold and the second minimum engagement point position difference is not greater than the fourth position difference threshold, it is determined that the clutch minimum engagement point position verification is successful.

[0015] In an implementation form of the application, before comparing the first minimum engagement point position difference with the third position difference threshold, the method further comprises: obtaining a third ambient temperature value corresponding to the vehicle when the last clutch minimum engagement point position is stored, and obtaining a fourth ambient temperature value currently reached by the vehicle; determining a temperature difference between the third ambient temperature value and the fourth ambient temperature value; inputting the temperature difference into a preset minimum engagement point position prediction model to output a minimum engagement point position variation value corresponding to the temperature difference through the preset minimum engagement point position prediction model; taking the minimum engagement point position variation value as the third position difference threshold to compare the first minimum engagement point position difference with the third position difference threshold.

[0016] The embodiment of the application provides a hybrid vehicle clutch self-learning device, comprising: at least one processor; and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to: enter a clutch slip point self-learning state when the vehicle is powered on; detect the motor speed in real time during the clutch engagement process, and take the current clutch engagement position as the clutch slip point position in the case that the motor speed reaches a preset motor speed condition; check the clutch slip point position based on preset slip point check data, and determine that the clutch slip point position learning is successful in the case that the checking is passed; enter a clutch minimum engagement point self-learning state when the vehicle is powered off, and take the clutch position corresponding to the vehicle powered off as the clutch minimum engagement point position; and check the clutch minimum engagement point position based on preset minimum engagement point check data, and determine that the clutch minimum engagement point position learning is successful in the case that the checking is passed.

[0017] The embodiment of the application provides a nonvolatile computer storage medium, which stores computer executable instructions, and the computer executable instructions are set to: enter a clutch slip point self-learning state when the vehicle is powered on; detect the motor speed in real time during the clutch engagement process, and take the current clutch engagement position as the clutch slip point position in the case that the motor speed reaches a preset motor speed condition; check the clutch slip point position based on preset slip point check data, and determine that the clutch slip point position learning is successful in the case that the checking is passed; enter a clutch minimum engagement point self-learning state when the vehicle is powered off, and take the clutch position corresponding to the vehicle powered off as the clutch minimum engagement point position; and check the clutch minimum engagement point position based on preset minimum engagement point check data, and determine that the clutch minimum engagement point position learning is successful in the case that the checking is passed.

[0018] The above at least one technical scheme adopted by the embodiment of the application can achieve the following beneficial effects: the embodiment of the application learns the clutch slip point by starting the engine when the vehicle is powered on, and learns the minimum engagement point when the vehicle is powered off, thereby improving the learning frequency of the clutch self-learning, preventing the problems of gear shift impact or power deficiency caused by the change of the clutch slip point position and the minimum engagement point position due to a large temperature difference. Secondly, the embodiment of the application detects the learning position after the self-learning is completed, ensures the accuracy of the learned slip point and minimum engagement point, and can timely find errors, thereby improving the stability and reliability of the clutch control. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor. In the drawings:

[0020] Figure 1 A flow chart of a hybrid vehicle clutch self-learning method provided by an embodiment of the present application;

[0021] Figure 2 A structural schematic diagram of a hybrid vehicle clutch self-learning device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0022] The present application provides a hybrid vehicle clutch self-learning method, device and medium.

[0023] In order to make the person skilled in the art better understand the technical solutions in the present application, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0024] The technical solutions provided by the embodiments of the present application will be described in detail below with the help of the drawings.

[0025] Figure 1 A flow chart of a hybrid vehicle clutch self-learning method provided by an embodiment of the present application, as shown in Figure 1 The hybrid vehicle clutch self-learning method comprises the following steps:

[0026] S101, when the vehicle is powered on, enter the clutch slip point self-learning state.

[0027] In an embodiment of the present application, the present application is applicable to a P2 hybrid vehicle. The structure of the hybrid vehicle is that the engine is connected to the clutch, the clutch is connected to the motor, and the motor is connected to the gearbox. When the vehicle key is started, the engine will first start and then stop. Therefore, the entering condition of the clutch self-learning in the present application is that when the key starts the engine, the clutch self-learning state is entered.

[0028] Specifically, in the embodiments of the present application, the vehicle key starting and triggering engine starting are taken as the entering condition of clutch self-learning, so that the clutch self-learning function is activated every time the vehicle enters the ready-to-drive state from the completely stationary state through key starting. By performing clutch self-learning every time the vehicle is started, the frequency of clutch self-learning of the vehicle is increased, which can ensure that the working state of the clutch is always kept optimal. Even if the performance of the vehicle is reduced after a large temperature difference or long-term use, the self-learning can compensate to a certain extent, so as to ensure that the clutch can maintain the best working state in different environments at different time periods.

[0029] In S102, the motor speed is detected in real time during clutch engagement, and the current clutch engagement position is taken as the clutch slip point position when the motor speed reaches the preset motor speed condition.

[0030] In an embodiment of the present application, after entering the clutch self-learning, the control executor slowly engages the clutch. When the clutch is slowly engaged, the motor generates a speed when the engine drives the clutch, and the slip point position of the clutch is determined based on the motor speed.

[0031] In an embodiment of the present application, the reference time corresponding to the time when the motor speed reaches the preset motor speed threshold is determined, and the reference time is compared with the preset time threshold. When the reference time is not greater than the preset time threshold, the clutch engagement position corresponding to the time when the preset motor speed threshold is reached is taken as the clutch slip point position. If the motor speed is less than the preset motor speed threshold within the preset time threshold, the motor speed is marked as failed data, and the clutch slip point self-learning failure information is sent.

[0032] Specifically, the preset motor speed threshold in the embodiments of the present application is a specific speed value for judging whether the motor has reached the expected speed level. The value is relatively small, for example, it can be set to 20 RPM. The time from the start of the motor to the time when the motor speed reaches the preset motor speed threshold is the reference time, which is used to evaluate the efficiency of the motor reaching the preset speed. If the reference time is less than or equal to the preset time threshold, it means that the response speed of the motor is within an acceptable range, and the next step of clutch engagement position determination can be continued. If the reference time is greater than the preset time threshold, but the motor speed has not reached the preset motor speed threshold within the preset time threshold, error processing is needed.

[0033] Further, when the motor speed reaches the preset motor speed threshold within the preset time threshold, the clutch engagement position at this time is recorded as the clutch slip point position. If the motor speed fails to reach the preset motor speed threshold within the preset time threshold, the motor speed data is marked as acquisition failure data, and the system will issue a clutch slip point self-learning failure information, prompting further diagnosis or maintenance.

[0034] S103, verifying the clutch slip point position based on the preset slip point verification data, and determining that the clutch slip point position learning is successful in the case of verification passing.

[0035] In an embodiment of the present application, the first environment temperature value corresponding to the storage of the previous clutch slip point position is obtained, and the second environment temperature value of the vehicle currently located is obtained. The temperature difference between the first environment temperature value and the second environment temperature value is determined. The temperature difference is input into the preset slip point position prediction model to output the slip point position variation value corresponding to the temperature difference through the preset slip point position prediction model. The slip point position variation value is used as the first position difference threshold to compare the first slip point position difference with the first position difference threshold.

[0036] Specifically, the present application embodiment records the environment temperature of the vehicle when storing the previous clutch slip point position, i.e. the first environment temperature value, and also obtains the environment temperature of the vehicle currently located, i.e. the second environment temperature value. According to the first environment temperature value and the second environment temperature value, the temperature difference between the two is calculated. The present application embodiment is provided with a preset slip point position prediction model, which can predict the possible variation of the clutch slip point position according to the temperature difference. The training process of the model is to take the historical temperature difference as the input sample, and take the historical slip point position variation value corresponding to the input sample as the output sample. The preset neural network model is trained by the input sample and the output sample to obtain the preset slip point position prediction model.

[0037] Further, the currently calculated temperature difference is input into the preset slip point position prediction model, and a corresponding slip point position variation value is output through the preset slip point position prediction model. This slip point position variation value is used as a new first position difference threshold for subsequent comparison with the first slip point position difference.

[0038] In an embodiment of the present application, the clutch slip point position is compared with the last stored clutch slip point position, a first slip point position difference is determined, the first slip point position difference is compared with a first position difference threshold, and the clutch slip point position is compared with an initial calibration amount, a second slip point position difference is determined, and the second slip point position difference is compared with a second position difference threshold. In the case that the first slip point position difference is not greater than the first position difference threshold, and the second slip point position difference is not greater than the second position difference threshold, it is determined that the clutch slip point position verification is successful.

[0039] Specifically, after learning the slip point position, position verification is performed. The current learned clutch slip point position is compared with the last stored clutch slip point position, and the comparison result does not exceed the threshold value, and at the same time, it is compared with the initial calibration amount, and the comparison result does not exceed the threshold value, then it is considered that the clutch slip learning is successful, at this time the controller performs storage, the vehicle exits the clutch self-learning state, and enters the vehicle preparation state.

[0040] Specifically, in the embodiment of the present application, each time after the clutch learning is completed, the clutch slip point position learned successfully each time is stored, when a new clutch slip point position is learned, it is compared with the last stored position, and a difference between the two, i.e. a first slip point position difference, is calculated. The initial calibration amount in the embodiment of the present application is the slip point position of the clutch determined at the time of factory shipment or first calibration, the newly learned clutch slip point position is compared with the initial calibration amount, and a difference between the two, i.e. a second slip point position difference, is calculated. The first slip point position difference needs to be compared with the first position difference threshold to determine whether the difference between the new position and the last stored position is within an acceptable range, and the second slip point position difference needs to be compared with the second position difference threshold to determine whether the difference between the new position and the initial calibration amount is within an acceptable range. Only when the first slip point position difference is not greater than the first position difference threshold, and the second slip point position difference is not greater than the second position difference threshold, the system will determine that the clutch slip point position verification is successful.

[0041] For example, assuming that the automatic transmission system of an electric vehicle is performing verification of the clutch slip point position. The last stored clutch slip point position is 10 mm, the initial calibration amount is 9 mm, the first position difference threshold is ±0.5 mm, and the second position difference threshold is ±1.5 mm. The learned clutch slip point position is 10.2 mm, compared with the last stored position, the first slip point position difference is 0.2 mm, which is not greater than the first position difference threshold ±0.5 mm, compared with the initial calibration amount, the second slip point position difference is 1.2 mm, which is not greater than the second position difference threshold ±1.5 mm, therefore, it is determined that the clutch slip point position verification is successful.

[0042] S104, when the vehicle is powered off, enter a clutch minimum engagement point self-learning state, and take the clutch position corresponding to when the vehicle is powered off as the clutch minimum engagement point position.

[0043] In an embodiment of the present application, after the vehicle is powered off, a first power-off duration timer is started. If a clutch closed instruction is received during the first power-off duration timer, the clutch position is determined and taken as the clutch minimum engagement point position.

[0044] Specifically, after the vehicle is in a powered-off state, a timer, i.e., a first power-off duration timer, is started. If a clutch closed instruction is received during the timer, it indicates that the clutch has been closed, and the current position of the clutch is immediately determined and taken as the clutch minimum engagement point position.

[0045] In an embodiment of the present application, if the first power-off duration timer reaches a first preset duration and no clutch closed instruction is received, a second power-off duration timer is started. After the second power-off duration timer reaches a second preset duration, the clutch position is determined and taken as the clutch minimum engagement point position.

[0046] Specifically, if no clutch closed instruction is received during the first power-off duration timer and the timer reaches the first preset duration, the next stage is entered, i.e., another timer, i.e., a second power-off duration timer, is started after the first power-off duration timer ends. The purpose of the second power-off duration timer is to wait further to ensure that the clutch is stably at the minimum engagement point. After the second power-off duration timer ends, the sensor data related to the clutch is read to determine the current position of the clutch, and the clutch position read at this time is taken as the minimum engagement point position of the clutch.

[0047] S105, verify the clutch minimum engagement point position based on preset minimum engagement point verification data, and determine that the clutch minimum engagement point position learning is successful if the verification is passed.

[0048] In an embodiment of the present application, the third environmental temperature value corresponding to when the previous clutch minimum engagement point position is stored is obtained, and the fourth environmental temperature value at which the vehicle is currently located is obtained. The temperature difference between the third environmental temperature value and the fourth environmental temperature value is determined. The temperature difference is input into the preset minimum engagement point position prediction model to output the minimum engagement point position variation value corresponding to the temperature difference through the preset minimum engagement point position prediction model. The minimum engagement point position variation value is taken as the third position difference threshold value to compare the first minimum engagement point position difference with the third position difference threshold value.

[0049] Specifically, when the clutch minimum engagement point position is stored, the ambient temperature value at that time is recorded. When the clutch minimum engagement point position is verified, the temperature value corresponding to the time when the previous clutch minimum engagement point position is stored, i.e. the third ambient temperature value, is obtained, and the ambient temperature value at the current time when the vehicle is located, i.e. the fourth ambient temperature value, is obtained. The difference between the third ambient temperature value and the fourth ambient temperature value is calculated to obtain a temperature difference value. The temperature difference value reflects the change of the ambient temperature.

[0050] Further, the calculated temperature difference value is input into a preset minimum engagement point position prediction model. The preset minimum engagement point position prediction model outputs a predicted minimum engagement point position variation value according to the input temperature difference value. The training process of the preset minimum engagement point position prediction model is that the temperature environment difference value corresponding to the time when the historical minimum engagement point is stored is taken as an input sample, the historical minimum engagement point position variation value corresponding to the input sample is taken as an output sample, and the preset neural network model is trained to obtain the preset minimum engagement point position prediction model. The predicted minimum engagement point position variation value is taken as the third position difference value threshold when the clutch minimum engagement point position is verified.

[0051] In an embodiment of the present application, the clutch minimum engagement point position is compared with the previously stored clutch minimum engagement point position to determine a first minimum engagement point position difference value, and the first minimum engagement point position difference value is compared with the third position difference value threshold. The clutch minimum engagement point position is compared with the initial calibration quantity to determine a second minimum engagement point position difference value, and the second minimum engagement point position difference value is compared with the fourth position difference value threshold. In the case that the first minimum engagement point position difference value is not greater than the third position difference value threshold and the second minimum engagement point position difference value is not greater than the fourth position difference value threshold, it is determined that the clutch minimum engagement point position verification is successful.

[0052] Specifically, after the clutch minimum engagement point position is determined each time, it is compared with the previously stored clutch minimum engagement point position, and the difference between the two is calculated to obtain a first minimum engagement point position difference value. The calculated first minimum engagement point position difference value is compared with the third position difference value threshold. If the first minimum engagement point position difference value is not greater than the third position difference value threshold, it is considered that the clutch minimum engagement point position meets the current comparison requirement. Secondly, the clutch minimum engagement point position is compared with the initial calibration quantity, wherein the initial calibration quantity is a standard position of the clutch minimum engagement point measured by a professional device when the vehicle is manufactured or maintained. The difference between the clutch minimum engagement point position and the initial calibration quantity is calculated to obtain a second minimum engagement point position difference value.

[0053] Further, the calculated second minimum engagement point position difference value is compared with a fourth position difference threshold value, and if the second minimum engagement point position difference value is not greater than the fourth position difference threshold value, it is considered that the clutch minimum engagement point position meets the current requirement.

[0054] Further, if the first minimum engagement point position difference value is not greater than the third position difference threshold value, and the second minimum engagement point position difference value is not greater than the fourth position difference threshold value, it is determined that the verification of the clutch minimum engagement point position is successful.

[0055] The embodiment of the present application learns the clutch slip point by starting the engine when the key is powered on, and learns the clutch minimum engagement point when the key is powered off, thereby improving the learning frequency of clutch self-learning. The problems of gear shifting failure, gear shifting impact or power deficiency caused by the change of the clutch due to temperature are solved, the gear shifting success rate is improved, the smoothness of vehicle driving is improved, and the impact force is reduced.

[0056] Figure 2 A structural schematic diagram of a hybrid vehicle clutch self-learning device is provided for the embodiment of the present application. As shown in Figure 2 The hybrid vehicle clutch self-learning device includes at least one processor and a memory in communication connection with the at least one processor. The memory stores instructions executable by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to: enter a clutch slip point self-learning state when the vehicle is powered on; detect the motor speed in real time during the clutch engagement process, and take the current clutch engagement position as the clutch slip point position if the motor speed meets a preset motor speed condition; verify the clutch slip point position based on preset slip point verification data, and determine that the clutch slip point position learning is successful if the verification is passed; enter a clutch minimum engagement point self-learning state when the vehicle is powered off, and take the clutch position corresponding to the vehicle powered off as the clutch minimum engagement point position; verify the clutch minimum engagement point position based on preset minimum engagement point verification data, and determine that the clutch minimum engagement point position learning is successful if the verification is passed.

[0057] The embodiment of the application provides a kind of nonvolatile computer storage medium, and it is stored computer executable instruction, computer executable instruction is set as: when vehicle is powered on, enter clutch slip point self-learning state;During clutch combination process, motor speed is detected in real time, and under the condition that motor speed reaches preset motor speed condition, current clutch combination position is used as clutch slip point position;Clutch slip point position is checked based on preset slip point checking data, and in the case where checking is passed, clutch slip point position learning success is determined;When vehicle is powered off, enter clutch minimum combination point self-learning state, and the clutch position corresponding to vehicle after being powered off is used as clutch minimum combination point position;Clutch minimum combination point position is checked based on preset minimum combination point checking data, and in the case where checking is passed, clutch minimum combination point position learning success is determined.

[0058] Each embodiment in the application is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other, and each embodiment focuses on the difference from other embodiments. Especially, for the device, equipment, nonvolatile computer storage medium embodiment, since it is basically similar to the method embodiment, so the description is relatively simple, and the relevant part can be referred to the part of the method embodiment.

[0059] The above only describes the embodiment of the application, and is not used to limit the application. For those skilled in the art, the embodiment of the application can be variously changed and changed. And these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the application.

Claims

1. A hybrid vehicle clutch self-learning method characterized by comprising: The method comprises: When the vehicle is powered on, entering a clutch slip point self-learning state; During clutch engagement, the motor speed is detected in real time, and the current clutch engagement position is taken as the clutch slip point position if the motor speed reaches a preset motor speed condition; The clutch slip point position is verified based on preset slip point verification data, and the clutch slip point position learning is determined to be successful if the verification is passed; When the vehicle is powered off, entering a clutch minimum engagement point self-learning state, and taking the clutch position corresponding to the vehicle being powered off as the clutch minimum engagement point position; The clutch minimum engagement point position is verified based on preset minimum engagement point verification data, and the clutch minimum engagement point position learning is determined to be successful if the verification is passed; The verification of the clutch slip point position based on the preset slip point verification data specifically comprises: Comparing the clutch slip point position with the last stored clutch slip point position to determine a first slip point position difference, and comparing the first slip point position difference with a first position difference threshold; and Comparing the clutch slip point position with an initial calibration value to determine a second slip point position difference, and comparing the second slip point position difference with a second position difference threshold; If the first slip point position difference is not greater than the first position difference threshold, and the second slip point position difference is not greater than the second position difference threshold, it is determined that the clutch slip point position verification is successful; Before comparing the first slip point position difference with the first position difference threshold, the method further comprises: Obtaining a first environmental temperature value of the vehicle when the last clutch slip point position is stored, and obtaining a second environmental temperature value of the vehicle currently; Determining a temperature difference between the first environmental temperature value and the second environmental temperature value; Inputting the temperature difference into a preset slip point position prediction model to output a slip point position variation value corresponding to the temperature difference through the preset slip point position prediction model; Taking the slip point position variation value as the first position difference threshold to compare the first slip point position difference with the first position difference threshold.

2. The hybrid vehicle clutch self-learning method according to claim 1, characterized by, If the motor speed reaches a preset motor speed threshold, the reference time corresponding to the motor speed reaching the preset motor speed threshold is determined, and the reference time is compared with a preset time threshold; If the reference time is not greater than the preset time threshold, the clutch engagement position corresponding to the motor speed reaching the preset motor speed threshold is taken as the clutch slip point position; If the motor speed is less than the preset motor speed threshold within the preset time threshold, the motor speed is marked as acquisition failure data, and clutch slip point self-learning failure information is issued. After the vehicle is powered off, starting a first power-off time counting; 3. The hybrid vehicle clutch self-learning method according to claim 1, characterized by, ​ ​ In a case that the clutch-closed instruction is received during the first power-off duration timing, the clutch position is determined, and the clutch position is taken as the clutch minimum engagement point position.

4. The hybrid vehicle clutch self-learning method according to claim 3, characterized by, After the first power-off duration timing is started, the method further comprises: In a case that the first power-off duration timing reaches a first preset duration and the clutch-closed instruction is not received, a second power-off duration timing is started; After the second power-off duration timing reaches a second preset duration, the clutch position is determined, and the clutch position is taken as the clutch minimum engagement point position.

5. The hybrid vehicle clutch self-learning method according to claim 1, characterized by, The verification of the clutch minimum engagement point position based on preset minimum engagement point verification data specifically comprises: The clutch minimum engagement point position is compared with a previously stored clutch minimum engagement point position to determine a first minimum engagement point position difference, and the first minimum engagement point position difference is compared with a third position difference threshold value; and The clutch minimum engagement point position is compared with an initial calibration value to determine a second minimum engagement point position difference, and the second minimum engagement point position difference is compared with a fourth position difference threshold value; In a case that the first minimum engagement point position difference is not greater than the third position difference threshold value and the second minimum engagement point position difference is not greater than the fourth position difference threshold value, it is determined that the verification of the clutch minimum engagement point position is successful.

6. The hybrid vehicle clutch self-learning method according to claim 5, characterized by, Before the comparison of the first minimum engagement point position difference with the third position difference threshold value, the method further comprises: A third environmental temperature value corresponding to a time when the previously stored clutch minimum engagement point position is obtained is acquired, and a fourth environmental temperature value currently experienced by the vehicle is acquired; A temperature difference between the third environmental temperature value and the fourth environmental temperature value is determined; The temperature difference is input into a preset minimum engagement point position prediction model to output a minimum engagement point position variation value corresponding to the temperature difference through the preset minimum engagement point position prediction model; The minimum engagement point position variation value is taken as the third position difference threshold value, and the comparison of the first minimum engagement point position difference with the third position difference threshold value is performed.

7. A hybrid vehicle clutch self-learning apparatus characterized by comprising: The device comprises a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the device is triggered to execute the method of any one of claims 1-6.

8. A non-transitory computer storage medium storing computer-executable instructions that, when executed, cause a computer to: The computer executable instructions can execute the method of any one of claims 1-6. The computer executable instructions can execute the method of any one of claims 1-6. ​

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